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Çözümlü Sorular Vi
Çözümlü Sorular Vi
S-1:
1
s+2
1
s+3
1
s
Y ( s)
i bulunuz.
R( s)
S-2:
i f = sbt
ia
e(t)
ua
Lineer haraket
dzlemi
Ra
ub
ks
a(t)
V(t)
C(s)
Kalnlk kontrolne ait sistemde rotor kontrollu dc makine kullanlmtr. Rotor endktans La ve viskos
srtnmesi Bm ihmal edilmitir.
ub = Kb . w(t) zt emk
Bm = La =0
Te=Ki.ia(t)elektriki moment
J m : rotor ataleti
=
lineer
dili kazanc
Ks : l dzeni
(t )
V(t)= sbt malzeme ekme hz
S-3:
Not: L { f (t Td )u (t Td )} = e sTd F ( s )
F
k1
B1
x1
ekildeki sistem denge halinde halinde
iken F kuvveti uygulanmtr. x1(s) ,
toplam yer deitirmeyi elde ediniz.
x2
m
k2
B2
x3
S-4:
S-5:
1 e sT
s
4
s+2
S-6: S-1:
S-7:
8
s +1
Ak-evrim transfer fonksiyonu yukarda verilen sistem rnekleme zaman, T=0,2 sn olmak zere PI
kontrolr ile kontrol edilmek istenmektedir.
Ayrk zaman kapal-evrim kontrol blok diyagramn iziniz.
CEVAPLAR:
C-1:
1
s+2
1
s+3
1
s+3
x3 = K x2
1
s
x2 = x1
x3
s+2
x
y= 4
s
x4 =
x1 = r ( x4 + y + x2 ) denklemler birletirilir
1
sy ( s + 2)( s + 3) + sy + y + sy ( s + 2) = r
K
Y (s)
K
=
R( s ) s ( s + 2)( s + 3) + Ks ( s + 2) + Ks + K
Y (s)
K
= 3 2
R( s ) s + s (5 + K ) + s (3K + 6) + K
C-2:
e(t ) = r (t ) c(t ) K s
c(t ) = a (t Td )u (t Td )
ua (t ) = Ke(t )
E (s ) = R( s) C ( s) K s
ua (t ) = Ra ia (t ) + ub (t )
C ( s ) = A( s )e sTd
ua ( s ) = K E ( s )
ub (t ) = Kb w(t )
I a ( s) =
Te (t ) = Ki ia (t )
dw(t )
Tm (t ) = J m
dt
d (t )
w(t ) =
dt
d
Td =
V
a (t )
=
(t )
ua ( s ) ub ( s )
Ra
ub ( s ) = Kb ( s )
Te ( s ) = Ki I a ( s )
Tm ( s ) = J m s( s ) ( s ) =
Tm ( s )
sJ m
1
( s ) = s ( s ) ( s ) = ( s )
s
A( s ) = ( s )
C-3:
Sistem dengede!
i- M , k2 , B2 elemanlar kendi aralarnda seri baldr.
ii- ( M , k2 , B2 ) ve ( k1 ) ve ( B1 ) elemanlar kendi aralarnda paralel
baldr.
i)
F = k1 ( x1 x2 )
d
( x2 x3 ) = B1s ( x2 x3 )
dt
F ( s)
F ( s)
sx2 ( s ) =
+ sx3 ( s ) x2 ( s ) =
+ x3 ( s )
B1 ( s )
B1s
F = B1
F = k1 ( x1 x2 ) x1 ( s ) =
ii)
F =M
d 2 x3
dt 2
+ B2
F (s)
F (s) F (s)
+ x2 ( s ) x1 ( s ) =
+
+ x3 ( s )
k1
k1
B1s
dx3
+ k2 x3
dt
s-domeninde;
F (s)
Ms 2 + B2 s + k2 x3 ( s ) x3 ( s ) =
F
(
s
)
=
iii)
Ms 2 + B2 s + k2
ii) F = B1s ( x2 x3 ) x2 ( s ) =
F ( s)
F ( s)
F (s)
+ x3 ( s ) x2 ( s ) =
+
B1 ( s )
B1s Ms 2 + B2 s + k2
F(s)
F(s) F(s)
F(s)
+ x2 (s) x1(s) =
+
+ 2
k1
k1
B1s Ms + B2s + k2
C-4:
e* (t ) = R i (t ) + V (t )
dV (t )
i (t ) = C
I ( s ) = sCV ( s)
dt
E* ( s ) = RI ( s ) + V ( s)
E* ( s )
= RCsV ( s) + V ( s ) V ( s) =
s +1
1
s +1
V ( z ) = E ( z )G ( z )
z
z 1
z
z
z
1
(
)
G( z) = Z
V
z
=
=
z 1 z e 1
s + 1 z e1
E ( z ) = Z {u (t )} =
V ( z) =
z2
z 2 1,3678 z + 0,3678
z2
V ( z) =
( z 1)( z 0,3678)
C-5:
a)
C( z) =
G( z )
R ( z ) olmak zere;
1 + G( z)
1 e sT 4
4
1
G( z) = Z
= (1 z ) Z
rezd teoremini kullanlarak;
s + 2
s ( s + 2)
s
z 1
1
z
1
z
=4
s
s
+
(
+
2)
, T = 0,1sn
z s ( s + 2) z e sT
s ( s + 2) z e sT
s =0
s =2
z 1 1 z
z
1
0,3625
G
(
z
)
=4
z 2 z 1 2 z e0,2
z 0,8187
0,3625
0,3625 z
z
z 0,8187
C( z) =
C ( z) =
0,3625 z 1
( z 1)( z 0, 4562)
1+
z 0,8187
b)
0,3625 z
0,3625 z
C (kT ) = ( z 1)
z k 1 + ( z 0, 4562)
z k 1
( z 1)( z 0, 4562)
( z 1)( z 0, 4562)
z =1
z =0,4562
0,3625 k
0,3625
1 +
(0, 4562) k
m
11)
n
1 0, 4562
(0,
4562
d
1
( z zi )m x( z ) z k 1
x(kT ) =
z = zi k
k 1
1)! dz m
=1666(0,
(m 4562)
4562)
)
= 0, 666 i0,
C ( kT ) = 0, 666(1 (0,
=
d m1
z
1
m
x( z ) =
(
s
s
)
x
(
s
)
m1
z e sT s = si
(m 1)! ds
i =1
C-6:
= 10 sn
K
=
eklinden
5
K=
Vg ( s ) s + 1
6
elde edilir. Ts = 1sn alnarak;
V ( s )
5
G (s) = 6
10 s + 1
G( z)
1 e sT
s
sT
5 6(1 e ) 5 z 1 1
G(z) = Z
=
Z
1
60
z
s(s + 1 )
10s(s + )
10
10
5
6
10 s + 1
5 z 1
1
z
1
1
z
+ (s + )
=
s
sT
6 10 z s ( s + 1 ) z e sT
10
1
s (s + ) z e
10
10
s =0
1
s =
10
5 z 1
z
z
G( z) =
1
6 10 z 1
1
10
( z 1)
z e
10
10
5
z 1 5 z e z + 1
= 1
=
6 z e 6 (z e )
G( z ) =
10
10
10
0, 0793
z 0,9048
C-7:
z+
(K p + K I )
KI K p
K p + KI
z 1
1 e sT
s
8
s +1