Расчёт настроек автоматического регулятора

Расчёт настроек автоматического регулятора

Пермский Государственный Технический Университет

Курсовая работа

по предмету: Автоматизация технологических процессов и

производств.

Тема: Расчет настроек автоматического регулятора.

Выполнил: ст-т гр.

АТП-93

Никулина Д. В.

Проверил: Бильфельд Н. В.

г. Березники, 1998

Содержание.

1. Координаты кривых разгона.

1.1 Схемы для Ремиконта.

1.2 Координаты и график кривой разгона по возмущению.

1.3 Координаты и график кривой разгона по заданию.

1.4 Координаты и график кривой разгона по управлению.

2. Интерполяция по 3 точкам.

2.1 Линейное сглаживание и график кривой разгона по возмущению.

2.2 Линейное сглаживание и график кривой разгона по заданию.

2.3 Линейное сглаживание и график кривой разгона по управлению.

3. Нормирование кривых разгона.

3.1 Нормирование кривой разгона по возмущению.

3.2 Нормирование кривой разгона по заданию.

3.3 Нормирование кривой разгона по управлению.

4. Аппроксимация методом Симою.

4.1 По возмущению.

4.2 По заданию.

4.3 По управлению.

5. Проверка аппроксимации методом Рунге - Кутта.

5.1 По возмущению.

5.2 По заданию.

5.3 По управлению.

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.

[pic]

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

[pic]

В программе тренды меняя задание добиваемся устойчивости систем.

После того как системы установились приступаем к проведению эксперемента.

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 |

[pic]

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 |

[pic]

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 |

[pic]

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 |

[pic]

3.3 Линейное сглаживание и график кривой разгона по основному каналу

табл.

3.3

|1 |0,0000 |50,9500|30 |14,500|58,333|

| | | | |0 |3 |

|2 |0,5000 |50,9500|31 |15,000|58,566|

| | | | |0 |7 |

|3 |1,0000 |51,0000|32 |15,500|58,766|

| | | | |0 |7 |

|4 |1,5000 |51,0500|33 |16,000|58,966|

| | | | |0 |7 |

|5 |2,0000 |51,1167|34 |16,500|59,133|

| | | | |0 |3 |

|6 |2,5000 |51,2667|35 |17,000|59,250|

| | | | |0 |0 |

|7 |3,0000 |51,4500|36 |17,500|59,400|

| | | | |0 |0 |

|8 |3,5000 |51,6667|37 |18,000|59,533|

| | | | |0 |3 |

|9 |4,0000 |51,8500|38 |18,500|59,666|

| | | | |0 |7 |

|10 |4,5000 |52,1333|39 |19,000|59,750|

| | | | |0 |0 |

|11 |5,0000 |52,4500|40 |19,500|59,866|

| | | | |0 |7 |

|12 |5,5000 |52,7833|41 |20,000|59,983|

| | | | |0 |3 |

|13 |6,0000 |53,1500|42 |20,500|60,083|

| | | | |0 |3 |

|14 |6,5000 |53,5167|43 |21,000|60,150|

| | | | |0 |0 |

|15 |7,0000 |53,8833|44 |21,500|60,216|

| | | | |0 |7 |

|16 |7,5000 |54,1667|45 |22,000|60,283|

| | | | |0 |3 |

|17 |8,0000 |54,5333|46 |22,500|60,350|

| | | | |0 |0 |

|18 |8,5000 |54,9167|47 |23,000|60,416|

| | | | |0 |7 |

|19 |9,0000 |55,2833|48 |23,500|60,483|

| | | | |0 |3 |

|20 |9,5000 |55,5667|49 |24,000|60,550|

| | | | |0 |0 |

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