Расчет настроек автоматического регулятора

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5.4 Сравнение передаточных функций.

5.5 Сравнение кривых разгона.
6. Расчет одноконтурной АСР методом Роточа.

1. Задание

Исследовать работу комбинированной автоматической системы управления в целом и ее отдельных контуров. Провести расчет оптимальных настроечных параметров регуляторов АСР.
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2. Координаты кривой разгона

С помощью программы связи ЭВМ с контроллером снимаем координаты кривой разгона.

Для этого сначала поочередно программируем Ремиконт:
1. по возмущению
2. по заданию
3. по управлению
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В программе тренды меняя задание добиваемся устойчивости систем.
После того как системы установились приступаем к проведению эксперимента.
Для этого устанавливаем алгоблок 11 с которого будем снимать кривую разгона, алгоблок 11 на который будем подавать скачек, амплитуду скачка 10 и интервал времени 0,5.

После просмотра полученных точек кривых разгона удаляем одинаковые.
И строим соответствующие графики.

2.1 Координаты и график кривой разгона по каналу возмущения

табл.2.1
|1 |0,0000 |39,0000|22 |11,000|47,150|
| | | | |0 |0 |
|2 |1,0000 |39,1500|23 |11,500|47,450|
| | | | |0 |0 |
|3 |1,5000 |39,3500|24 |12,000|47,600|
| | | | |0 |0 |
|4 |2,0000 |40,0000|25 |12,500|47,700|
| | | | |0 |0 |
|5 |2,5000 |40,4000|26 |13,000|47,850|
| | | | |0 |0 |
|6 |3,0000 |40,8000|27 |13,500|48,050|
| | | | |0 |0 |
|7 |3,5000 |41,2000|28 |14,000|48,100|
| | | | |0 |0 |
|8 |4,0000 |42,0500|29 |14,500|48,200|
| | | | |0 |0 |
|9 |4,5000 |42,5000|30 |15,000|48,250|
| | | | |0 |0 |
|10 |5,0000 |42,9000|31 |15,500|48,400|
| | | | |0 |0 |
|11 |5,5000 |43,3000|32 |16,000|48,450|
| | | | |0 |0 |
|12 |6,0000 |44,0500|33 |16,500|48,500|
| | | | |0 |0 |
|13 |6,5000 |44,4000|34 |17,000|48,550|
| | | | |0 |0 |
|14 |7,0000 |44,7500|35 |17,500|48,650|
| | | | |0 |0 |
|15 |7,5000 |45,1000|36 |19,000|48,700|
| | | | |0 |0 |
|16 |8,0000 |45,6500|37 |19,500|48,754|
| | | | |0 |0 |
|17 |8,5000 |45,9000|38 |20,000|48,800|
| | | | |0 |0 |
|18 |9,0000 |46,1500|39 |21,500|48,850|
| | | | |0 |0 |
|19 |9,5000 |46,4000|40 |22,000|48,900|
| | | | |0 |0 |
|20 |10,0000|46,8000|41 |26,500|48,950|
| | | | |0 |0 |
|21 |10,5000|47,0000|42 |27,000|49,000|
| | | | |0 |0 |

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2.2 Координаты и график кривой разгона для внутреннего канала

табл.2.2
|1 |0,0000 |58,0000|30 |15,000|65,950|
| | | | |0 |0 |
|2 |1,0000 |58,0500|31 |15,500|66,100|
| | | | |0 |0 |
|3 |1,5000 |58,3000|32 |16,000|66,200|
| | | | |0 |0 |
|4 |2,0000 |58,4500|33 |16,500|66,400|
| | | | |0 |0 |
|5 |2,5000 |58,7000|34 |17,000|66,500|
| | | | |0 |0 |
|6 |3,0000 |59,2000|35 |18,500|66,600|
| | | | |0 |0 |
|7 |3,5000 |59,4500|36 |18,000|66,650|
| | | | |0 |0 |
|8 |4,0000 |59,7000|37 |18,500|66,800|
| | | | |0 |0 |
|9 |4,5000 |60,0000|38 |19,000|66,900|
| | | | |0 |0 |
|10 |5,0000 |60,6000|39 |19,500|66,950|
| | | | |0 |0 |
|11 |5,5000 |60,8500|40 |20,000|67,050|
| | | | |0 |0 |
|12 |6,0000 |61,1500|41 |20,500|67,150|
| | | | |0 |0 |
|13 |6,5000 |61,4500|42 |21,000|67,200|
| | | | |0 |0 |
|14 |7,0000 |62,0000|43 |21,500|67,250|
| | | | |0 |0 |
|15 |7,5000 |62,3000|44 |22,000|67,300|
| | | | |0 |0 |
|16 |8,0000 |62,5500|45 |22,500|67,350|
| | | | |0 |0 |
|17 |8,5000 |62,8000|46 |23,000|67,400|
| | | | |0 |0 |
|18 |9,0000 |63,3000|47 |23,500|67,450|
| | | | |0 |0 |
|19 |9,5000 |63,5500|48 |24,000|67,500|
| | | | |0 |0 |
|20 |10,0000|63,7500|49 |24,500|67,550|
| | | | |0 |0 |
|21 |10,5000|64,0000|50 |25,000|67,600|
| | | | |0 |0 |
|22 |11,0000|64,4000|51 |26,000|67,650|
| | | | |0 |0 |
|23 |11,5000|64,5500|52 |26,500|67,700|
| | | | |0 |0 |
|24 |12,0000|64,7500|53 |28,000|67,750|
| | | | |0 |0 |
|25 |12,5000|64,9500|54 |29,000|67,800|
| | | | |0 |0 |
|26 |13,0000|65,2500|55 |31,500|67,850|
| | | | |0 |0 |
|27 |13,5000|65,4000|56 |32,000|67,900|
| | | | |0 |0 |
|28 |14,0000|65,5500|57 |39,000|67,950|
| | | | |0 |0 |
|29 |14,5000|65,8500|58 |39,500|68,000|
| | | | |0 |0 |

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2.3 Координаты и график кривой разгона основного контура

табл
2.3
|1 |0,0000 |50,9500|30 |14,500|58,400|
| | | | |0 |0 |
|2 |0,5000 |50,9500|31 |15,000|58,550|
| | | | |0 |0 |
|3 |1,0000 |51,0000|32 |15,500|58,750|
| | | | |0 |0 |
|4 |1,5000 |51,0500|33 |16,000|59,000|
| | | | |0 |0 |
|5 |2,0000 |51,1000|34 |16,500|59,150|
| | | | |0 |0 |
|6 |2,5000 |51,2000|35 |17,000|59,250|
| | | | |0 |0 |
|7 |3,0000 |51,5000|36 |17,500|59,350|
| | | | |0 |0 |
|8 |3,5000 |51,6500|37 |18,000|59,600|
| | | | |0 |0 |
|9 |4,0000 |51,8500|38 |18,500|59,650|
| | | | |0 |0 |
|10 |4,5000 |52,0500|39 |19,000|59,750|
| | | | |0 |0 |
|11 |5,0000 |52,5000|40 |19,500|59,850|
| | | | |0 |0 |
|12 |5,5000 |52,8000|41 |20,000|60,000|
| | | | |0 |0 |
|13 |6,0000 |53,0500|42 |20,500|60,100|
| | | | |0 |0 |
|14 |6,5000 |53,6000|43 |21,000|60,150|
| | | | |0 |0 |
|15 |7,0000 |53,9000|44 |21,500|60,200|
| | | | |0 |0 |
|16 |7,5000 |54,1500|45 |22,000|60,300|
| | | | |0 |0 |
|17 |8,0000 |54,4500|46 |22,500|60,350|
| | | | |0 |0 |
|18 |8,5000 |55,0000|47 |23,000|60,400|
| | | | |0 |0 |
|19 |9,0000 |55,3000|48 |23,500|60,500|
| | | | |0 |0 |
|20 |9,5000 |55,5500|49 |24,000|60,550|
| | | | |0 |0 |
|21 |10,0000|55,8500|50 |25,000|60,600|
| | | | |0 |0 |
|22 |10,5000|56,3500|51 |25,500|60,650|
| | | | |0 |0 |
|23 |11,0000|56,6000|52 |26,000|60,700|
| | | | |0 |0 |
|24 |11,5000|56,8500|53 |27,000|60,750|
| | | | |0 |0 |
|25 |12,0000|57,0500|54 |27,500|60,800|
| | | | |0 |0 |
|26 |12,5000|57,5000|55 |30,000|60,850|
| | | | |0 |0 |
|27 |13,0000|57,7000|56 |30,500|60,900|
| | | | |0 |0 |
|28 |13,5000|57,9000|57 |36,000|60,950|
| | | | |0 |0 |
|29 |14,0000|58,0500|58 |36,500|61,000|
| | | | |0 |0 |

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3. Интерполяция по трем точкам.

В программе ASR, пользуясь пунктом “интерполировать по 3-м” поочередно считаем кривые разгона и строим соответствующий график.

3.1.Линейное сглаживание и график кривой разгона для внешнего контура

табл. 3.1
|1 |0,0000 |38,9914|22 |11,000|47,200|
| | | | |0 |0 |
|2 |1,0000 |39,1667|23 |11,500|47,400|
| | | | |0 |0 |
|3 |1,5000 |39,5000|24 |12,000|47,583|
| | | | |0 |3 |
|4 |2,0000 |39,9167|25 |12,500|47,716|
| | | | |0 |7 |
|5 |2,5000 |40,4000|26 |13,000|47,866|
| | | | |0 |7 |
|6 |3,0000 |40,8000|27 |13,500|48,000|
| | | | |0 |0 |
|7 |3,5000 |41,3500|28 |14,000|48,116|
| | | | |0 |7 |
|8 |4,0000 |41,9167|29 |14,500|48,183|
| | | | |0 |3 |
|9 |4,5000 |42,4833|30 |15,000|48,283|
| | | | |0 |3 |
|10 |5,0000 |42,9000|31 |15,500|48,366|
| | | | |0 |7 |
|11 |5,5000 |43,4167|32 |16,000|48,450|
| | | | |0 |0 |
|12 |6,0000 |43,9167|33 |16,500|48,500|
| | | | |0 |0 |
|13 |6,5000 |44,4000|34 |17,000|48,566|
| | | | |0 |7 |
|14 |7,0000 |44,7500|35 |17,500|48,633|
| | | | |0 |3 |
|15 |7,5000 |45,1667|36 |19,000|48,700|
| | | | |0 |0 |
|16 |8,0000 |45,5500|37 |19,500|48,750|
| | | | |0 |0 |
|17 |8,5000 |45,9000|38 |20,000|48,800|
| | | | |0 |0 |
|18 |9,0000 |46,1500|39 |21,500|48,850|
| | | | |0 |0 |
|19 |9,5000 |46,4500|40 |22,000|48,900|
| | | | |0 |0 |
|20 |10,0000|46,7333|41 |26,500|48,950|
| | | | |0 |0 |
|21 |10,5000|46,9833|42 |27,000|49,000|
| | | | |0 |0 |

[pic]

3.2. Линейное сглаживание и график кривой разгона для внутреннего контура

табл
3.2
|1 |0,0000 |57,9667|30 |15,000|65,966|
| | | | |0 |7 |
|2 |1,0000 |58,1167|31 |15,500|66,083|
| | | | |0 |3 |
|3 |1,5000 |58,2667|32 |16,000|66,233|
| | | | |0 |3 |
|4 |2,0000 |58,4833|33 |16,500|66,366|
| | | | |0 |7 |
|5 |2,5000 |58,7833|34 |17,000|66,500|
| | | | |0 |0 |
|6 |3,0000 |59,1167|35 |18,500|66,583|
| | | | |0 |3 |
|7 |3,5000 |59,4500|36 |18,000|66,683|
| | | | |0 |3 |
|8 |4,0000 |59,7167|37 |18,500|66,783|
| | | | |0 |3 |
|9 |4,5000 |60,1000|38 |19,000|66,883|
| | | | |0 |3 |
|10 |5,0000 |60,4833|39 |19,500|66,966|
| | | | |0 |7 |
|11 |5,5000 |60,8667|40 |20,000|67,050|
| | | | |0 |0 |
|12 |6,0000 |61,1500|41 |20,500|67,133|
| | | | |0 |3 |
|13 |6,5000 |61,5333|42 |21,000|67,200|
| | | | |0 |0 |
|14 |7,0000 |61,9167|43 |21,500|67,250|
| | | | |0 |0 |
|15 |7,5000 |62,2833|44 |22,000|67,300|
| | | | |0 |0 |
|16 |8,0000 |62,5500|45 |22,500|67,350|
| | | | |0 |0 |
|17 |8,5000 |62,8833|46 |23,000|67,400|
| | | | |0 |0 |
|18 |9,0000 |63,2167|47 |23,500|67,450|
| | | | |0 |0 |
|19 |9,5000 |63,5333|48 |24,000|67,500|
| | | | |0 |0 |
|20 |10,0000|63,7667|49 |24,500|67,550|
| | | | |0 |0 |
|21 |10,5000|64,0500|50 |25,000|67,600|
| | | | |0 |0 |
|22 |11,0000|64,3167|51 |26,000|67,650|
| | | | |0 |0 |
|23 |11,5000|64,5667|52 |26,500|67,700|
| | | | |0 |0 |
|24 |12,0000|64,7500|53 |28,000|67,750|
| | | | |0 |0 |
|25 |12,5000|64,9833|54 |29,000|67,800|
| | | | |0 |0 |
|26 |13,0000|65,2000|55 |31,500|67,850|
| | | | |0 |0 |
|27 |13,5000|65,4000|56 |32,000|67,900|
| | | | |0 |0 |
|28 |14,0000|65,6000|57 |39,000|67,950|
| | | | |0 |0 |
|29 |14,5000|65,7833|58 |39,500|68,000|
| | | | |0 |0 |