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Bishop, Robert H. - The Mechatronics Handbook [CRC Press 2002] Part 12

Tham khảo tài liệu 'bishop, robert h. - the mechatronics handbook [crc press 2002] part 12', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | and the composite system output is y t y1 t . We thus obtain X 1 t X 2 t A1 B1C2 0 a2 X1 t _X2 t B1D2 B2 u t 24.146 y t C1 D1C2 X t X2 t D1D2 u t 24.147 Parallel Connection The system interconnection shown in Fig. 24.11 is known as a parallel connection. To obtain the desired state space model we observe that the input is u t u1 t u2 t and the output for the whole system is y t y1 t y2 t . We obtain X 1 t A1 0 X1 t B1 X 2 t 0 A2_ _X2 t B2 u t 24.148 y t C1 C2 X t x2 t D1 D2 u t 24.149 FIGURE 24.11 Parallel connection. Feedback Connection The system interconnection shown in Fig. 24.12 is known as feedback connection with unit negative feedback and it corresponds to the basic structure of a control loop where S1 is the plant and S2 is the controller. To build the composite state space model we observe that the overall system input satisfies the equation u t u2 t y1 t and the overall system output is y t y1 t . Furthermore we assume FIGURE 24.12 Feedback connection. 2002 CRC Press LLC and the composite system output is y t y1 t . We thus obtain X 1 t X 2 t A1 B1C2 0 a2 X1 t _X2 t B1D2 B2 u t 24.146 y t C1 D1C2 X t X2 t D1D2 u t 24.147 Parallel Connection The system interconnection shown in Fig. 24.11 is known as a parallel connection. To obtain the desired state space model we observe that the input is u t u1 t u2 t and the output for the whole system is y t y1 t y2 t . We obtain X 1 t A1 0 X1 t B1 X 2 t 0 A2_ _X2 t B2 u t 24.148 y t C1 C2 X t x2 t D1 D2 u t 24.149 FIGURE 24.11 Parallel connection. Feedback Connection The system interconnection shown in Fig. 24.12 is known as feedback connection with unit negative feedback and it corresponds to the basic structure of a control loop where S1 is the plant and S2 is the controller. To build the composite state space model we observe that the overall system input satisfies the equation u t u2 t y1 t and the overall system output is y t y1 t . Furthermore we assume FIGURE 24.12 Feedback connection. 2002 CRC Press LLC 25 .