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Cours 10
ASI 3
Automatique
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! Introduction
! Liens entre les diffrentes descriptions d'un systme
! Passage modle d'tat " fonction de transfert
# Cas d'un systme monovariable
# Cas d'un systme multivariable
Automatique
Introduction
! Exemple : systme mcanique (masse en translation)
z
Fr=f z
Entre : u(t) = F
Etats du systme
x1(t ) = z (t )
! Equation diffrentielle
r
r
F = m
F = m&z& + fz&
! Reprsentation d'tat
x&1(t ) = z& (t ) = x2 (t ) (1)
F = m&z& + fz&
F = mx&2 (t ) + fx2 (t )
F f
x&2 (t ) = x2 (t ) ( 2)
m m
x&1(t ) 0 1 x1(t ) 0
f
=
+ 1 F
x&2 (t ) 0 m x2 (t ) m
x1(t )
[
]
(
)
1
0
y
t
=
(
)
x
t
2
Automatique
x2 (t ) = z& (t )
! FT (Systme d'ordre 2)
H ( s) =
Z ( s)
1
=
F ( s ) s ( ms + f )
! Remarques
$ De l'quation diffrentielle, on
passe aisment la FT
$ De l'quation diffrentielle, on
passe la reprsentation d'tat
Equation
diffrentielle
&y& + a y& + a y = b u& + b u
1
0
1
0
Rponse
impulsionnelle
h(t)
Automatique
Reprsentation
dtat
(A, B, C, D)
4
Y (t ) = CX (t ) + DU (t )
A Rnn
C R pn
B Rnm
D R pm
X (t ) Rn
U (t ) Rm
Y (t ) R p
# TL de l'quation d'tat
L X& (t ) = AX (t ) + BU (t )
sX ( s ) = AX ( s ) + BU ( s )
I : matrice
n
X ( s ) = (sI n A)1 BU ( s ) identit
d'ordre n
# TL de l'quation de sortie
L (Y (t ) = CX (t ) + DU (t ) )
Y ( s ) = CX ( s ) + DU ( s )
Y ( s ) = C (sI n A)1 B + D U ( s )
Automatique
Fonction de transfert
ou matrice de transfert
H ( s ) = C (sI n A)1 B + D
( sI n A) 1 =
M = com( sI n A)
(com( sI n
det( sI n A)
A))T
Automatique
1c
1 L R L
1 L
(voir cours 8)
y = [1 0] X
1c
1 0 0
sI 2 A = s
0 1 1 L R L
Fonction de transfert
1 c
s
sI 2 A =
1 L s + R L
s + R L 1 L
com( sI 2 A) =
s
1 c
C (com( sI 2 A))T B =
Automatique
1
Lc
det( sI 2 A) = s ( s + R L) + 1 Lc
Lc s 2 + Rcs + 1
det( sI 2 A) =
Lc
s + R L 1 c 0
C (com( sI 2 A))T B = [1 0]
1 L s 1 / L
C (com( sI 2 A))T B
H (s) =
det( sI 2 A)
H (s) =
1
Lc s 2 + Rcs + 1
7
1 1
2 1
1 0
X
Y =
1 2
x1 (t )
avec X (t ) =
x2 (t )
u1 (t )
U (t ) =
u2 (t )
y1 (t )
Y (t ) =
y2 (t )
0 1 1 1
s + 3 2
sI 2 A =
1 s + 1
det( sI 2 A) = s 2 + 4 s + 5
s + 1 1
com( sI 2 A) =
2 s + 3
C (com( sI 2 A))T B = 1 0 s + 1 2 0 3
1 2 1 s + 3 2 1
Automatique
2 0 3
C (com( sI 2 A))T B = s + 1
s 1 2( s + 4) 2 1
3s + 5
C (com( sI 2 A))T B = 4
4( s + 4) 5( s + 1)
8
s 2 + 4s + 5
H (s) =
4( s + 4)
s 2 + 4s + 5
3s + 5
s 2 + 4s + 5
5( s + 1)
s 2 + 4s + 5
H (s) =
H 21( s) H 22 ( s )
Automatique
Y1 ( s )
U1 ( s )
= H (s)
Y (s) =
Y2 ( s )
U 2 ( s )
Y (s)
H11 ( s ) = 1
U1 ( s )
Y (s)
H12 ( s ) = 1
U 2 ( s)
Y (s)
H 21 ( s ) = 2
U1 ( s )
Y (s)
H 22 ( s ) = 2
U 2 (s)
Y2 ( s ) = H 21( s )U1 ( s ) + H 22 ( s )U 2 ( s )
9
quadruplet (A, B, C, D)
# Toute reprsentation d'tat (A, B, C, D) d'un systme qui vrifie
H ( s ) = C (sI n A)1 B + D est appele une ralisation de H(s)
Automatique
10
1
U (s)
s + an 1s
+ L + a1s + a0
( A, B, C , D)
Y (s)
1
= n
U ( s ) s + L + a1s + a0
Equation diffrentielle
s nY ( s ) + an 1s n 1Y ( s ) + L + a1sY ( s ) + a0Y ( s ) = U ( s )
y ( n ) (t ) + an 1 y ( n 1) (t ) + L + a1 y (1) (t ) + a0 y (t ) = u (t )
y ( n ) (t ) = an 1 y ( n 1) (t ) L a1 y (1) (t ) a0 y (t ) + u (t )
Automatique
11
xn 1 (t ) = y ( n 2) (t )
xn (t ) = y ( n 1) (t )
x&1 (t ) = y (1) (t )
x&2 (t ) = y ( 2) (t )
x&1 (t ) = x2 (t )
x&2 (t ) = x3 (t )
M
x&n 1 (t ) = y ( n 1) (t )
x&n (t ) = y ( n) (t )
M
x&n 1 (t ) = xn (t )
x&n (t ) = a0 x1 (t ) a1x2 (t ) L an 1xn (t ) + u (t )
x&
OO
M x2 0
2 = M
0 M + M u (t )
O O
& M M
0
x
xn 1 0
0
1 n 1 1
x&n a0 a1 L L an 2 an 1 xn
x1
x2
y (t ) = [1 0 L 0 0] M
x
n 1
xn
Automatique
Remarques
x&n
xn
xn 1
xn 2
x2
an 1
an 2
an 3
+
+
x1
a0
a1
+
+
V (s) U (s)
Automatique
V (s)
1
= n
(I)
U ( s ) s + L + a1s + a0
Y (s)
= bm s m + bm 1s m 1 + L + b1s + b0 (II)
V (s)
13
$ Equation (I)
$ Equation (II)
Y ( s)
= bm s m + bm 1s m 1 + L + b1s + b0
V (s)
x2 = v (1)
M
Y ( s ) = (bm s m + L + b1s + b0 )V ( s )
xn 1 = v ( n 2)
xn = v ( n 1)
x&2 = x3
M
x&n 1 = xn
x&n = n 1ai xi +1 + u
i =0
Reprsentation d'tat
0 x
x&1 0 1 0 L L
1 0
0
0
1
0
0
L
x&
x2 0
2
M
O
O
M
=
M + M u (t )
M
0
M
O
O
&
x 0
xn 1 0
0
1 n 1 1
x&n a0 a1 L L an 2 an 1 xn
x1
x2
M
y (t ) = [b0 b1 L bm 0 L 0] xm +1
x
m
+
2
x
n
14
xi = xi +1
y = bm xm +1 + L + b1x2 + b0 x1
+
Schma de simulation
x&n
xn
xn 1
+
bm
xn 2
+
b0
b1
x2
xm+1
an 1
an 2
an 3
+
+
a1
x1
a0
15
Y ( s) =
s
sn
s n 1
snm
s n m 1
16
Schma de simulation
b1
b0
+
x&1
+ .
1 x1 + x2
s
a0
a1
b2
+ .
1 x2 + x3
s
bm
+
1 xm+1 + xm+1
s
a2
am
! Modle d'tat
x&1 = a0 xn + b0u
x&2 = x1 a1xn + b1u
M
x&m +1 = xm am xn + bmu
x&m + 2 = xm +1 am +1xn
M
x&n = xn 1 an 1xn
y = xn
Automatique
x&1 0 0 L L 0
x& 1 0 L L 0
&2 0 1 0 L 0
x3 =
OO M
M M
x&n 1 0 L 0 1 0
x& 0 0 L L 1
n
x1
x
y (t ) = [0 0 L 1] 2
M
x
n
xn1 1 xn1 +
s
xn
1 xn
y
s
an-1
a0 x1 b0
a1 x2 b1
a2 x3 M
+
u (t )
M M bm
an 2 xn 1 0
M
an 1 xn 0
17
bm s m + L + b1s + b0
H ( s) = n
s + an 1s n 1 + L + a1s + a0
%
i = 1,L, n
bm s m + L + b1s + b0
H ( s) =
( s n )( s n 1 )L( s 2 )( s 1 )
sX i ( s ) = i X i ( s ) + U ( s )
x&i (t ) = i xi (t ) + u (t )
pour i = 1,..., n
x&1 1
x& 0
M2 = M
& 0
x
Automatique n
0 L 0 x1 1
2 O M x2 + 1u (t )
O O 0 M M
L 0 n xn 1
y (t ) = in=1 i xi (t )
x1
x
y (t ) = [1 2 L n ] 2
M
x
n
19
n
+
x1
x1
Schma de
simulation
y
+
xn
+
Automatique
xn
n
20
H (s) =
i
a + jb
a jb
+
+ in=3
s ( + j ) s ( j )
( s i )
Y ( s ) = (a + jb)
%
en lments simples
U (s)
U (s)
U (s)
+ (a jb)
+ in=3 i
s ( + j )
s ( j )
( s i )
U ( s)
s ( + j )
sX1 ( s ) = ( + j ) X1 ( s ) + U ( s )
x&1 = ( + j ) x1 + u
X 2 (s) =
U (s)
s ( j )
sX 2 ( s ) = ( j ) X 2 ( s ) + U ( s)
x&2 = ( j ) x2 + u
x&i (t ) = i xi (t ) + u (t )
pour i = 3,..., n
Automatique
Pas de problme
pour les ples rels
x1' = x1 + x2
x '2 = j ( x1 x2 )
sX 1' ( s ) = sX1 ( s ) + sX 2 ( s )
sX '2 ( s ) = j ( sX1 ( s ) sX 2 ( s ))
Sortie
Y ( s ) = (a + jb) X1 ( s ) + (a jb) X 2 ( s ) + in=3 i X i ( s )
Automatique
x& '
& '1
x 2
x3 = 0
M M
x& 0
n
0 L 0 x1 2
0 L 0 x ' 0
0 3 O M 2 + 1 u (t )
x
'
M 0 O 0 3 M
0 L 0 n M 1
xn
x'
'1
x
y (t ) = [a b 3 L n ] 2
x3
M
x
n
22
bm s m + L + b1s + b0
H (s) =
( s 1 ) k ( s k +1 ) L ( s n )
H (s) =
Y ( s) =
%
U ( s)
X1 ( s) =
( s 1 ) k
U (s)
X 2 ( s) =
( s 1 ) k 1
M
U (s)
X k 1 ( s) =
( s 1 ) 2
U ( s)
X k ( s) =
( s 1 )
U ( s)
X i (s) =
, i = k + 1,L , n
( s i )
Automatique
k
i
1
2
n
L
+
+
+
i = k +1 ( s )
( s 1 )
( s 1 ) k ( s 1 ) k 1
i
kU ( s )
iU ( s)
1U ( s)
2U ( s)
n
L
+
+
+
i = k +1 ( s )
( s 1 )
( s 1 ) k ( s 1 ) k 1
i
X1 ( s) =
X 2 ( s)
( s 1 )
X 2 ( s) =
X 3 ( s)
( s 1 )
M
X k 1 ( s ) =
X k ( s)
s 1
X k ( s) =
U ( s)
( s 1 )
X i (s) =
U ( s)
, i = k + 1,L , n
( s i )
x&1 = 1x1 + x2
x&2 = 1x2 + x3
M
x&k 1 = 1xk 1 + xk
x&k = 1xk + u
x&i = i xi + u , i = k + 1,L, n
y (t ) = in=1 i xi (t )
23
y (t ) = in=1 i xi (t )
Bloc de Jordan
x&1 1 1 L 0
x1 0
M 0 OO M
M M
0
x& M O 1
x
0
k 1
1
k& 1
xk = 0 L 0 1
xk + 1u (t )
k +1
x&k +1
xk +1 1
M
0
O M M
1
x&
x
n
n
n
x1
y (t ) = [1 L n ] M
xn
Automatique
0
0
L
J k1 (1 )
0
J k 2 (2 ) O
M
A=
0
M
O
O
0
0
(
)
L
J
kr
r
Bloc de Jordan
i 1 0 0
avec J k (i ) = 0 i O M
i
M OO 1
0 L 0
J ki (i ) Rki ki
24
1 L s + R L
1c
1 0 0
sI 2 A = s
0 1 1 L R L
det( sI 2 A) = s ( s + R L) + 1 Lc
Lc s 2 + Rcs + 1
det( sI 2 A) =
Lc
s + R L 1 L
com( sI 2 A) =
s
1 c
Ccom( sI 2
A)T B
s + R L 1 c 0
= [1 0]
s 1 / L
1 L
Ccom( sI 2 A)T B
H (s) =
det( sI 2 A)
Automatique
H (s) =
Ccom( sI 2 A)T B =
1
Lc
1
Lc s 2 + Rcs + 1
25
Modlisation
Automatique
1 t
& (t ) = 1 i (t )
i ( )d
V
c
0
c
c
di (t )
di (t )
1
R
1
+ Vc (t ) = u (t )
Ri(t ) + L
= Vc (t ) i (t ) + u (t )
dt
dt
L
L
L
Vc (t ) =
26