НАТУРНО-МОДЕЛЬНЫЕ ОБУЧАЮЩИЕ КОМПЛЕКСЫ

Рисунок 18 - Обучение с использованием натурно-модельных воздействий

W^H^М

U^H^М

Y^M

Модель канала регулирования

Система отображения информации

Пульт управления

Блок формирования натурно-модельных данных

U^M

Y^H^М y

Y_w_н

δY^M^*

δU^M

Рисунок 19 - Обучение с использованием натурных воздействий

W^H

U^H

N^H

Y^M

Модель канала регулирования

Система отображения информации

Пульт управления

Блок оценивания

U^M

Y^H y

δU^M

δY^M^*

Рисунок 20 - Первичная обработка аналоговых сигналов

Генератор аналоговых сигналов

Аналоговые сглаживающие фильтры

Аналого-цифровой преобразователь

Блок цифровой коррекции

Блок децимации

Блок оценивания

T 6vpqergHEXAKfzD86LM6lOx0tCPVXvQK0uQ2ZlTBPEu4YOJ3clSQpGkMsizk/x/KbwAAAP//AwBQ SwECLQAUAAYACAAAACEAtoM4kv4AAADhAQAAEwAAAAAAAAAAAAAAAAAAAAAAW0NvbnRlbnRfVHlw ZXNdLnhtbFBLAQItABQABgAIAAAAIQA4/SH/1gAAAJQBAAALAAAAAAAAAAAAAAAAAC8BAABfcmVs cy8ucmVsc1BLAQItABQABgAIAAAAIQAI4EZtKAIAAE4EAAAOAAAAAAAAAAAAAAAAAC4CAABkcnMv ZTJvRG9jLnhtbFBLAQItABQABgAIAAAAIQAXTu224QAAAAsBAAAPAAAAAAAAAAAAAAAAAIIEAABk cnMvZG93bnJldi54bWxQSwUGAAAAAAQABADzAAAAkAUAAAAA "> h V+ryYrq/AxFxin9h+MFndKiY6eBGMkH0CrL5TcpRFuk8A8GJ382BRZ5lIKtS/v+h+gYAAP//AwBQ SwECLQAUAAYACAAAACEAtoM4kv4AAADhAQAAEwAAAAAAAAAAAAAAAAAAAAAAW0NvbnRlbnRfVHlw ZXNdLnhtbFBLAQItABQABgAIAAAAIQA4/SH/1gAAAJQBAAALAAAAAAAAAAAAAAAAAC8BAABfcmVs cy8ucmVsc1BLAQItABQABgAIAAAAIQDSycxCKQIAAE4EAAAOAAAAAAAAAAAAAAAAAC4CAABkcnMv ZTJvRG9jLnhtbFBLAQItABQABgAIAAAAIQDsbplG4AAAAAsBAAAPAAAAAAAAAAAAAAAAAIMEAABk cnMvZG93bnJldi54bWxQSwUGAAAAAAQABADzAAAAkAUAAAAA "> S xOur4eEehKfB/8Hwox/UIQ9OR9uzdqJBmI4ncUARZpPxHEQgfjdHhCSezkHmmfzfIf8GAAD//wMA UEsBAi0AFAAGAAgAAAAhALaDOJL+AAAA4QEAABMAAAAAAAAAAAAAAAAAAAAAAFtDb250ZW50X1R5 cGVzXS54bWxQSwECLQAUAAYACAAAACEAOP0h/9YAAACUAQAACwAAAAAAAAAAAAAAAAAvAQAAX3Jl bHMvLnJlbHNQSwECLQAUAAYACAAAACEAZC4e/igCAABOBAAADgAAAAAAAAAAAAAAAAAuAgAAZHJz L2Uyb0RvYy54bWxQSwECLQAUAAYACAAAACEA4d9jduIAAAALAQAADwAAAAAAAAAAAAAAAACCBAAA ZHJzL2Rvd25yZXYueG1sUEsFBgAAAAAEAAQA8wAAAJEFAAAAAA== "> T 6vxsursFEXAKfzD86LM6lOy0dyMZLzoFV0kaM6rg5jpNQDDxu9kzGqXzBGRZyP8lym8AAAD//wMA UEsBAi0AFAAGAAgAAAAhALaDOJL+AAAA4QEAABMAAAAAAAAAAAAAAAAAAAAAAFtDb250ZW50X1R5 cGVzXS54bWxQSwECLQAUAAYACAAAACEAOP0h/9YAAACUAQAACwAAAAAAAAAAAAAAAAAvAQAAX3Jl bHMvLnJlbHNQSwECLQAUAAYACAAAACEAARQYXSgCAABOBAAADgAAAAAAAAAAAAAAAAAuAgAAZHJz L2Uyb0RvYy54bWxQSwECLQAUAAYACAAAACEAG408XOIAAAAMAQAADwAAAAAAAAAAAAAAAACCBAAA ZHJzL2Rvd25yZXYueG1sUEsFBgAAAAAEAAQA8wAAAJEFAAAAAA== "> p 66vx4R5EwDH8wXCuz9Wh4E4HN5DxolVwdzuLGWVjGs0SEIz8SoezlMwTkEUu/68ofgAAAP//AwBQ SwECLQAUAAYACAAAACEAtoM4kv4AAADhAQAAEwAAAAAAAAAAAAAAAAAAAAAAW0NvbnRlbnRfVHlw ZXNdLnhtbFBLAQItABQABgAIAAAAIQA4/SH/1gAAAJQBAAALAAAAAAAAAAAAAAAAAC8BAABfcmVs cy8ucmVsc1BLAQItABQABgAIAAAAIQDdvwG4JwIAAE4EAAAOAAAAAAAAAAAAAAAAAC4CAABkcnMv ZTJvRG9jLnhtbFBLAQItABQABgAIAAAAIQD7/VDW4gAAAA0BAAAPAAAAAAAAAAAAAAAAAIEEAABk cnMvZG93bnJldi54bWxQSwUGAAAAAAQABADzAAAAkAUAAAAA ">

Рисунок 21-Испытание САР и обучение с использованием натурных воздействий

B 9BqyNF0xykWmliCYWK+SNYj970SWhfz/Q/kNAAD//wMAUEsBAi0AFAAGAAgAAAAhALaDOJL+AAAA 4QEAABMAAAAAAAAAAAAAAAAAAAAAAFtDb250ZW50X1R5cGVzXS54bWxQSwECLQAUAAYACAAAACEA OP0h/9YAAACUAQAACwAAAAAAAAAAAAAAAAAvAQAAX3JlbHMvLnJlbHNQSwECLQAUAAYACAAAACEA R58zwRQCAAAsBAAADgAAAAAAAAAAAAAAAAAuAgAAZHJzL2Uyb0RvYy54bWxQSwECLQAUAAYACAAA ACEAYRrNKt4AAAALAQAADwAAAAAAAAAAAAAAAABuBAAAZHJzL2Rvd25yZXYueG1sUEsFBgAAAAAE AAQA8wAAAHkFAAAAAA== "/>

Блок оценивания

Модель канала регулирования

Автоматический регулятор

Модель канала регулирования

Система отображения информации

Пульт управления

W U Y

N^H

U^H

W^H

Y^H

Y^M

U^M

δU^M

δY^M^*

δU^M

δY^M^*

U^M

Рисунок 22 - Испытание САР и обучение с использованием натурно-модельных воздействий

Блок формирования натурно-модельных данных

Модель канала регулирования

W U Y

Y_w_н

U^HM

W^HM

Y^HM

Y^M

δU^M

δY^M^*

Автоматический регулятор

Модель канала регулирования

Система отображения информации

Пульт управления

Y^M

U^M

Y^HM

δU^M

δY^M^*

Рисунок 23 - Формирование внешних и управляющих воздействий с желаемыми свойствами

5 evMC8fpqvL8DFmgMfzD86Ed1KKPT0Q5GedYh3GbpIqIImZjNgEXid3NEmE/FHHhZ8P8dym8AAAD/ /wMAUEsBAi0AFAAGAAgAAAAhALaDOJL+AAAA4QEAABMAAAAAAAAAAAAAAAAAAAAAAFtDb250ZW50 X1R5cGVzXS54bWxQSwECLQAUAAYACAAAACEAOP0h/9YAAACUAQAACwAAAAAAAAAAAAAAAAAvAQAA X3JlbHMvLnJlbHNQSwECLQAUAAYACAAAACEApWsEsSsCAABOBAAADgAAAAAAAAAAAAAAAAAuAgAA ZHJzL2Uyb0RvYy54bWxQSwECLQAUAAYACAAAACEArheKbOIAAAALAQAADwAAAAAAAAAAAAAAAACF BAAAZHJzL2Rvd25yZXYueG1sUEsFBgAAAAAEAAQA8wAAAJQFAAAAAA== " o:allowincell="f"> 6 C6nW11fj/R2IiGP8C8MPPqNDwUxHP5ANotWQqOSWo2zM1JwVR2bzBYvj70oWufz/RfENAAD//wMA UEsBAi0AFAAGAAgAAAAhALaDOJL+AAAA4QEAABMAAAAAAAAAAAAAAAAAAAAAAFtDb250ZW50X1R5 cGVzXS54bWxQSwECLQAUAAYACAAAACEAOP0h/9YAAACUAQAACwAAAAAAAAAAAAAAAAAvAQAAX3Jl bHMvLnJlbHNQSwECLQAUAAYACAAAACEAMyKL+ioCAABOBAAADgAAAAAAAAAAAAAAAAAuAgAAZHJz L2Uyb0RvYy54bWxQSwECLQAUAAYACAAAACEAhxqBVuAAAAANAQAADwAAAAAAAAAAAAAAAACEBAAA ZHJzL2Rvd25yZXYueG1sUEsFBgAAAAAEAAQA8wAAAJEFAAAAAA== " o:allowincell="f">

Блок оценивания

u veoNJOkiEdRAHF8vQQnxm+wkSZe3oItc//+h+AYAAP//AwBQSwECLQAUAAYACAAAACEAtoM4kv4A AADhAQAAEwAAAAAAAAAAAAAAAAAAAAAAW0NvbnRlbnRfVHlwZXNdLnhtbFBLAQItABQABgAIAAAA IQA4/SH/1gAAAJQBAAALAAAAAAAAAAAAAAAAAC8BAABfcmVscy8ucmVsc1BLAQItABQABgAIAAAA IQDOtmDxFgIAACwEAAAOAAAAAAAAAAAAAAAAAC4CAABkcnMvZTJvRG9jLnhtbFBLAQItABQABgAI AAAAIQActNjM3gAAAAsBAAAPAAAAAAAAAAAAAAAAAHAEAABkcnMvZG93bnJldi54bWxQSwUGAAAA AAQABADzAAAAewUAAAAA "/> 4 NSCsjDERRciy1RWoSPxutggmTVPQZaH/dyi/AQAA//8DAFBLAQItABQABgAIAAAAIQC2gziS/gAA AOEBAAATAAAAAAAAAAAAAAAAAAAAAABbQ29udGVudF9UeXBlc10ueG1sUEsBAi0AFAAGAAgAAAAh ADj9If/WAAAAlAEAAAsAAAAAAAAAAAAAAAAALwEAAF9yZWxzLy5yZWxzUEsBAi0AFAAGAAgAAAAh AHrcq2cVAgAALAQAAA4AAAAAAAAAAAAAAAAALgIAAGRycy9lMm9Eb2MueG1sUEsBAi0AFAAGAAgA AAAhAB4ZIB/eAAAACwEAAA8AAAAAAAAAAAAAAAAAbwQAAGRycy9kb3ducmV2LnhtbFBLBQYAAAAA BAAEAPMAAAB6BQAAAAA= "/> t 2XjRaUivlvOIakjSmyWIE6GSxTWI7e9KFrn8X6L4AQAA//8DAFBLAQItABQABgAIAAAAIQC2gziS /gAAAOEBAAATAAAAAAAAAAAAAAAAAAAAAABbQ29udGVudF9UeXBlc10ueG1sUEsBAi0AFAAGAAgA AAAhADj9If/WAAAAlAEAAAsAAAAAAAAAAAAAAAAALwEAAF9yZWxzLy5yZWxzUEsBAi0AFAAGAAgA AAAhAOOW5IgXAgAALQQAAA4AAAAAAAAAAAAAAAAALgIAAGRycy9lMm9Eb2MueG1sUEsBAi0AFAAG AAgAAAAhAE0M1SrfAAAADAEAAA8AAAAAAAAAAAAAAAAAcQQAAGRycy9kb3ducmV2LnhtbFBLBQYA AAAABAAEAPMAAAB9BQAAAAA= "/> 3 bIPqDVwul6mgBhZpKoUQqyy9BrX9neiy0P9/KL8BAAD//wMAUEsBAi0AFAAGAAgAAAAhALaDOJL+ AAAA4QEAABMAAAAAAAAAAAAAAAAAAAAAAFtDb250ZW50X1R5cGVzXS54bWxQSwECLQAUAAYACAAA ACEAOP0h/9YAAACUAQAACwAAAAAAAAAAAAAAAAAvAQAAX3JlbHMvLnJlbHNQSwECLQAUAAYACAAA ACEA+gQoxBcCAAAtBAAADgAAAAAAAAAAAAAAAAAuAgAAZHJzL2Uyb0RvYy54bWxQSwECLQAUAAYA CAAAACEABc+XQd4AAAALAQAADwAAAAAAAAAAAAAAAABxBAAAZHJzL2Rvd25yZXYueG1sUEsFBgAA AAAEAAQA8wAAAHwFAAAAAA== "/>

Ограни- читель

Модель канала регулир.

Сумматор

1 01tItb68GO/vQEQc4x8MP/qsDgU7HdxAVRCdhnSq5oxqmCmlQDDxmxw4ubmegSxy+f+H4hsAAP// AwBQSwECLQAUAAYACAAAACEAtoM4kv4AAADhAQAAEwAAAAAAAAAAAAAAAAAAAAAAW0NvbnRlbnRf VHlwZXNdLnhtbFBLAQItABQABgAIAAAAIQA4/SH/1gAAAJQBAAALAAAAAAAAAAAAAAAAAC8BAABf cmVscy8ucmVsc1BLAQItABQABgAIAAAAIQDCaO38LAIAAE4EAAAOAAAAAAAAAAAAAAAAAC4CAABk cnMvZTJvRG9jLnhtbFBLAQItABQABgAIAAAAIQC8FRbE4AAAAAsBAAAPAAAAAAAAAAAAAAAAAIYE AABkcnMvZG93bnJldi54bWxQSwUGAAAAAAQABADzAAAAkwUAAAAA "> / fLhMiJvrcfEIzOPo/2D40Q/qUAangxlIOdYJSKMkDaiAWRw/AAtEmszugR1+N7ws+P8O5QUAAP// AwBQSwECLQAUAAYACAAAACEAtoM4kv4AAADhAQAAEwAAAAAAAAAAAAAAAAAAAAAAW0NvbnRlbnRf VHlwZXNdLnhtbFBLAQItABQABgAIAAAAIQA4/SH/1gAAAJQBAAALAAAAAAAAAAAAAAAAAC8BAABf cmVscy8ucmVsc1BLAQItABQABgAIAAAAIQCeDzLpKwIAAE4EAAAOAAAAAAAAAAAAAAAAAC4CAABk cnMvZTJvRG9jLnhtbFBLAQItABQABgAIAAAAIQCrjw7B4QAAAAsBAAAPAAAAAAAAAAAAAAAAAIUE AABkcnMvZG93bnJldi54bWxQSwUGAAAAAAQABADzAAAAkwUAAAAA ">

Сумматор

Y k4uiN6CVXjJqINOLBQgmfjdbRjN1tQRZFvJ/ifIbAAD//wMAUEsBAi0AFAAGAAgAAAAhALaDOJL+ AAAA4QEAABMAAAAAAAAAAAAAAAAAAAAAAFtDb250ZW50X1R5cGVzXS54bWxQSwECLQAUAAYACAAA ACEAOP0h/9YAAACUAQAACwAAAAAAAAAAAAAAAAAvAQAAX3JlbHMvLnJlbHNQSwECLQAUAAYACAAA ACEArAax6xcCAAAsBAAADgAAAAAAAAAAAAAAAAAuAgAAZHJzL2Uyb0RvYy54bWxQSwECLQAUAAYA CAAAACEAmgyJL94AAAAMAQAADwAAAAAAAAAAAAAAAABxBAAAZHJzL2Rvd25yZXYueG1sUEsFBgAA AAAEAAQA8wAAAHwFAAAAAA== "/>

Ограни- читель

Модель канала преобраз. внешних воздей

Сумматор

1 UL2FZZKmEhWRLkVI4neztXCTmAR0kev/PxTfAAAA//8DAFBLAQItABQABgAIAAAAIQC2gziS/gAA AOEBAAATAAAAAAAAAAAAAAAAAAAAAABbQ29udGVudF9UeXBlc10ueG1sUEsBAi0AFAAGAAgAAAAh ADj9If/WAAAAlAEAAAsAAAAAAAAAAAAAAAAALwEAAF9yZWxzLy5yZWxzUEsBAi0AFAAGAAgAAAAh AGjgZ1UVAgAALAQAAA4AAAAAAAAAAAAAAAAALgIAAGRycy9lMm9Eb2MueG1sUEsBAi0AFAAGAAgA AAAhAC71mR3eAAAACwEAAA8AAAAAAAAAAAAAAAAAbwQAAGRycy9kb3ducmV2LnhtbFBLBQYAAAAA BAAEAPMAAAB6BQAAAAA= "/> s g+gN3Gh9nVAD2WKZiiOhrnQGYvM7kmUh/z9R/gAAAP//AwBQSwECLQAUAAYACAAAACEAtoM4kv4A AADhAQAAEwAAAAAAAAAAAAAAAAAAAAAAW0NvbnRlbnRfVHlwZXNdLnhtbFBLAQItABQABgAIAAAA IQA4/SH/1gAAAJQBAAALAAAAAAAAAAAAAAAAAC8BAABfcmVscy8ucmVsc1BLAQItABQABgAIAAAA IQAb42YIFgIAACsEAAAOAAAAAAAAAAAAAAAAAC4CAABkcnMvZTJvRG9jLnhtbFBLAQItABQABgAI AAAAIQBtZJdw3gAAAAwBAAAPAAAAAAAAAAAAAAAAAHAEAABkcnMvZG93bnJldi54bWxQSwUGAAAA AAQABADzAAAAewUAAAAA "/> 2 iD5ptch08hrQy9UNiJPld7VNk9Z6AbIs5P8a5Q8AAAD//wMAUEsBAi0AFAAGAAgAAAAhALaDOJL+ AAAA4QEAABMAAAAAAAAAAAAAAAAAAAAAAFtDb250ZW50X1R5cGVzXS54bWxQSwECLQAUAAYACAAA ACEAOP0h/9YAAACUAQAACwAAAAAAAAAAAAAAAAAvAQAAX3JlbHMvLnJlbHNQSwECLQAUAAYACAAA ACEArvGueRUCAAAsBAAADgAAAAAAAAAAAAAAAAAuAgAAZHJzL2Uyb0RvYy54bWxQSwECLQAUAAYA CAAAACEAko8WjeAAAAAOAQAADwAAAAAAAAAAAAAAAABvBAAAZHJzL2Rvd25yZXYueG1sUEsFBgAA AAAEAAQA8wAAAHwFAAAAAA== "/>

Система отображения информации

/ vflMqcuL6f4ORMAp/JnhB5/RoWSmgxvJeNEpSKLkhq0szNOYJ7Yk1+ktiMPvSZaF/N+i/AYAAP// AwBQSwECLQAUAAYACAAAACEAtoM4kv4AAADhAQAAEwAAAAAAAAAAAAAAAAAAAAAAW0NvbnRlbnRf VHlwZXNdLnhtbFBLAQItABQABgAIAAAAIQA4/SH/1gAAAJQBAAALAAAAAAAAAAAAAAAAAC8BAABf cmVscy8ucmVsc1BLAQItABQABgAIAAAAIQBFkzvpKwIAAE0EAAAOAAAAAAAAAAAAAAAAAC4CAABk cnMvZTJvRG9jLnhtbFBLAQItABQABgAIAAAAIQAvh30E4QAAAA0BAAAPAAAAAAAAAAAAAAAAAIUE AABkcnMvZG93bnJldi54bWxQSwUGAAAAAAQABADzAAAAkwUAAAAA "> 5 A9kgOg3LdJ5ylA21uOaJI7/SjqVkcXMLssjl/y+KbwAAAP//AwBQSwECLQAUAAYACAAAACEAtoM4 kv4AAADhAQAAEwAAAAAAAAAAAAAAAAAAAAAAW0NvbnRlbnRfVHlwZXNdLnhtbFBLAQItABQABgAI AAAAIQA4/SH/1gAAAJQBAAALAAAAAAAAAAAAAAAAAC8BAABfcmVscy8ucmVsc1BLAQItABQABgAI AAAAIQAYxc22FwIAAC0EAAAOAAAAAAAAAAAAAAAAAC4CAABkcnMvZTJvRG9jLnhtbFBLAQItABQA BgAIAAAAIQDAV8WC4AAAAA0BAAAPAAAAAAAAAAAAAAAAAHEEAABkcnMvZG93bnJldi54bWxQSwUG AAAAAAQABADzAAAAfgUAAAAA "/> 4 3jy9+VSp66vx/g5EwDH8wfCjz+pQsNPRDWS8aBXMb2cJowoWabIAwcTv5sjodJbEIItc/i9RfAMA AP//AwBQSwECLQAUAAYACAAAACEAtoM4kv4AAADhAQAAEwAAAAAAAAAAAAAAAAAAAAAAW0NvbnRl bnRfVHlwZXNdLnhtbFBLAQItABQABgAIAAAAIQA4/SH/1gAAAJQBAAALAAAAAAAAAAAAAAAAAC8B AABfcmVscy8ucmVsc1BLAQItABQABgAIAAAAIQBCRqrILQIAAE8EAAAOAAAAAAAAAAAAAAAAAC4C AABkcnMvZTJvRG9jLnhtbFBLAQItABQABgAIAAAAIQAH2VDk4gAAAAwBAAAPAAAAAAAAAAAAAAAA AIcEAABkcnMvZG93bnJldi54bWxQSwUGAAAAAAQABADzAAAAlgUAAAAA ">

W U Y

W^H

Y^H

U^H

N^H

Y^HM

U^HM

W^HM

N^HM

U^M*

W^M*

N^M*

δU^M

δW^M*

Рисунок 24. Оценивание приведённых возмущений

Блок сглаживающих фильтров

Модель канала преобразования внешних воздействий

Модель канала регулирования

Сумматор

Система отображения информации

W^н

W^*

δW

δY_w

δY_u

W^н

δY

U^*

U^н

δU

Y^н

N^н

Y^*