OSNOVE REGULACIJSKE TEHNIKE 06.06.2004.

III kolokvij grupa A (60 minuta, 100 bodova)

1. (25 bodova)
Sustav na slici prikai pomou varijabli stanja i formiraj ABCD matrice.
Varijable stanja odaberi po fizikalnom principu. Izlazna veliina je struja I
C
.

2. (25 bodova)
Prijenosnu funkciju na slici
pretvori u prostor stanja
pomou direktnog, paralelnog
i serijskog postupka.

3. (25 bodova)
Proces opisuje prijenosna funkcija otvorenog kruga
4( 2)
( )
( 4)( 1)
O
s
G s
s s s
+
=
+ +
. Pomou jednog od ZN
postupaka odredi parametre PI regulatora.

4. (25 bodova)
Idealni paralelni PID regulator ima K
R
=10, T
I
=10s, T
D
=1s. Izraunaj i skiciraj
a) prijelaznu karakteristiku regulatora
b) bodeov dijagram regulatora
c) odaziv regulatora na signal reg. odstupanja e(t)=sin(t).

ispravak II kolokvija grupa A (30 minuta, 80 bodova)
5. (40 bodova)
Nacrtaj bodeov dijagram za sustav iz 2. zadatka. Na dijagramu oznai i odredi (brojkom!) fazno i
amplitudno osiguranje. Koliko pojaanje K je potrebno dodati u krug da bi sustav postigao faznu
rezervu 45 i amplitudnu rezervu 10dB?

6. (40 bodova)
Sustavu iz 2 zadatka dodan je PI regulator
1
( )
I
R R
I
T s
G s K
T s
| | +
=
|
\
. Odredi analitikim postupkom
provjere stabilnosti uvjete koje trebaju ispuniti (K
R
, T
I
) da bi sustav zatvoren jedininom
povratnom vezom bio stabilan.

ispravak I kolokvija grupa A (30 minuta, 80 bodova)

7. (40 bodova)
Sustav opisuje linearna diferencijalna jednadba: 2 y y u + = && &
Odredi i skiciraj vrijednost y(t) ako je ulazni signal ( ) sin( ) ( ) u t t s t = , a poetna stanja
(0) 2; (0) 0 y y = = &

8. (40 bodova)
Za sustav na slici odredi
a) prijenosnu funkciju G(s)=Y(s)/F(s)
ekvivalentnu elektrinu shemu sa ucrtanim
polaritetima napona i smjerovima struja
b) y(t) ako je sustav za t<0 u ravnotenom
stanju a sila koja djeluje na sustav iznosi
-2.9116
( ) ( )
t
f t e s t

= a m=K=1, B1=B2=6
s+3
s+1
s+2
1+4s
x
2
4
s+4
x
1
x
3
m
k
B
2
y(t)
B
1
f(t)
R
1
L
C
R
2
U
UL
I
C
Zadatke rjeavao Dejan Perovi. Komentirao Dalibor Brnobi.
1.Zadatak


( )
( )
( )
( )
( )
( )
1 1 2 2 1 1
1 2 1
1 2 1
2 1 1
2 1
1 2 1 1
1 1
1 1
1
1
2 1
1
2
1
) (
) 2
) (
) 1
x R x R R sC x U
U R I R R sC U U
U R I R R I U
U R I R I R I U
U R I R I I U
sL R x sCR x U
sL R I sCR U U
sL I R I sCR U U
sL I R I sC U U
sL I R I I U
sC U I
sL I U
I I I
U R I IR U
U IR U
x I
x U
ul
c l c ul
c l c ul
c c l c ul
c c c l ul
ul
l c ul
l l c ul
l l c ul
l c l ul
c c
l l
l c
c c ul
l ul
l
c
+ + + =
+ + + =
+ + + =
+ + + =
+ + + =
+ + =
+ + =
+ + =
+ + =
+ + =
=
=
+ =
+ + =
+ =
=
=
1 1 2 2 1 1
2 1 2 1 1
2 1
2
1 1
) ( x R x R R C x u
L x R x CR x u
x x s
x sx
U u
ul
+ + + =
+ + =
=
=
=
&
& &
& &
&
[ ]
(

+
+
(

+
=
+
+
+

+
=
= = = =
(
(
(
(

+
+
(
(
(
(

+ +
+

=
(

+
+
+

+
=
|
|

\
|
+
+
|
|

\
|

+
+
+
=
+
+
+
+
+
=
=
=
+

+
=
= +
) (
1
) ( ) (
1
) ( ) ( ) (
1
) (
1
) (
1
) ( ) (
) ( ) (
1
) ( ) ( ) (
1
) 2
) (
1
) ( ) (
) 1
) ( ) ( ) (
) 1
) ( ) ( ) (
) ( ) 2
2 1 2 1
1
2 1
2 1 2 1
1 2
1
2 1
1 1
2 1
1
2 1
1
2 1
1
2 1
1
2 1
1
2 1
2
1
2 1 2 1
1 2
1
2 1
1
2 1
1
2
1
2 1
1
2 1
1 1
2
2 1
1 2
2 1
1
2 1
1 2
2
1 2 1 1
2
2 1 2 1 1
2 1
1 2
2 1
1
2 1
1
1 2 1 2 1 1
R R R R
R
R R
y
R R
u
R R
R x
x
R R
y
x C sCx sCU I y
R R CL
R
L
R R C
L
R
R R L
R
R R L
R
R R C
R
R R C
x
x
R R C
u
R R C
R x
x
R R C
x
u
R R L
R
L
x
L
R
R R L
R
R R L
R x
x
R R CL
R x
R R CL
x
R R CL
u
L
R x
L
u
x
L
R x
L
CR x
L
u
x
L x R x CR x u
R R C
R x
R R C
x
R R C
u
x
R x x u R R C x
c c
&
&
&
&
&
&
&
&
& &
&
&


ini mi se da rjeenje za derivaciju x2 ima greku.
2.Zadatak

[ ] [ ] [ ] 0 0 0 1
4
0
0
1 0 0
5
1
10
1
0
5
1
10
29
10
5
1
10
29
10
3 10
10
1
5
1
2 10
4
4
1
10
3
10 1
2
1
4
3
2
1
3 2 1 1
3 2 1 1
2 3 2
3 2 2
3 3
3 3
2
1
3
2
3
+ =
(
(
(

+
(
(
(
(
(
(

=
(
(
(

+ + =
+ = +
=
= +
=
= +
=
+
+
=
+
=
+
=
y
x
x
x
x x x x
x sx x s x
x x x
x s x x
x u x
u x sx
x y
s
s
x
x
s x
x
s u
x
veza
Serijska
&
&
&
&
&
&













( )
[ ] [ ] [ ] 0 0 8 4 . 2
1
0
0
10
111
10
111
1
1 0 0
0 1 0
8 4 . 2 ) 1
10 10
111
10
111
10 111 111 10 ) 2
10 111 111 10 ) 2
8 24 ) 1
10 111 111 10
1
8 24
10 111 111 10
8 24
3
2
1
2 1
3 2 1 3
1 2 3 3
3
3 2
2 1
1
2 3
2 3
+ =
(
(
(

+
(
(
(
(

=
(
(
(

+ =
+ =
= + + +
=
= =
= =
=
+ + + =
+ =
+ + +
=
+ =
+ + +
+
=
y
x
x
x
x x y
u
x x x x
u x x x x
x x
x x x
x x x
x x
x x x x u
x x y
s s s u
x
s
x
y
s s s
s
s G
veza
Direktna
&
&
&
&
&
& & & &
& & &
& &
& & & & & &
&


















( )
( )( )( )
( )( ) ( )( ) ( )( )
[ ] [ ] [ ] 0 062 . 0 26 . 0 2 . 0
062 . 0 262 . 0 2 . 0
1
1
1
10 0 0
0
10
1
0
0 0 1
10
10
1
10 10
10 1
1
1
1
062 . 0
62 . 2
20 . 0
24 8 1 10 1 10 1 10 10 1
10 10 1 1 10 10 1 1
24 8
Paralelna
3 2 1
3 2 1
3
2
1
3 3
3
2
2
2
1 1
1
+ =
+ =
+ + =
(
(
(

+
(
(
(

=
(
(
(

=
+
=
=
+
=
=
+
=
=
=
=
+ = + + + + + + + +
+
+
+
+
+
=
+ + +
+
=
y
x x x y
Cx Bx Ax y
x
x
x
x u x
s u
x
x u
x
s u
x
x u x
s u
x
C
B
A
s s s C s s B s s A
s
C
s
B
s
A
s s s
s
s G
veza
&
&
&
&
&
&


















3.Zadatak

( )( )( ) ( )
( )( )
( )
( )
( )
32000 2000 50
400
16 6400
0 80 64 6400
80 4 400 16
0
100
400 4
0
0
0
80
4 400
16
1
80 4 400 50
80 4 400 40 10
80 4 10 40
20 4 10 40
2 3
3 0 1 2
0
1
2
3
0
1
2
3
2 3
2 2 3
2
+ + + =
=
=
= +
+ =
=

=
+ =
=
=
+ + + + =
+ + + + + =
+ + + + =
+ + + + =
s s s A
k
k
k k
k k A
a a a a A
a
k
k
a
a
a
k a
k a
a
a
k k s s s A
k ks s s s s A
k ks s s s A
s k s s s A
z
z
z
z
z
z
z
>
>
>
>
>
>

Nemogue odredit, nestabilan sustav

Komentar: sustav se ne moe podesiti prema ZN eksperimentu u otvorenom krugu
(astatizam!), ali niti prema ZN eksperimetu u zatvorenom krugu (sustav se ne moe dovesti na
granine oscilacije). Problem je u (neispravljenom) tekstu zadatka gdje treba biti
Trebalo bi biti
( )
( )
( )( ) 10 40
200 4
+ +
+
=
s s s
s
s G
o


4.Zadatak
Idealni PID regulator

( )
100
1
10
1
10
10 10
10
1
10
1 1
1
10
1
2
=
=
=
=
=
|
|

\
| + +
= |

\
|
+ + =
D
P
D
D
I
I
P
I
P R
K
K
K
T
K
K
K
T
K K
s
s s s
s
s G


-20
-10
0
10
20
30
40
M
a
g
n
i
t
u
d
e

(
d
B
)
10
-2
10
-1
10
0
10
1
10
2
10
3
-90
-45
0
45
90
P
h
a
s
e

(
d
e
g
)
Bode Diagram
Gm = Inf , Pm = 95.7 deg (at 0.1 rad/sec)
Frequency (rad/sec)


Zadatak a) i c) dio zadatka nije rijeen. Najelegantniji nain rjeavanja je izraun odaziva
svakog dijela regulatora zasebno u vremenskoj domeni svodi se da deriviranje i integriranje
jednostavnih signala. Vrijedi i za a) i za c)






5.Zadatak
( )( )
1 log
1 log
0 log
48 . 0 log
1
1 . 0
10
1
33 . 0
6 . 7 log 20
4 . 2
1
10
1 10 1
) 1
3
( 4 . 2
) (
4
3
2
1
4
3
2
1
0
=
=
=
=
=
=
=
=
=
= =
=
|

\
|
+ + +
+
=
w
w
w
w
T
w
T
T
T
T
K A
K
s
s s
s
s G
n
o


log w Nagib -1 / +1

G1 0.48 20 -0.52/1.48 0/+90
G2 0 -20 -1/+1 0/-90
G3 -1 -20 -2/0 0/-90
G4 1 -20 0/2 0/-90

o
R
120 =
-150
-100
-50
0
50
M
a
g
n
i
t
u
d
e

(
d
B
)
10
-3
10
-2
10
-1
10
0
10
1
10
2
10
3
-180
-135
-90
-45
0
P
h
a
s
e

(
d
e
g
)
Bode Diagram
Gm = Inf dB (at Inf rad/sec) , Pm = 106 deg (at 0.213 rad/sec)
Frequency (rad/sec)

6. zadatak nije rijeen?!?!

7.Zadatak
( )
) ( ) sin 2 . 0 cos 4 . 0 1 . 0
2
5
( ) (
1
2 . 0
1
4 . 0
2
1 . 0
2
5
) (
2 . 0
4 . 0
1 . 0
2
5
2 5
2 2
2 2 4
2
) 2 ( ) 1 ( ) 2 )( 1 ( 5 2 4 2
1 2 ) 2 )( 1 (
5 2 4 2
2 4
1
1
) 2 (
1
1
4 2 2
1
1
)) 0 ( ( 2 ) 0 ( ) 0 (
1
1
) (
0 ) 0 (
2 ) 0 (
) ( ) (sin ) (
) ( 2
2
2 2
2 2 2 3
2 2
2 3
2
2
2
2
2
2
2
t S t t e t y
s s
s
s s
s y
D
C
B
A
A
D B A
D C A
C B A
s s D Cs s Bs s s A s s s
s
D Cs
s
B
s
A
s s s
s s s
y
s
s
s s y
s
sy s y s
s
y sy y sy y s
s
s U
y
y
t S t t u
t u y y
t
=
+

+
=
=
=
=
=
=
+ + =
+ + =
+ + =
+ + + + + + + = + + +
+
+
+
+
+ =
+ +
+ + +
=
+ +
+
= +
+
= +
+
= +
+
=
=
=
=
= +

&
&
& & &










-6 -4 -2 0 2 4 6 8
-2500
-2000
-1500
-1000
-500
0
500
t
7. Zadatak


Tu je trebalo iscrtati funkciju samo za t>0.


























8.Zadatak

( )
( )
9116 . 2
1
) (
) ( ) (
6 37 12
6
) (
36 ) 12 1 )( 6 (
6
) )( (
) (
) )( (
) (
) (
) (
) (
) (
) (
0
) (
0
)
9116 . 2
2
2 2 2 2
1 1 2 1
2
1
1
2 2
1 1 2 1
2
1
1 1 1 2
1
1
2
1
1 1 1 2 2
1
1
2
1
2
1 2 1
2
1
2 2 2 1 2 1
2 1 1 1
2
2 2 2 1 2 1
2 1 1 1
+
=
=
+ +
=
+ +
=
+ + +
=
=
(

+ + +
= + +
+
= + +
+
=
= +
= + +
= +
= + +
= +

s
s F
t s e t f
s s
s G
s s s s
s
s B s B s B k s B ms
s B
s G
F
s B
s B s B s B k s B ms
y
F s B y s B s B k
s B
s B ms y
F s B y s B s B k y
s B
s B ms y
y
s B y s B ms y
F ky sy B y y s B
y y s B y ms
f ky y B y y B
y y B y m
a
t
& & &
& & & &







( ) ( )
t t t
t t t t
e t e t e t y
e t e t e t e t y
s
s s s
s
s Y
s s s
s
s Y
s s s
s
s Y
s s s s s
s
s Y
C
B
A
C B
C B A
C A
s s C s B As
s
C
s s
B As
s s s
s s s
s Y
s F s G s Y
916 . 2 542 . 1 542 . 1
916 . 2 542 . 1 542 . 1 542 . 1
2 2 2
2 2
2 2
2 2
2
2 2
2
91 . 90 36 . 1 sin 52 . 23 36 . 1 cos 91 . 90 ) (
91 . 90 36 . 1 sin 765 . 11 36 . 1 sin 765 . 11 36 . 1 cos 91 . 90 ) (
9116 . 2
1
91 . 90
87 . 1 ) 542 . 1 (
36 . 1
76 . 11
87 . 1 ) 542 . 1 (
36 . 1
76 . 11
87 . 1 ) 542 . 1 (
87 . 1
91 . 90 ) (
9116 . 2
1
91
87 . 1 ) 542 . 1 (
36 . 1
36 . 1
16
87 . 1 ) 542 . 1 (
87 . 1 87 . 1
91 . 90 ) (
9116 . 2
1
91
87 . 1 ) 542 . 1 ( 12
66 . 191
87 . 1 ) 542 . 1 ( 12
1091
) (
9116 . 2
91
6 37 12
66 . 191
6 37 12
1091
) (
91
66 . 191
1091
6 6 9116 . 2
0 37 9116 . 2
0 12
6 37 12 ) 9116 . 2 ( 6
9116 . 2 6 37 12 ) 9116 . 2 (
1
) 6 37 12 (
6
) 9116 . 2 (
1
6 37 12
6
) (
) ( ) ( ) (


+ =
+ + =
+

+
+
+
+
+
+
=
+

+
+
+
+
=
+

+
+
+
=
+

+
+ +
+
+ +
=
=
=
=
= +
= + +
= +
+ + + + + =
+
+
+ +
+
=
+ + +
+ + +
=
=