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Additional
Lecture 2 Linear Systems
topics
Lecture 10 Identification
Basic
Advanced Control
Lecture 13 Programmed Control
Lecture 6 Outer Loop Lecture 14 Model Predictive
Control
Control
Lecture 8 SISO Design Lecture 15 System Health
Management
(
mlφ&& = l mωG2 l sin φ cos φ − mg sin φ − bφ& )
Jω& E = k cos φ − TL
ωG = nω E
• Linearization
φ = φ0 + x x << 1
ω E = ω0 + y y << 1
V1 ⎡1 1⎛1 1 ⎞⎤ R1 ⎡ 1 ⎛ R2 ⎞⎤
= R1 ⎢ − ⎜⎜ + ⎟⎟⎥ = − ⎢1 − ⎜⎜1 + ⎟⎟⎥
V2 ⎣ R2 G ⎝ R1 R2 ⎠⎦ R2 ⎣ G ⎝ R1 ⎠⎦
• Bode’s analysis of the transients in the amplifiers (1940)
• Range
r = F (∆Vx , ∆V y , ∆X , ∆Y ) USSR R-16/8K64/SS-7/Saddler
Copyright © 2001 RussianSpaceWeb.com
• Range Error http://www.russianspaceweb.com/r16.html
δr (t ) = f1∆Vx (t ) + f 2 ∆V y (t ) + f 3∆X (t ) + f 4 ∆Y (t )
• Algorithm:
– track δr (t ) , cut the engine off at T when δr (T ) = 0
Honeywell Plantscape
data ACK
Destination 1 2 W 1 2 W
time
∆xlost ∆xsent W
x& = q + (1 − q ) x=
τ τ τ
• x - transmission rate
1− q 1 2
x& = − qx • τ - round trip time
τ2 2 • q - loss probability
Physical system
control
handle