In the paper the parallel compensator considered in [1] is applied to control of the plants with delay and compared with Smith predictor. It is noted that Smith predictor removes only the delay, while the parallel compensator also changes the dynamics of the replacement plant; the latter may be in some degree of freedom shaped by the designer. Owing to this the transients of the system with parallel compensator are significantly faster. Accounting implementability, the control saturations are introduced in control algorithms. Additionally it is shown that using parallel compensator we may apply a relay control to the plants with delay and nonminimum phase zeros, which is impossible by using Smith predictor. Several results of simulations are described which confirm these observations.
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In this paper the control problem of a slowly rotating Timoshenko beam is cosidered. Control system contains DC motor and Timoshenko beam which is attached to the disc of the machine. An algorithm for thr determination of the dynamical feedback is proposed. The results of numerical computation are presented.
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