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1.
INTRODUCTION
N = N1 + ... + N p
(7)
{ }
~
~
~
l j = l j , where l j is the length of each sampling
interval of input u j .
T~j T~j , 1
~
~ +1
l j =
, = 1, 2, ..., N
j
T
T~j 0 = 0 , T~j , N~ j +1 = T0 ,
~
N j +1
( 8)
~
lj = N
=1
li = {l i } , where
, = 1, 2, ..., N i + 1
Ti 0 = 0 , Ti , Ni +1 = T0 ,
Ti Ti, 1
(9)
Ni +1
li = N
=1
(1)
The model for the continuous system is:
j = 1, 2 , 3,..., m
(2)
x& = A px + B pu
y = Cp x + D pu
where,
u = [u1 L u m ] , y = [y1 L yp ]
T
i = 1,2 , 3,..., p
(3)
signal u j .
(4)
~ + ... + N
~
N =N
1
m
(5)
{ }
yi .
= 1, 2 ,..., N i
(6)
~
= 1, 2, ... , N
j
output signal
x = [x1 L xn ]
( 10 )
A pT
B = B(T ) = e
A p
B p d , B = [B1 L B m ],
( 11 )
C1
D1
C= M ,D= M
C p
D p
~
~
x(( k + 1)To ) = A x( kTo ) + B u D ( kTo )
D
~
~
y ( kTo ) = Cx ( kTo ) + Du D ( kTo )
Where,
( 12 )
1 ~
2 ~
A 1~
~ A
N
A=
, A=A
O
O
mxn
mxm
2 ~
2 ~
2~
A = A j , A j =1 b Dj0
( 13 )
[ ]
1~
~ B ~
B = 2 ~ , 1B =
B
=A
D
j
+1
l j
=1
[ B ],
1
D
j
B Dj = 1 b Dj
X ~l j , +1 B j
= B j
~
B=
b
D
jk
B Dj , 2 B Dj =
dim(x) = (n + m ) 1
( 14 )
[ b ],
2
D
jk
k = 1,2,..., N
~ ~
C , 1C = 1 CiD
D
i
[ ]
[ ]
1
[ ]
D
i
~
D = DijD , D Dij = d ijD,
C = c , c = CiA
2 ~
C = 2 C Di , 2 C Di = d ijD, 0
1
D
i
li
=1
dim(u D ) = N 1
dim(y ) = N 1
~
dim(A ) = (n + m ) (n + m )
~
dim(B) = (n + m ) N
~
~
dim(C ) = N (n + m) dim( D ) = N N
D
~
1, if k = N
=
=1
0, in other case
~
~
C = 1C
( 18 )
~
~
~
= A (To T j, +1 ) B j (T j , +1 T j, )
2
x1 (kTo )
x
(
kT
)
n
o
x D (kT0 ) =
~
u
((
k
1
)
T
+
T
~ )
0
1 ,N1
1
u m (( k 1)T0 + Tm ,N~m )
( 15 )
( 19 )
~
l j , +1 1
d ij, = C i ij, ( q) B j + ij ,
q=0
A r , if r = q + l +1~
i l j 0
ij, (q ) =
=1
=1
0,
in othercase
ij,
3. MULTIRATE TOOLBOX
( 16 )
~
d ij , if 0 l i - l j < l j , +1
=
=
1
=1
0,
in othercase
u ( kT + T~ )
0
j1
j
u D (kT0 ) =
M
u j (kT0 + T j , N~ j )
M
M
y (kT + T )
0
i1
i
y D (kT0 ) =
M
y
(
kT
+
T
)
0
iN i
i
Regular
Multirate
Compensator
Irregular
Multirate
Operator
( 17 )
Regular
Multirate
Operator
Kranc
Operator
4. EXAMPLE
Continuous plant:
0
0
2.5
0 x + 10 1.2u
1
5 / 6
1
0
x
1
( 20 )
( 21 )
10 / 13 12 / 65
+
e
0
0
Scope
Plant
1.34
Reference 1
Mux
Regular
Multirate
Operator
x' = Ax+Bu
y = Cx+Du
Demux
Mux
Scope
Plant
3.56
Reference 2
T o = 0 . 3, T = 0 . 05
~
~
l1 = [3 1 2 ] , l2 = [3
l1 = [3
2 ] , l 2 = [3
3]
2
1]
xc = 0 0
0 x c + 0 1e
1 0 2.5
0 0
0
20 / 13 6 / 13
u=
x
25
/
26
10
/
13
25
/ 52 c
Mux
1
0.5s2 +1.5s+1
~
~
N 1 = 3, N 2 = 2 , N 1 = 3, N 2 = 3, N = 5, N = 6
2.5 0
x& = 0
2
0
0
4 1
y=
1 / 3 0
Regular
Multirate
Compensator
1
Reference
0.25]
0
0
1
~
AR = 0
1
0
0.2111 0 0 .4724
0 .05
0 .1
0
0.15
~
BR = 0
0
0
0.15
1 .5385 0 .4615
0
~
CR =
0
.
2308
0
.
0769
0
.
7692
~
DR =
0
0
0
0.1394
0
0
0
0 .15
0 .1846
0
0 .0692 0 .1846
0 .0692 0 .2077
0
0
0 .1154
0
0 .1154 0 .0769
CONCLUSIONS
Useful functions for MATLAB/SIMULINK to analyze
multirate control systems were presented. A general
irregular multirate model was used to make
implementation and generalization easier. A detailed
SYSTEM OUTPUTS
5
REFERENCES
4.5
3.5
3
2.5
2
1.5
1
0.5
0
5
6
Time (second)
10
1.6
1.8
3.5
2.5
1.5
1
0.5
0
0
0.2
0.4
0.6
0.8
1
1.2
Time (second)
1.4