10 Digital Control Systems

Sampling, Z-transform, transfer function
Reg1_slide4 Chap. 13.1-3,4,(5) J.Nybo Rev.:14.04.04
Side 1 af 15

From analog to digital system Figure 13. analog control to b.1 Conversion of antenna azimuth position control system from: a. digital control Side 2 af 15 .

b.2 a. detailed block diagram showing placement of A/D and D/A converters Side 3 af 15 . Placement of the digital computer within the loop.Block-diagram of digital system Figure 13.

Digital-to-analog converter Figure 13.3 Digital-to-analog converter Side 4 af 15 .

Steps in analog-to-digital conversion: Figure 13. c. analog signal after sample-and-hold. conversion of samples to digital numbers Side 5 af 15 . analog signal.4 Steps in analog-to-digital conversion: a. b.

switch opening and closing. b. product of time waveform and sampling waveform Side 6 af 15 .5 Two views of uniform-rate sampling: a.Two views of uniform-rate sampling: Figure 13.

6 Model of sampling with a uniform rectangular pulse train Side 7 af 15 .Model of sampling with a uniform rectangular pulse train Figure 13.

Ideal sampling and the zero-order hold Figure 13.7 Ideal sampling and the zero-order hold Side 8 af 15 .

Zero Order Hold Fh (s) G h (s) ! * F (s) F* (s) ! 1 1 e  sT 1  e  sT Fh (s) !  !   s s s 1  e  sT G h (s) ! s Side 9 af 15 .

Z-transform of a sampled signal g f * (t ) ! § k !0 f ( kT ) H ( t  kT ) g F * ( s) ! L? f * ( t ) A ! z  1 ! e  sT   g § k !0 f ( kT ) e  ksT F (z) ! § k !0 f ( kT ) z  k Example 13.1 side 789) 1  z 1 1 2 3 Side 10 af 15 .1 f * ( t ) ! U (T )   g * * g f (t ) ! § H (t  kT )   F ( s) ! § e  ksT   k !0 g k !0 k F ( z) ! § z k !0 1   F ( z) ! 1  z  z  z  ! (#1 i tabel 13.

and s-transforms Side 11 af 15 .Table 13.1 Partial table of z.

Table 13.2 z-transform theorems Side 12 af 15 .

Inverse z-transform  Partial fraction expansion (partial brøker)  Power series (polynomiers division)  Tables Side 13 af 15 .

c. continuous. b. sampled input. sampled input and output C (z) G (z) ! R (z) Side 14 af 15 .Pulse Transfer Function Figure 13.8 Sampled-data systems: a.

Sampled-data systems and their ztransforms Figure 13.9 Sampled-data systems and their z-transforms Side 15 af 15 .

3 Side 16 af 15 .Exercise  Skill_assesment-Exercise 13.