专外(二)1.ppt

,Click to edit Master text styles,Second level,Third level,Fourth level,Fifth level,Click to edit Master text styles,Second level,Third level,Fourth level,Fifth level,自动化专业英语教程,内蒙古工业大学电力学院自动化系,说明书常用术语,Operational/operating instructions,Major components and functions,Assembles and controls,Group designation,Operating flow chart,Fine/coarse adjustment,Direction for use,Wear-life,High voltage cautions,Transportation,Instruction for erection,Power requirements,Service condition,操作说明书,主要部件及功能,各部件及其操作机构,总类名称,操作流程图,微（粗）调,使用方法,磨损寿命,小心高电压,搬运，运输,安装规程,电源条件,工作条件,Wiring/circuit diagram,Operating voltage,Factory services,Specific wearability,Precautions/cautions,Measuring range,Data book,Dont cast,Standard accessories,Accessories supplied,Safety factor,Tested error free,Ground/GND terminal,Earth lead,线路图,工作电压,工厂检修服务,磨损率,注意事项,量程,数据表,勿掷,标准附件,备用附件,安全系数,经检验无质量问题,接地端子,地线,Inflammable,Keep dry,Keep upright,To be protected from cold/heat,Use roller,Warranty,Users manual,Coolant system,Test run,First commissioning,Maintenance,Dimensions,Measurement,Lubrication,易燃物，防火,保持干燥,勿倒置,避免遇冷,/,热,移动时使用滚子,保证书,用户手册,冷却系统,试运转,试车,维护，维修,尺寸,尺码,润滑,Inspection,Location,Fix screw,Specifications,Rated load/capacity,Nominal speed/horsepower,Gross/Gr.Wt.,Net Wt.,Fragile,Cutting capacity,Humidity,Work cycle,Stuffing,Not to be tipped,检验,安装位置,固定螺钉,规格,额定负载,/,容量,额定转速,/,马力,毛重,净重,易碎,加工范围,湿度,工作周期,填充料,勿倾倒,Recyclable,Handle with care,Heave here,Haul,Cleaning,Guarantee,Features,construction,可回收利用的,小心装卸,从此提起,起吊，此处吊起,清洗,保证书，包修书,特点,构造,Words and terms,Continuum,Range over,Gross national product,Percent unemployment,Trade deficit,Scalar value,n,-dimensional,State vector,Vector space,连续,涉及，包括,国民生产总值,失业率,贸易赤字,标量值,n,维,状态矢量,矢量空间,Introduction,Classical control theory is based on input-output relationships,principally the,transfer function.,When,differential equations,are encountered,they are linearized and,subjected to,whatever,constraints,are necessary to establish,useful input-output relationships,.Modern control theory,on,the other hand,is based on direct use of the differential equations themselves.Although its,techniques are powerful and relatively simple,classical control theory does have,limitations,and,shortcomings,that,multiply,as plants and control systems become more complex-thus the,advent,of modern control theory.,经典控制理论以输入输出关系主要是传递函数为基础。,当遇到微分方程时，它们必须是线性的且,服从,所有必要的,约束,条件，才能建立有用的输入输出关系。,另一方面，现代控制,理论是基于微分方程本身的直接使用。,尽管经典控制理论的技术是强有力的，且相对简单，但它的确存在一些,局限,和,缺点,，,这些局限和缺点会随着被控对象和控制系统的复杂化而,加剧,，这正,是现代控制理论,出现,的原因。,Several factors provided the,stimulus,for the development of modern control theory:(1)The,necessity of dealing with more,realistic models of system,(2)The shift in emphasis towards,optimal control and optimal system design,(3)The continuing developments in digital computer,technology,(4)The shortcomings of previous approaches,(5)A recognition of the,applicability,of,well-known,methods in other fields of knowledge.,有几种因素,促进,了现代控制理论的发展：,(1),处理更为,实际的系统模型,的需要。,2),侧重点移向最优控制和,最优系统设计。,(3),计算机技术的持续发展。,(4),先前方法的缺陷。,(5),对其他知识领域,已知,方法的,应用能力,的认识。,The,transition,from simple approximate models,which are easy to work with,to more,realistic models produces,two effects.,1,First,a larger number of variables must be included in the,model.Second,a more realistic model is more likely to contain,nonlinearities,and,time-varying,parameters.Previously ignored aspects of the system,such as interactions with and feedback,through the environment,are more likely to be included.,从易于处理的简单近似模型到实际一些的模型的,转换,产生了两种作用。,第一，大量的变量必须包含在模型中。,第二，更实际的模型更容易包含,非线性,和,时变,参数。,以前系统被忽视的方面，如与周围环境的相互作用和通过环境的,反馈更可能被包含进来。,With an advancing technological society,there is a trend towards more,ambitious,goals.This,also means,dealing with,complex systems with a larger number of,interacting components,.The,need for greater accuracy,and efficiency has changed the emphasis on control system performance.,The classical,specifications,in terms of,percent overshoot,settling time,bandwidth,etc.,have in,many cases,given way to,optimal criteria such as,minimum energy,minimum cost,and,minimum,time operation,.Optimization of these criteria makes it even more difficult to avoid dealing with,unpleasant nonlinearities,.,Optimal control theory often,dictates,that nonlinear time-varying control,laws be used,even if the basic system is linear and time-invariant.,技术社会的发展正朝向更加,雄心勃勃,的目标前进。,这也意味着要,处理,有着大量,相互作用部件,的复杂系统。,对更高精度和效率的要求已经改变了控制系统性能的重点。,以,超调量,、,调节时间,、,带宽,等词来描述的经典的,技术要求,，在很多情况中已,让位于,最优指标，如,最小能量、最小代价、最小时间,。,最优化这些指标难以避开所不希望的非线性。,最优控制理论常常要求使用非线性、时变的控制规律，,即使基本系统是线性和时不变的。,The continuing advances is computer technology have had important effects on the controls,field.The fast,processing ability and large memory,capacity of digital computers make,it possible to,solve practical problems with complex,high-order,differential equations.Classical control theory,was dominated by graphical methods because at the time that was the only way to solve certain,problems.Now every control designer has easy,access to,powerful computer packages for systems,analysis and design.Although a computer can be used to,carry out,the classical transform-inverse,transform methods,it is usually more efficient to,be used to find(calculate)the numerical solutions,of a differential equation directly.With the development of,very large scale integrated circuits,(VLSI),the cost,size,and reliability,of microcomputer have made it,possible to use them,routinely,in many systems.Computer are now so commonly used as just another component in the control,system.,计算机技术的不断发展在控制领域产生了重要的影响。,数字计算机快速的处理能力和巨大的存储容量，使得求解带有复杂,高阶,微分方程的实际问题成为可能。,经典控制理论主,要应用图形法，因为在那个时代这是解决特定问题的唯一方法。,现在每一位控制设计者都可以轻松地使用功能强大的计算机包进行,系统分析和设计。,尽管计算机可以用于,实现,经典的变换反变换方法，,但用它来直接求解（计算）微分方程的数值解往往效率更高。,随着,超大规模集成电路,的发展，微型计算机的,价格、尺寸和可靠性使它们能够,常规,地用于许多系统中。,计算机现在就像控制系统的一个部件一样被很平常地使用。,Modern control theory is well suited to the above trends because its time-domain techniques,and its,mathematical language,(,matrices,linear vector spaces,etc.)are ideal when dealing with a,computer.Computers are a major reason for the existence of state variable methods.,现代控制理论正好适合上述的趋势，,因为它的时域技术和它的数,学语言（矩阵、线性矢量空间等等）用计算机处理时非常理想。,计算机是状态变量方法存在的一个主要原因。,Most classical control techniques were developed for linear constant coefficient system with,one input and one output(perhaps a few inputs and outputs,).The language of classical techniques is,the Laplace or z-transform and transfer functions.When nonlinearities and time variations are,present,the very basis for these classical techniques is removed.Some successful techniques such,as,phase-plane methods,describing functions,and other,ad hoc,methods,have been developed to,alleviate,this shortcoming.However,the greatest success has been limited to low-order systems.,The state variable approach of modern control theory provides a uniform and powerful method,of representing systems of arbitrary order,linear or nonlinear,with time-varying or constant,coefficients.It provides an ideal,formulation,for computer,implementation,and is responsible for,much of the progress in optimization theory.,2,大多数经典控制技术是面向单输入单输出（也许有几个输入输出）的线性常,系数系统。,经典技术的语言是拉普拉斯,或变换和传递函数,。,当存在非线性时变的时候，经典技,术就失去了正确的基础。,一些成功的技术如,相平面,法,、,描述函数,和其他,特定,方法被开发出来以,缓解,这个缺点。,然而，,这些方法,最大的成功被限制在低阶系统中。,现代控制理论的状态变量方法提供了一个统一的、强有力的、表达任意阶的,线性或非线性的、时变或常系数的系统的方法。,它为计算机实现提供了理想的公式化表达，也导致了在最优化理论,方面的一些进步。,The concept of state,The concept of state occupies a central position in modern theory.However,it appears in,many other technical and nontechnical contexts as well.In,thermodynamics,the equations of state,are prominently used.,Binary sequential networks,are normally analyzed in terms of their states.,In everyday life,monthly,financial statements,are commonplace.The presidents state of the,union message is another familiar example.,In all of these examples the concept of state is essentially the same.It is a complete summary,of the status of the system at a particular point in time.Knowledge of the state at some initial,time,t,o,plus knowledge of the system inputs after,t,0,allows the determination of the state,at a later time,t,1,.As far as the state at,t,1,is concerned,it makes no difference how the,initial state was attained.,3,Thus the state at,t,0,constitutes a complete history,of the system,behavior prior to,t,0,insofar,as that history affects future behavior.Knowledge of the,present state allows a sharp separation between the past and the future.,在现代控制理论中状态的概念占据了中心地位。,然而，它也出现在,一些其他的技术或非技术的文章上下文中。,在,热力学,中，状态方程被突出,地使用。,二进制时序电路,一般根据它们的状态来分析。,在日常生活中每月的,财政报告,是很平常的。,联邦总统报告的消息,是另一个例子。,在所有这些例子中，状态的概念从本质上是相似的，它是系统状况在特,定时刻完整的总结。,在某一初始时刻,t,0,的状态情况,加上,t,0,时刻以后的系统输入情况，可以确定在后来的,t,1,时刻的状态。,就,t,1,时刻的状态而言，它与初始状态是怎样实现的无关。,因此，,t,0,时刻的状态构成了,t,0,以前系统活动状态的完,整历史，它,在一定范围内,影响（系统）未来的行为。,当前的状态情,况使得（系统）的过去和未来行为可以有很大的差别。,At any fixed time the state of a system can be described by the values of a set of variables,x,i,called,state variables,.One of the state variables of a thermodynamic system is temperature and its,value can range over,the,continuum,of real numbers,R.In a binary network state variables can take,on only two discrete values,0 or 1.Note that the state of your checking account at the end of the,month can be represented by a single number,the balance,.The state of the Union can be,represented by such,things as,gross national product,percent unemployment,the balance of trade,deficit,ect.For the systems considered in this article the state variables may take on any,scalar,value,real or complex,That is,x,i,C.Although some systems require an infinite number of state,variables,only systems which can be described by a finite number,n,of state variables will be,considered here.,Then the state can,be represented by an,n,component,state vector,x=x,1,x,2,x,n,T,.,It belongs to an,n,-dimensional,vector space,defined over the field C.,在任何固定的时刻，系统状态可以由一组称作,状态变量,x,i,的值来描述。,热力学系统的一个状态变量是温度，它的,取值范围是,连续,实数域,R,。,在二进制电路中，状态变量只能,取两个离散的值或。,注意，你在月末检查帐目的状态可以只用一个数,来表示，,结余,。联邦状况可以由,国民生,产总值、失业率、贸易赤字,等表示。,对于本文所考虑的系统，状态变量可以取任意实数或复数的,标量值,，即,x,i,C,。,尽管一些系统需要无限多个状态变量，,这里只考虑能够用有限的,n,个状态变量描述的系统。,那么系统可以由一个,n,个元素的,状态矢量,x=x,1,x,2,.x,n,T,表示，,它属于一个定义在域,C,上有,n,维,矢量空间,。,For continuous-time systems,the state is defined for all times in some interval,for example,a,continually varying temperature or voltage.Discrete-time systems have their state defined only at,discrete times,as with the monthly financial statement or the annual State of the Union message.,Continuous-time and discrete-time systems can be discussed,simultaneously,by defining the times,of,interest as,T.For,continuous-time systems,T consists of the set of all real numbers tt,0,t,f,.For,Discrete-time systems T consists of a discrete set of times t,0,t,1,t,k,.In either case the initial,time could be-and the final time could be can be,in some circumstances.,对于连续时间系统，状态可以对某段时间内的所有时刻定义，例如一个连,续变化的温度或电压。,离散时间系统的状态只能定义在离散,的时刻，如每月一次的财政报告或一个一度的联邦状态消息。,连续时间和离散时间系统可以通过定义感兴趣的时间,T,来,同时,讨论。,对于连续系统,T,由所有,t,t,0,t,f,的实数组成，,对于离散系统，,T,由一组离散时间,t,0,t,1,t,2,t,k,构成。,在许多情况下，每,种系统初始时间都可以是,-,，最终时间可以是,。,The state vector x(t)is defined only for those tT.At any given,t,it is simply an ordered set,of,n,numbers.However,the character of a system could change with time,causing the number of,required state variables(and not just the,values)to change.If the dimension of the state,space varies,with time,the notation,t,could be used.It is assumed here that,is the same n-dimensional state,space at all tT.,状态矢量,x(t),只在,t,T,时定义。在任一给定,t,，很简单，它是一组,n,个有序的数。然而，系统特性会随着时间而改变，从而引起了所需状态变,量数目的变化（不仅是值）。如果状态空间的维数随时间,改变，就要使用符号,t,，这里假设在所有,t,T,时有相同维数的,n,维,状态空间。,Words and terms,First-order differential equation,Matrix form,Derivation,Eliminate,Thus far,Equivalent,Scalar function,Denominator,Vector-matrix theory,Controllability and observability,Generalized coordinate,Momenta,Unit matrix,一阶微分方程,矩阵形式,引出，来源,消除,至今，迄今,等价，等效,标量函数,分母,矢量矩阵理论,可控性和可观性,广义坐标,动量,单位阵,Words and terms,Superposition,Adjoint,Determinant,Numerator,Polynomial,Eigenvalue,叠加,伴随矩阵,行列式,分子,多项式,特征值,B State equations,State Space Models,A state space model is a description in terms of a set of,first-order differential equations,which,are,written compactly,in a,matrix form,.This standard form has,permitted,the development of,general computer programs,which can be used for the analysis and design of ever very large systems.,The derivation of state space models is no different form that of transfer functions in that the,differential equations,describing the system dynamics,are written first.In transfer function models,these equations are transformed and variables are,eliminated,between them to find the relation,between selected input and output variables.,1,For state models,instead,the equations,are arranged,into a set of first-order,differential equations,in the terms of selected,state variables,and the outputs,are expressed in these same state,variables.Because the,elimination of variables between equations,is not an inherent part of this process,state models are often easier to obtain.Two examples are,given for,illustration,and to relate state models to the transfer functions used thus far.,一个状态空间模型可以用一组,简写成矩阵形式,的,一阶微分方程,来描述。,这种标准形式,允许,使用,通用计算机程序,进行开发，这种通用程序可以用于分析和设计非常大的系统。,状态空间模型的获得与传递函数是一样的，因为首,先都要列写出描述系统动态的微分方程。,在传递函数模型中，,这些方程要进行变换，,消去,中间变量，求出选定的输入输出变量间的关系。,而对于状态模型，方程要按照选定的状,态变量组织成一个一阶微分方程组，输出也以相同的状态变量表示出来。,因为消去方程间的变量并不是这个过程固,有的部分，所以状态模型往往比较容易得到。,有两个例子用,来,说明,并将状态模型与至今使用的传递函数联系起来。,A transfer function without zeros:,A state model for the system described by this transfer function or the,equivalent,differential,equation is not unique but depends on the choice of a set of state variables,x,1,(,t,),x,2,(,t,),and,x,3,(,t,).,One possible choice is the following:,In matrix form,and with the output,c,expressed also in terms of all state variables,The,general form,of a,state-space model,is as follows:,一个没有零点的传递函数：,由这个传递函数或,等效,微分方程式描述的系统的状态模型并不是唯一的，,而是决定于状态变量组,x,1,(,t,),x,2,(,t,),和,x,3,(,t,),的选取。,一个可能的选择如下：,在矩阵形式中，输出,c,也用全部的状态变量表示,状,态空间模型,的,一般形式,如下：,where A is known,as the,plant matrix,or,system matrix,and,B,as the,control matrix,.The unnamed,matrices,C,and,D,related the,output,variables to the state and control variables.The vector,x,of the,state variables is the state vector.The controls vector,u,is the,scalar function,r,in this example,and the output vector,y,the,scalar function,c,and,D,=0.,A transfer function with zeros:,First consider only the,denominator,:,As in the case of no zero,式中,A,称为对象矩阵或系统矩阵，,B,称为控制矩阵。未命名的,矩阵,C,和,D,将输出变量与状态和控制变量联系起来。状态变量的矢,量,x,是状态矢量。在这个例子中，控制矢量,u,是标量函数,r,，输出矢,量,y,是标量函数,c,，,D=0,。,带有零点的传递函数：,首先只考虑,分母,在这种没有零点的情况下,But,Hence the output equation,with,y,=,c,is,Thus the output equation represents the effect of system zeros,or,derivatives,of the input.,Comments on the State Space Representation,The selection of state variables is not a unique process.Various sets of state variables can be,used.,It is usually advantageous to use variables which have physical,significance and,if possible,can,be measured.There are several,applicable methods of selecting state variables.,The form of the,information available for a system will often,dictate,which method sh