Professional Documents
Culture Documents
233
233
? ? ? ?
K
233
??W
K??
K
K
]<gj]<]<j<^]<]
233
K1J 1
K2J 1
K3J 1
K4J 1
K1J 4J 1
K2J 4J 1
K3J 4J 1
K4J 4J 1
K5J 4J 1
K5J 1
K1J 5J 1
K2J 5J 1
K6J 1
EFK1J 6J 1
K2J 6J 1
K7J 1
K8J 1
K9J 1
-1-
233
W
W
K
EF
K
-2-
233
IntroductionJ K1-1
EControl-SystemF
K K
J J J F
KE
K
KKK
K
W
KKKK
-3-
EUrban
233
PlanningFETransportation
SystemsF
KEEnvironmentF
ERobotFEComputersF
K
WE1J 1F
E1J 1F
EFK
-4-
233
E1J1F
KK
WE2J 1F
E2J1F
KKE2J 1F
K
-5-
233
F
K
KE
WE3J 1F
E F E3J 1F
E F
K
E
F
Pneumatic valve
Controller
Inflow
Outflow
(a)
Desired level
Controller
Pneumatic
valve
Water tank
Float
(b)
E3J1F
-6-
Actual level
233
E3J FE3J 1F
WEFE4J 1F
EF
E4J 1F
EFEF
KE4J FK
Brain
E8J1F
Input
Brain
Hand
Muscle
Hand
Output
E F
Eye
(b)
E4J1F
-7-
233
WE5J 1F
ENumerical ControlF
E5J 1F
KENumbersF
KEF
KEReaderF
EF
Frequency-modulated pulse
Controller
Reader
Tachometer
D-A
conv
Pulse D-A
conv
Tape
Amp
Motor
Cutter
Feedback
E5J1F
K
K
-8-
233
WE6J 1F
WE7J 1F
blast F
KE6J 1F
35Efurnace
F 4000
KE
Iron ore
1
2
3
4
Top gas
Blast
furnace
Coke
Limestone
Hot air
Steam
Oxygen
Oil
Slag
Pig iron
Command
Computer
Command
Reference input
E6J1F
KE
K
-9-
233
K
K
KK
WE8J 1F
E7J 1F
PulsesK
J U a
EF K
Ua
E7J1F
- 10 -
233
KBlock diagramK
blocks
Ktransfer function
E8J 1FK
X (s)
G (s)
Y(s)
E8J1F
- 11 -
233
Y(s) = G(s)X(s)
G(s) =
Y(s)
X(s)
Summing Element J
KE9J 1FEF
X1(s)
X2(s)
+ +
X3(s)
Y(s)
+
Xn(s)
E9J1F
233
Error Detector J
7
KE10J 1F
R(s)
E(s)
C(s)
E10J1F
W
E(s) = R(s) C(s)
(3 - 3)
Branch point J
C(s)
KE11J 1F
K
- 13 -
C(s)
233
C(s)
C(s)
E11J1F
K J
J
K
K J
J
K
J
K
E1J 3F
H,X,Y,Z PK
KS
- 14 -
Transformation
233
Equation
Combining Blocks
in Cascade
Y = (P1P2)X
Combining Blocks
In parallel; or
Eliminating a
Forward Loop
Y = P1 X P2X
Removing a block
From a Forward
Path
Eliminating a
Feedback loop
Removing a Block
From a Feedback
Loop
Equivalent Block
Diagram
Block Diagram
P1
P2
P1
Y = P1(X
Y = P1(X
P2
P2Y) X
P1
P2
P2Y)
E 1J3F
- 15 -
P1 P2
X
Y = P1 X P2X
P1 P2
P1 +
P2
P2
P1
1 P1P2
X 1 +
P2
P1P2
Transformation
233
Equation
6a
Rearranging
Summing Points
Equivalent Block
Diagram
Block Diagram
Z=WXY
6b
Rearranging
Summing Points
Z=WXY
10
11
Moving a Summing
Point Beyond of a
Block
Moving a Takeoff
Point Ahead of a
Block
Moving a Takeoff
Point Beyond a
Block
Moving a Takeoff
Point Ahead of a
Summing point
Z = PX Y
Z = P(X Y)
Y = PX
Y = PX
P
P
P
1
P
Z=XY
Y
Y
Z
12
1
P
Moving a Takeoff
Point Beyond a
Summing point
Moving a Summing
Point Ahead of a
Block
Z=XY
Y
- 16 -
X
Y
X
233
KE12J 1FK
Input nodes
X4 (Source)
Mixed nodes
d
Input nodes
(Source)
X2
X3
X1
Output nodes
(Sink)
X3
E12J1F
K K
- 17 -
233
Masons rule
K
KE13J 1F
(a)
X2
X1
b
(b)
X2
X1
ab
X1
X3
a
(c)
a+b
=
X2
X1
X1
X2
b
a
X1
(d)
X4
b
X2
X4
bc
X2
(e)
ac
X1
X2
X3
X1
ab
X3
X1
ab
1-bc
=
X1
X3
bc
E13J1F
X 2 = aX1 Ea13J
WE13J 1F
1F X 2 J 1
- 18 -
233
J 2
KEb13J 1F
J 3
Ec13J 1F
Ed13J 1FJ 4
WEe13J 1FJ 5
x 3 = bx 2 , x 2 = ax 1 + cx 3
x 3 = abx 1 + bcx 3
x 3 = [ ab /(1 bc ] x1
KE14J 1F
R(s)
G(s)
C(s)
G(s)
R(s)
E(s)
R(s)
G(s)
R(s)
C(s)
G(s)
1
E(s)
R(s)
C(s)
-H(s)
H(s)
N(s)
N(s)
R(s)
E(s)
G1(s)
G2(s)
C(s)
R(s)
G1(s)
E(s)
-H(s)
H(s)
K E14J1F
- 19 -
G2(s)
C(s)
233
1
Pk k
k
(3 - 15)
P=
= determinant of graph
Z1J EFHEF
J EFHKKKKKKK
1 La + Lb Lc
a
b ,c
d ,e , f
Le L f
+ ..........
La Z
a
Lb Lc Z
b ,c
d ,e , f
Le L f Z
k k
WE9J 1F
K
K C ( s)
R(s)
- 20 -
233
P1 = G 1G 2 G 3
L1 = G 1G 2 H 1
L 2 = G 2 G 3 H 2
L 3 = G 1G 2 G 3
= 1 (L1 + L 2 + L 3 )
= 1 - G 1G 2 H 1 + G 2 G 3 H 2 + G 1G 2 G 3
1
P1
W
1 =1
W C ( s)
R( s)
- 21 -
233
P
C (s)
=P= 1 1
R( s)
=
G 1G 2 G 3
1 - G 1G 2 H 1 + G 2 G 3 H 2 + G 1G 2 G 3
WE10J 1F
K
W
W
P1 = G 1G 2 G 3 G 4 G 5
P2 = G 1G 6 G 4 G 5
P3 = G 1G 2 G 7
W
L 1 = G 4 H 1
L 2 = G 2 G 7 H 2
L 3 = G 6 G 4 G 5 H 2
L 4 = G 2 G 3 G 4 G 5 H 2
W L 2 L1
- 22 -
233
= 1 (L1 + L 2 + L 3 + L 4 ) + L1 L 2
W P1 1
Actuating signal
Input signal
(command)
System
components
Output signal
(controlled variable)
E15J1F
K E15J 1F
- 23 -
233
K
Actuating signal
Controller
Input signal
(command)
- E
k
M
feedback-path
System
components
forward-path
System
components
Output signal
(controlled variable)
E16-1)
block diagramE16J 1F
controller KE
plant
EFK
operational amplifier
K
KplantEF
K
- 24 -
233
K6-1
J
K
K
K
Kreference input
K
K
KK
- 25 -
233
K7-1
Block Diagram of a Closed-loop Control System
E17J 1F
E
F C(s)
W
Branch point
Summing point
E(s)
R(s)
G(s)
C(s)
Output
C(s)
E17J1F
E F
H(s)
C(s) KE6J 3F
W B(s)
R(s)
E(s)
B(s) = H(s)C(s)
G(s)
(3 - 5)
C(s)
B(s)
H(s)
E18J1F
WE18J 1F
- 26 -
233
G(s) =
C(s)
E(s)
(3 - 6)
H(s) =
B(s)
C(s)
(3 - 7)
G(s)H(s) =
B(s)
E(s)
(3 - 8)
WE8J 3F
C(s) = G(s)E(s)
E(s) = R(s) B(s)
(3 - 9)
WE9J 3FE5J 3F
- 27 -
233
C(s) = G(s)E(s)
C(s) = G(s)[R(s) - H(s)C(s)
C(s) = G(s)R(s) - G(s)H(s)C(s)
C(s) + G(s)H(s)C(s) = G(s)R(s)
[1 + G(s)H(s)]C(s) = G(s)R(s)
C(s)
G(s)
=
R(s) 1 + G(s)H(s)
(3 - 10)
C ( s) =
G(s)
R(s)
1 + G(s)H(s)
- 28 -
(3 - 11)
233
K8-1
Closed-loop Control System Subjected to a disturbance
D( s)
R(s)
E19J 1F
WD(s)
Z R(s)J
K R(s)
D(s) R(s)ZJ
KD(s)
Disturbance
N(s)
R(s)
G1(s)
C(s)
G2(s)
H(s)
E19J1F
D(s) C D ( s) KR(s) C R ( s)
C n (s)
G2 (s)
=
N ( s ) 1 + G1 ( s ) G 2 ( s ) H ( s )
(3 - 12)
- 29 -
233
C R (s)
G1 ( s )G2 ( s )
=
R( s ) 1 + G1 ( s )G2 ( s ) H ( s )
(3 - 13)
R(s)
W D(s)
C ( s) = C R ( s) + C N ( s)
=
G 2 (s)
[G1 ( s ) R ( s ) + N ( s )]
1 + G1 ( s )G 2 ( s ) H ( s )
(3 - 14)
J 3FK
K
E
E18J 1F
KEJ 3F
- 30 -
233
:E11J 1F
WE12J 1F
CR
:
- 31 -
233
WEFEF
G 1G 2 G 3
1 G 1G 2 H
C(s)
=
GG G
R(s)
1+ 1 2 3
1 G 1G 2 H
WE1 G 1G 2 H F
G1G2 G3
C (s)
=
R ( s ) 1 + G1G2 H + G1G2 G3
- 32 -
233
WE13J 1F
KK
WE14J 1F
K
- 33 -
233
WE15J 1F
K
- 34 -
233
WE16J 1F
K C
R
- 35 -
233
J 1
J 2
J 3
J 4
J 5
K J 6
K J 7
- 36 -
233
K C ( s) J 8
R(s)
K C(s) J 9
K
- 37 -
J 10
233
J 11
Y(s)
R(s)
Y(s)
,
N(s) R =0
,
N =0
E(s)
R(s)
E(s)
N(s) R =0
,
N =0
J 12
Y5
,
Y1
Y4
,
Y1
Y2
,
Y1
Y5
Y2
- 38 -
233
- 39 -
]<gj]<]<j<^]<]
233
K1J 2
K2J 2
K1J 2J 2
K2J 2J 2
K3J 2J 2
K4J 2J 2
K5J 2J 2
K6J 2J 2
K7J 2J 2
K3J 2
K4J 2
K1J 4J 2
K2J 4J 2
K3J 4J 2
K4J 4J 2
K5J 4J 2
K6J 4J 2
K7J 4J 2
- 40 -
233
W
W
- 41 -
233
K1-2
Kerror signal
EF
KJ
KJ 2
KJ 3
KJ 4
KJ 5
K
K
- 42 -
233
Laplace Transform
{Exponential FunctionsSinusoidal Function
KS-plane
K Real PartJ
.j Imaginary Part
Y- x-axis
KS-planeE1J 2F
j
s-plane
1
1 + j1
s1
S-plane1J2
- 43 -
axis
233
G (s)
WS
b 0 s m + b1s m 1 + ....... + b m
G(s) =
a 0 s n + a 1s n 1 + ....... + a n
W
(s z )(s z )........(s z )
1
2
m
G(s) = K (s p )(s p )........(s p )
1
E2J 2F
S-plane
poles E P1 P2 , .., Pm FsEsF
zero E Z1 , Z2 , , Zn FXEXF
poleKEOF
W1J 2
Gs Poles and Zeros
G(s) =
25( s + 4)( s + 2)
s ( s + 3)( s + 5) 2
WS-plane
W
Poles
2
s(s + 3)(s + 5) = 0
S1 0,
S2
233
WZeros
25(s + 4)(s + 2) = 0
s1 = 4 , s 2 = 2 (simple zeros)
j
S-PLANE
G-PLANE
SIMPLE
POLE
SECOND
ZEROS
ORDER POLE
X
-5
C
O
-4
E
X
-3
B
O
-2
D
X
-1
W2J 2
S-
G(s) Poles and Zero
G(s) =
G(s) =
K ( s + 4)
( s + 6)( s 2 + 2s 10)
K(s + 4)
(s + 6)(s + 1 + j3)(s + 1 j3)
- 45 -
Wplane
W
W
233
Wpoles
W
s1 = 6, s 2 = 1 j3, s 3 = 1 + j3
poles
E3J 2FS-plane
Kand zeros
j
S-PLANE
COMPLEX POLE
B
- +3
ZEROS
SIMPLE
POLE
- +2
A
x
-6
-5
D
o
-4
- +1
-3
-2
-1
- -1
- -2
COMPLEX POLE
C
- +4
- -3
- -4
- 46 -
233
ZL
ZEf(t) F(s
Wt(f)
st
l[ f (t )] = F ( s) = e dt[ f (t )] = f (t )e dt E3J 2F
st
W3J 2
Step Functions
K E4J 2F
W
f (t ) = 0
f(t) = K
for t 0
for t 0
f(t)
E 4J2F
- 47 -
233
W
W
l[ f (t )] = K e st dt
F (s) =
K st
e
S
l[ f (t )] = F ( s ) =
K
K
e e 0 =
S
S
K
S
if K = 1 then F ( s ) =
1
S
W4J 2
Ramp Function
EtFE5J 2F
f (t ) = 0
for t 0
f(t) = Kt
for t 0
KK
f(t)
K
1
t
E 5J2F
- 48 -
233
W
W
F ( s) =
K
2
s
WEk=1F
F (s) =
K
2
s
W5J 2
Exponential Function
WE6J 2F
f (t ) = 0
f(t) = e
Kt
for t 0
for t 0
KK
W
W
f(t)
E 6J2F
- 49 -
233
l[ f (t )] = e e dt = e ( s + k )t dt
kt
st
1
e ( s + a ) t
S+K
1
l[ f (t )] = F ( s ) =
S+K
F ( s) =
1
1
e e 0 =
[0 1]
S+K
S+K
W6J 2
Sinusoidal Function
WE7J 2F
f (t ) = 0
f(t) = sin t
for t 0
for t 0
Sin t
t0
E 7J2F
W
W0
L[sin t ] = F ( s ) =
s +2
2
WEcos t F
- 50 -
233
f (t ) = 0
f(t) = cos t
for t 0
for t 0
L[cos t ] = F ( s) =
s
s +2
2
EtF
E1J 2FEsF
1 f(t) = 15
W7J 2
W
2 - f(t) = 5 + 4e -2t
3 f(t) = t - 2e -t
4 x(t) = 20sin4t
5 - y(t) = 2t + cost
6 - h(t) = 100 + 14t + 8cost
W
WE1J 2F
15
s
- 2t
2 - F(s) = L[5 + 4e ] = L[5] + L[4e t ]
15
4
9(s + 10)
= +
=
s s + 2 s(s + 2)
3 F(s) = L[t - 2e -t ] = L[t ] L[2e t ]
1 F ( s ) = L[15] =
1
2
(1 + s - 2s 2 )
)
(
)
=
s +1
s2
s 2 ( s + 1)
4
80
4 X(s) = L[20sin4t] = 20[ 2
]= 2
2
s +4
s + 16
2
s
5 Y(s) = L[2t + cos3t] = 2 + 2
s
s +9
100 14
8s
+ 2+ 2
6 H(s) = L[100 + 14t + 8cost] =
s
s
s +1
=(
- 51 -
233
f(t)
F(s)
e-at
te-at
sin t
cos t
tn
tne-at
1
s2
1
s+a
1
(s + a) 2
2
s + 2
s
2
s + 2
(n=1,2,3,)
(t=1,2,3,)
1
(e at e bt )
b -a
1
(be bt ae at )
b -a
10
11
12
1
s
1
1
(be at ae bt )
1+
ab a b
13
e-atsin t
14
e-atcos t
n!
s n+1
n!
(s + a) n+1
1
(s + a)(s + b)
s
(s + a)(s + b)
1
s(s + a)(s + b)
(s + a) 2 + 2
s+ a
15
16
1
(at 1 + e at )
2
a
1 2
e n t sin n 1 2 t
1
1
17
(s + a) 2 + 2
= tan
e n t sin( n
1
2
s (s + a)
2n
s 2 + 2n s + 2n
1 2 t )
s
2
s + 2n s + 2n
1 2
E1J 2F
- 52 -
233
Multiplication by a ConstantWE1F
Wf(t)F(s)k
2F
2F
DifferentiationWE3F
L[
df(t)
] = sF(s) lim f(t) = sF(s) - f(0) E6J
t 0
dt
2F
Kt=0f(t)f(0)
W
L[
d 2 f(t)
] = sF(s) sf(0) - f (0) E7J
dt 2
2F
IntegrationWE4F
Wsf(t)
L[ f ( )d ] = F(s) + f
s
(0)
s
E8J 2F
KE1J 2F
- 53 -
233
F(sF KEtFEsF
W L1 Kf(t)
2F
W
W8J 2
F(s) =
s + 10
W
W
E1J 2F4
Wa=10
f(t) = L1[
1
] = e 10t
s + 10
W9J 2
F(s) =
27
s + 81
2
F(s) = 3
- 54 -
9
s + 92
2
W
W
233
E1J 2F6
W = 9 3
E1J 2F
E2J 2FK
W
G ( s) = K
( s z1 ) (( s z 2 )..........(s - z m )
( s P1 )(s - P2 )...........( s Pn )
E Z1 , Z 2 ,..... Z m F K
K n m
W
F(s) =
A1
A2
An
+
+ ....... +
s + p1 s + p 2
s + p n1
E10J 2F
- 55 -
233
WE A1 , A 2 ,..... A n F
A1 = (s + p1 ).F(s)
s = p1
A 2 = (s + p 2 ).F(s)
s = p2
A n = (s + p n ).F(s)
s = pn
E10J 2F A1 , A 2 ,..... A n
WK
-p1t
+ A 2e
-p 2t
+ ........ + A n e
-p nt
W10J 2
W
F ( s) =
( s + 3)
( s + 1)( s = 2)
W
W
F(s) =
A1
A
+ 2
s +1 s + 2
W A1 , A 2
A 1 = (s + 1)
s+3
(s + 1)(s + 2)
A 2 = (s + 2)
s+3
(s + 1)(s + 2)
-1 + 3 2
= =2
-1 + 2 1
-2+3 1
=
= 1
- 2 +1 1
s = 1
s = 2
W1
F(s) =
2
1
s +1 s + 2
- 56 -
233
F(t) = L-1 [
2
1
] L-1 [
]
s +1
s+2
f(t) = 2e - t e -2t
11WJ 2
W
X ( s) =
200
s(s + 10)
W
W
X(s) =
A1
A2
+
s s + 10
W A1 , A 2
A1 = s
200
s(s + 10)
A 2 = ( s + 10)
=
s =0
200
= 20
0 + 10
200
s ( s + 10)
=
s = 10
200
= 20
- 10
X(s) =
20
20
s s + 10
20
20
] L-1 [
]
s
s + 10
f(t) = 20 - 20e -10t
- 57 -
233
W12J 2
W
Y(s) =
12
s( s + 1)(s + 4)
W
W
Y(s) =
A
A1 A 2
+
+ 3
s s +1 s + 4
W A1 , A 2 A 3
A1 = s
12
s(s + 1)(s + 4)
=
s =0
12
12
=
=3
(0 + 1)(0 + 4) 4
A 2 = (s + 1)
12
12
12
=
=
4
s(s + 1)(s + 4) s =-1 1(1 + 4) 3
A 3 = (s + 4)
12
s(s + 1)(s + 4)
=
s = 4
12
12
=
=1
- 4(-4 + 1) 12
3
4
1
Y(s) =
+
s s +1 s + 4
3
4
1
y (t ) = L-1 [ Y(s)] = L-1 [ ] L-1 [
] + L-1 [
]
s
s +1
s+4
y (t ) = 3 4 e t + e 4 t
K6-2-2
modeling of translational Mechanical systems
massE8J 2F
piston Kspringdashpot
- 58 -
233
dampingviscous friction
K
Kf
KK
m
Ky
KB
E8EJ84JF
2F
K J 1
K J 2
K J 3
F = ma E11J
2F
m=mass
a=acceleration
force
- 59 -
233
M) MassFJ
M=
w
s
W = weight
g = gravity Eg=9.8066F
W f m (t )
f m (t) = Ma(t) = M
d 2 y (t )
dv(t )
=M
E12J
2
dt
dt
2F
KV(t)W
B) Viscous FrictionFJ
W f B (t)
f B (t) = B
dy(t)
E13J
dt
2F
B = viscous friction
y(t) = displacement
- 60 -
233
K) Linear SpringFJ
W f k (t)
f K (t) = Ky(t) E14J
2F
E1J 4FEKF
WE8J 4F
dy
d2 y
- Ky = m 2
dt
dt
E15J
2
d y
dy
f = m 2 + B + Ky
dt
dt
f =B
2F
WE15J 2F
d2 y
l[m 2 ] = m[s 2 Y(s) - sy(0) - y (0)]
dt
dy
l[B ] = B[sY(s) - y(0)]
dt
l[Ky] = KY(s)
l[f] = F(s)
y(0) = y(0) = 0 W
WE7J 4F
T.F. =
Y(s)
1
=
2
F(s) ms + Bs + K
E17J 2F
- 61 -
233
W
Ei(s)
Input
ms2
E0(s)
Ouput
1
+Bs + K
EE99JJ42F
F
y Ky
Edy/dtF EB(dy/dtK
K
s 2 Ed/dtF s
KE4J 6F (d 2 /dt 2 )
WE13J 2F
E10J 2F
K
X1
MASS
f(t)
X2
SPRING
M1
K1
B1 FOR MASS M1
MASS
SPRING
M2
K2
B2 FOR MASS M2
K E10J4F
E10J 2F
- 62 -
233
W
x 1
f(t) = M 1
d 2 x1
dx
+ B1 1 + K 1 ( x 1 x 2 )
2
dt
dt
0 = M2
x 2
d 2 x1
dx
+ B1 1 + K 1 ( x 1 x 2 )
2
dt
dt
0 = (M 2 s 2 + B2 s + K 2 ) X 2 ( s ) + ( K 2 K 1 ) X 1 ( s )
K7-2-2
Modeling of Rotational Mechanical Systems
EJ 2F
angular velocity
damper
BJ T
K
B1
E11
J 2J4F F
K
E11
- 63 -
233
Kf=viscous-friction coefficient
WE F J)F
T =J E18J 2F
=angular acceleration (
rad/sec 2 F
J) InertiaFJ
W TJ (t)
T(t) = J (t) = J
d (t)
d 2 (t)
=J
E19J
dt
dt 2
2F
(t) W
- 64 -
233
(velocity friction) BJ
W TB (t )
TB (t) = B
d(t)
E20J
dt
2F
B=viscous friction
K) Torsional SpringFJ
W
Tk (t) = K (t) E21J
2F
spring constantEKF
WE0J 4FE8J 4F
T B = J
d
dt
d
T = J
+ B
dt
E22J 2F
WE22J 2F
- 65 -
233
2F
W
(s) =
T(s)
1
E24J
Js + B
2F
W
Ei(s)
Input
E0(s)
Ouput
1
Js +B
K
E12
F
E 9J4F2
WE13J 2F
E13J 2F
SHAFT
PUMP
T2
T1
J1
1 2
J2
F
MOTOR
E13J 2F
K
E13J4F
- 66 -
233
W
W 2 1
T1 = (J 1 s 2 + K )1 K 2
= K1 + (Js 2 + Fs + K ) 2
K 2 1
Valve Body
14J 2
- 67 -
233
15J 2
15J 2
??
psi1
Cv=5
Kpsi1
KE2J 2F
- 68 -
233
E2J 2F
Cv
0.3
025
3
0.5
14
1
35
1.5
55
2
108
3
174
4
400
6
725
8
1100
10
W
QG = 960C v
QL = Cv
P1 P2
GL
( P1 + P2 )( P1 P2 )
G R (T + 460)
W = 90C v
P1 P2
V1 + V2
W
W
W
233
Eft3/lbF Inlet
EOutlet (ft3/lb
W
GL=0.92
Safety
Factor=0.25P1-P2=60psiQmax=320Galon/lmin
QL=1.25Qmax
W
QL = Cv
P1 P2
GL
Cv = QL
GL
P1 P2
1J 5Cv=49.5QLP1-P2
inches2
PD-ControllerJ 6
PID-ControllerJ 7
- 70 -
233
+
R
Max
Min
B=C
F .
E16
E1JJ72F
M=MaxEFfor E>0E25J 2F
M=MinEFfor E>0E26J 2F
E
FM
K
{
- 71 -
233
+
R
Kp
B=C
KE17
E2JJ7F2
F .
K P
K P K
EF K P K
WK
M(s)
= K P E29J
E(s)
2F
2F
2F
K
E18J 2F
EaF
Ka K P
- 72 -
233
e(t)
m(t)
aKp
a
E18 EJ3J7
2FF
.
I-Controller K3-4-2
K E19J 2F
ER=CF
W
E=R-C=0
+
R
KI
S
B=C
K E4JE719
F
J 2F .
- 73 -
233
t e(t)dt
m(t) = K I
0
1
M(s) = K I E(s)
s
M(s) K I
=
E(s)
s
E30J 2F
E31J 2F
E20J 2F
Ke(t)=a
e(t)
m(t)
K
7F
E20J E25FJ
.
WE30J 2F
m(t) = K I
t a dt
m(t) = K I a t + C
E32J 2F
m(t)t
E20J 2F
K K I
- 74 -
233
reset rate K I
K I KRC
K K I
K K I
D-Controller K4-4-2
EcontrollerrateFKE21J 2F
K
+
R
KDS
B=C
KE21
E6JJ7F2
F .
EF
E22J 2F
Kunit step function
- 75 -
e(t)
233
m(t)
m(t)
1
0
E22J E 7
2JF7
K
F.
Et=0F
K EF
KE
x(t)=0
PI-Controller K5-4-2
K P
E23J 2F
K P
K
K I
TI
KP ,
1
KI
K I , or TI
KE
1
F
TI s
K
- 76 -
233
+
R
KP
+
+
KI
S
B=C
K
.
E23J E82J7
F F
2F
M(s) = K P E(s) +
KI
K
E(s) = (K P + I )E(s)
s
s
K
M(s)
= KP + I
E(s)
s
E24J 2F
K1 KE24J 2F
K
K P
- 77 -
233
m(t)
e(t)
2KP
KP
K
EJ5J7
E24
2FF
.
E23J 2F
KE25J 2F
+
_
+
KP
+
1
TnS
B=C
K
E 8JJ72FF
E25
.
WE
KP
KP
FE34J 2F
- 78 -
233
K K
M(s)
= KP + I P
E(s)
s KP
K
M(s)
= K P (1 + I )
E(s)
K Ps
M(s)
1
= K P (1 +
)
KP
E(s)
s
KI
M(s)
1
= K P (1 +
) E35J
E(s)
Tn s
2F
K P ,
Tn =
KP
= K P TI
KI
Tn
Tn
K P E8J 7F
K
PD-Controller K6-4-2
KE26J 2F K P
+
R
KP
+
+
K DS
B=C
K
J7F
E26J 2EF11
- 79 -
233
m(t) = K P e(t) + K D
d
e(t) E36J
dt
2F
M(s) = K P E(S) + K D SE ( s )
M(s)
= K P + K D S E37J 2F
E(S)
Tv KE27J 2F
K K P , Tv K
+
_
+
KP
+
1
TVS
B=C
K
EJ8J72FF
.
E27
E28J 2F
E F
Et=0F
K
- 80 -
233
e(t)
m(t)
KP
1
E28
J J27F
.
K
E 13
EF
m(t) = K P t + K D
dt
dt
m(t) = K P t + K D E38J
2F
E28J 2F
K Tv
PID-Controller K7-4-2
KE29J 2F
WE2.39F
d
e(t) E39J
dt
2F
KEFEEe(tFE m(t) F
- 81 -
233
KP
+
R
KI
S
K DS
B=C
E29
J J27F
K
E14
.
K D K I K P
WE39J 2F
K
M(s)
= K P + I + K D S E40J
E(S)
s
2F
E30J 2F
+
_
KP
1
TnS
+ +
+
1
TVS
B=C
F .
KEE30
15JJ7F2
- 82 -
KP
KP
233
FE40J 2F
W
K K
K
M(s)
= K P + I P + K DS P
E(S)
s KP
KP
M(s)
1
= K P (1 +
+ Tv S E41J
E(S)
Tn s
2F
W
TI =
K
1
, Tn = TI K P , Tv = D
KI
KP
K P K P , Tv , Tn
EF
Tv Tn K
E31J 2FK
K
e(t)
m(t)
m(t)
1
0
KP
t
E31
JJ72FF
.
E 7
(F
- 83 -
233
- 84 -
233
J 1
Ws-plane
(a ) G(s) =
10(s + 2)
s ( s + 1)( s + 10)
(c) G(s) =
10(s + 2)
s (s 2 + 2 s + 2)
(b) G(s) =
(d) G(s) =
10s(s + 1)
( s + 2)(s 2 + 3s + 2)
e -2t
10s( s + 1)( s + 2)
W
(a ) g(t) = 5te 5t u(t)
J 2
(a) G(s) =
1
s ( s + 2)( s + 3)
(b) G(s) =
10
( s + 1) 2 ( s + 3)
(c) G(s) =
100(s + 2)
s (s 2 + 4)( s + 1)
(d) G(s) =
2( s + 1)
s ( s 2 + S + 2)
(e) G(s) =
1
( s + 1) 3
(f) G(s) =
J 3
2( s 2 + s + 1)
s ( s + 1.5)(s 2 + 5s + 5)
T.F
J 4
- 85 -
233
mechanical network
J 5
J 6
- 86 -
233
J 7
J 8
KJ
J 9
- 87 -
233
KJ
J 10
K
KJ
- 88 -
]<gj]<]<j<^]<]
233
K1J 3
K2J 3
K1J 2J 3
K2J 2J 3
K3J 2J 3
K4J 2J 3
K5J 2J 3
K6J 2J 3
W
W
- 89 -
233
Ktransfer function
initial
WKconditions
a y ( m ) + a1 y ( m1) + ... + a n -1 y + an y
( m)
( m 1)
= bo x + b1 x + ... + bm1 x + bm x (n m)
E1J 3F
E1J 4F
W
bo s m b1 s m 1 + ... + bm 1 s + bm
Y(s)
Transfer Function = G(s) =
=
X(s) a o s n + a1 s n 1 + .... + a n 1 s + a n
E2J 3F
- 90 -
233
WE1J 3F
W
Ey'(t)+y(t)=2x(t0.1
EsY(s)+Y(s)=2X(s0.1
Y(s)
Es+1)Y(s)=2X(s0.1F
G( s) =
Y ( s)
2
=
X ( s ) 0.1s + 1
KEFE1J 3F
R(s)
E(s)
G(s)
C(s)
R(s)
G( s)
1 + G( s)H ( s)
C(s)
B(s)
H(s)
E F
EF
E1J 3F
EFE1J 3F
- 91 -
233
E(s)=R(s)-B(s)
B(s)=C(s)H(s)
E(s)=R(s)-C(S)H(s)
C(s)=E(s)G(s)
C(s)=[R(s)-C(s)H(s)]G(s)
C(s)[(1+G(s)H(s)]=R(s)G(s)
T ( s)
C ( s)
G( s)
=
R( s ) 1 + G ( s ) H ( s )
EF10J 1
Eunity feedbackF
H(s)=1
W
T ( s) =
G( s)
1 + G( s)
- 92 -
233
WE2J 3F
E2J 3F
R(s)
+
K1 ( s + 20)
s
1
s
1
s
C(s)
K2
K 3 (s + K 4 )
s + K5
E2J 3FE2J 3F
W
K1
K 1
s
K1 ( s + 20)
s
K2
K 1
s
E3J 3F K3
- 93 -
233
K1 ( s + 20) / s 2
K K ( s + 20)
[1 + 1 2
]s
s2
R(s)
+
C(s)
K 3 (s + K 4 )
s + K5
E2J 3FE3J 3F
T(s)E3J 3F K4
T ( s) =
K1 ( s + 20)( s + k 5 )
C ( s)
=
R( s ) s[( s 2 + K1 K 2 ( s + 20)][ s + K 5 ] + K1 K 3 ( s + 20)( s + K 4 )
C(t) = C t (t) + C ss ( t)
C t ( t) = transient response
Reference input K
Ksteady state error
- 94 -
233
Typical Input Signals K1-2-3
KEF
rampstepK
K impulse acceleration
W t 0 R
Or,
r(t) = 0
t 0
r(t) = R
t0
r(t) = Ru s (t)
E3J 3F
E4J 3F
WY
R=real constant
- 95 -
233
J
Slope = R
r(t)
r(t)
R
r(t) = Rus(t)
r(t) = Rtus(t)
(a)
E F
(b)
EF
r(t)
r(t) = Rt2us(t)
(c)
E F
K
E 1J5
K
EF4
J 3F
Or,
r(t) = 0
r(t) = Rt
WK t 0
t 0
t0
r(t) = Rt u s ( t)
E5J 3F
E6J 3F
r(t) = 0
Or,
r(t) = Rt 2
t 0
t0
1
r(t) = ( )Rt 2 u s ( t)
2
- 96 -
E7J 3F
E8J 3F
233
Characteristic equation
Ws
KJ 1
KdJ 2
KsJ 3
KsJ 4
Type of SystemJ
KEH(sEG(sJ 1
KEGH(sJ 2
KSEGH(sJ 3
KSJ 4
WE3J 3F
E5J 3F
- 97 -
R(s)
233
10
C(s)
(S2 + 2S + 2)
K
S
E 2EJ5
K
5JF
3F
W
W
10s
s(s + 2s + 2) + 10 K
10s
= 3
2
s + 2s + 2s + 10 K
G(s) =
K 3S
10K
s(s + 2s + 2)
10K
=
s(s + 1 + j)(s + 1 - j)
G(s)H(s) =
KEF1
- 98 -
233
R(s)
E(s)
G(s)
C(s)
H(s)
KEE36JJ5F3
F
K
C(s)
G(s)
=
R(s) 1 + G(s)H(s)
WR(s)E(s)
E(s)
G(s)H(s)
1
= 1
=
R(s)
R(s)
1 + G ( s) H ( s)
WE(s)
E ( s) =
1
R( s)
1 + G ( s) H ( s)
- 99 -
233
sR(s)
E9J
s 0 1 + G(s)H(s)
s0
3F
WE9J 3F
s
1
s 0 1 + G(s)H(s) s
1
=
1 + G(0)H(0)
e ss = lim
e ss =
1
1+ KP
WE9J 3F
s
1
s 0 1 + G(s)H(s) s 2
1
= lim
s 0 sG(s)H(s)
e ss = lim
1
Kv
- 100 -
E11J 3F
233
s
1
s 0 1 + G(s)H(s) s 3
1
=
2
lim s G ( s ) H ( s )
e ss = lim
W
e ss =
1
Kv
E13J 3F
Eand2{0,1F E1J 3F
r(t) = t
1 / (1 + K)
Type 0
1/K
Type 1
1/K
Type 2
r(t) = t2
r(t) = 1
K
E1J E31FJ
KKK
5F
- 101 -
233
WE4J 3F
E K a K v J K p F
ess KE7J 3F
s+2
s+4
s(s + 1)
K
E7JE43J5
F
K
F
W
WE12J 3FE10J 3F
4( s + 2)
=
s ( s + 1)( s + 4)
4( s + 2)
Velocity error constant
K v = lim sG ( s ) = lim
=2
s 0
s 0 s ( s + 1)( s + 4)
S 4( s + 2)
Acceleration error constant K a = lim s 2 G ( s ) = lim
=0
s 0
s 0 s ( s + 1)( s + 4)
Position error constant
K p = lim G ( s ) = lim
s 0
s 0
WE9J 3F ess J
e ss = 1 /(1 + K p )
e ss = 1 /(1 + ) = 0
- 102 -
233
E11J 3F ess J
e ss = 1 / K v
e ss = 1 / 2.
WE13J 3F ess
e ss = 1 / K a
e ss = 1 / 0 =
K p
WE5J 3F
W ess
K p = 1 / 19 Type
K v = 0.2 Type
K a = 0.5 Type
1J
2J
W
= 1 / 19 Type 0 e ss J
W
K v
0J
= 0.2 Type
K a
0 ess J
W
e ss = 1 / K v = 1 / 0.2 = 0.95
= 0.5 Type
0 ess J
W
e ss = 1 / K a = 1 / 0.5 = 2
- 103 -
233
R(s)
Input
C(s)
Output
Ts + 1
K
E5J5F
K
E8J
3F
Wfunction
r(t) = 0
r(t) = 1
t 0
t 0
R(s) = 1/s
E14J 3F
E5J 5F
C(s) =
1
R(s)
Ts + 1
W
E15J 3F
WE15J 3FE14J 3F
C(s) =
1
s(Ts + 1)
E16J 3F
C(t)T
A
A2
1
= 1+
s(Ts + 1)
s
Ts + 1
- 104 -
233
W A1 , A 2
A1 = s
1
s(Ts + 1)
A 2 = (Ts + 1)
s =0
1
= =1
1
1
s(Ts + 1)
=
s =
1
T
1
= T
1
T
1
T
C(s) = +
s Ts + 1
1
1
C(s) =
1
s
s+( )
T
1
C(t) = L1 [C(s)] = L1 [ ] L1 [
s
1
s+( )
T
-t
C(t) = 1 - e T
t0
C(t) = 1 - e -at
t 0 E17J
a=
3F
E6J 5F
KE17J 3F
- 105 -
233
Input
C(t)
+
1
0.018
Output
1
a
2
a
3
a
4
a
5
a
ts
5F
K
E9J E 6
3JF
SE10J 3F
K2
R(s)
++
E(s)
C(s)
n2
s(s + 2n )
KK
E10
EJ7J35F
F
n2
C(s)
= 2
R(s) s + 2 n s + n2
E18J 3F
W
- 106 -
n is
233
C(t)
E7J 3Fdamping ratio
W
C(s) =
R(s)
s + 2 n s + n2
2
n
W R(s) = 1
s
C(s) =
E19J
s ( s + 2 n s + n2 )
2
n
3F
WE18J 3F
C ( s) =
A1
A2
1
+
+
s s P1 s P2
W
A1 ,
A 2 constants
P1 , P2 roots
of partial fraction
W
C(t) = 1 + A 1e P1t + A 2 e P2 t E20J
- 107 -
3F
233
A1 =
2 2 1
P1 = n + n 2 1
A2 = +
2 2 1
P2 = n n 2 1
E A1 , A 2 , P1 , P2 F
WE , n F
under _E A1 , A 2 FS
Wdamped system
P1 , P2 = n j n 1 - 2
c(t) = 1
e n t
2 1
sin( d t + ) E21J
3F
W
d = n 1 2
= tan 1 (
E22J 3F
2 1
E23J
3F
W
- 108 -
P1 , P2 = n
233
c(t) = 1 e n t (1 - o t)
E24J 3F
Wsystem
P1 , P2 = n n 2 - 1
W
c(t) = 1
e -a1t e -a 2 t
+
) E25J
a2
2 2 1 a1
(
3F
W
a 1 = n ( + 1 2 )
a 2 = n ( 1 2 )
Underdamped System = 0 J
SE P1 , P2 F
W
P1 , P2 = j o
- 109 -
233
EFE11J 3F
y(t)
s-plane
X
f1
y(t)
s-plane
X
X
0
=1
s-plane
y(t)
0 p p1
0
X
j
y(t)
s-plane
=0
0
X
K
F
K
E11J E 83JF5
- 110 -
233
E12J 3F
J J J
F
KEJ
c(t)
Mp
0.05
or
0.02
Allowable
tolerance
1
0.9
td
0.5
0.1
0
tr
tp
ts
KE12J 3F
K E 9J5F
Delay TimeE t d FJ
Rise TimeE t r FJ
K9010
W
- 111 -
233
KE
tr =
E27J 3F
= 3.14 FEradFS
W d
1 2
d
1
) E28J
= cos = tan ( ) = tan (
d = n 1 2
3F
E29J 3F
W
= n E30J
3F
( Peak Time t p FJ
tp =
E31J 3F
Maximum OvershootE M p F
EF
- 112 -
Mp =e
1 2
E32J 3F
233
( Settling Time t s FJ
2F
EF
WKE5
t s = 4T =
t s = 3T =
4
4
=
n
3
3
=
n
at 2% criterion E33J
3F
at 5% criterion E34J
3F
WE6J 3F
= 0.6 EFE7J 5F
W n = 5 rad/sec
E t r FJ
E t p FJ
E t s FJ
E M p FJ
W
W
d = n 1 2 = 5 1 0.6 2 = 4 rad/sec
= n = 0.6 5 = 3
4
= tan 1 ( d ) = tan 1 ( ) = 53.13
= 53.13
3.14
= 0.93 rad
180
tr =
rise time
3.14 - 0.93
=
= 0.55 sec
d
4
- 113 -
233
tp =
settling time
3.14
=
= 0.785 sec
d
4
peak time
Mp =e
)
d
4 4
= = 1.33 sec for 2% criterion
3
3 3
t s = = = 1 sec for 5% criterion
3
ts =
maximum overshoot
=e
3
( ) 3.14
4
= 0.095
- 114 -
233
system typeJ
unity feedback systems
K
(1 + s)(1 + 10s)(1 + 20s)
10(s + 1)
(c) G(s) =
s ( s + 5( s + 6)
10(s + 1)
(e) G(s) = 3 2
s ( s + 5s + 5)
(a) G(s) =
10e -0.2s
(1 + s)(1 + 10s)(1 + 20s)
100(s 1)
(d) G(s) = 2
s ( s + 5( s + 6) 2
100
(f) G(s) = 3
s ( s + 2) 2
(b) G(s) =
EJ J F K p , K v and K a J 3
unity feedback system
W
- 115 -
233
(a) G(s) =
1000
(1 + 0.1s)(1 + 10s)
(c) G(s) =
K
s (1 + 0.1s )(1 + 0.5s )
(e) G(s) =
1000
s(s + 10)(s + 100)
100
s(s + 10 s + 100)
100
(d) G(s) = 2 2
s (s + 10 s + 100)
K(1 + 2s)(1 + 4s)
(f) G(s) =
s 2 ( s 2 + s + 1)
(b) G(s) =
K ess J 4
1
s +s+2
1
(b) - G(s) =
s( s + 5)
1
(c) - G(s) = 2
s ( s + 10)
1
(d) - G(s) = 2
s ( s + 12)
(a) - G(s) =
H(s) =
1
s +1
H(s) = 5
H(s) =
s +1
s+5
H(s) = 5( s + 2)
n , n , , t r , t p , M p, and t s J 5
W
M (s) =
K
s + 10s + (7 + K )
2
Wforward gain K
K=18EF
K=218EF
K=618EF
KK
- 116 -
233
WJ 6
y ' (t ) + 10 y (t ) = 10 x (t )
y ( 0) = 0
5 t 0
x (t ) =
0 t < 0
J 7
10 y ' (t ) + y (t ) = x (t )
y ( 0) = 0
10 t 0
x (t ) =
0 t<0
y" ( t ) + 3 y ' ( t ) + 2 y ( t ) = 2 x ( t )
y (0) = y ' (0) = 0,
J 8
1 t 0
x (t ) =
0 t < 0
- 117 -
233
y" (t ) + 2 y ' (t ) + y (t ) = 10 x (t )
y (0) = y ' (0) = 0,
J 9
1 t 0
x (t ) =
0 t < 0
J 10
5 t 0
x (t ) =
0 t < 0
- 118 -
]<gj]<]<j<^]<]
- 91 -
233
K1J 4
K2J 4
K3J 4
K4J 4
K5J 4
K6J 4
K7J 4
- 119 -
233
Actuating signal
Controller
Input signal
(command)
Output signal
feedback -path
System
components
forward-path
System
components
(controlled variable)
K
1J 4F
E4-1)E
block diagramE1J 4F
controller KE
plant
EFK
K
operational amplifier
- 120 -
233
Kplant E
F
K
2-4
SimulinkK
3-4
1J 3
b(t)r(t)b(t)r(t)
R(s)
E(s)
C(s)
G(s)
r(t)
e(t)
B(s)
c(t)
H(s)
b(t)
E2J 4F
- 121 -
233
Kc(t)
e(t ) = r(t ) b(t )
EH(s)=1F
E ( s )) = R( s ) C ( s ) E2J 4F
W
T ( s) =
C ( s)
G( s)
=
E3J 4F
R( s ) 1 + G ( s )
C ( s) =
G( s)
R( s ) E4J 4F
1 + G( s)
W2J 3C(s)
E ( s) =
1
R ( s ) E5J 4F
1 + G( s)
1-1
2-1
E3J 4F
Gp(s)
Gc(s
- 122 -
R(s)
233
E(s)
Gc(s)
e(t)
r(t)
P(s)
C(s)
Gp(s)
p(t)
c(t)
E3J 4F
Gp(s)FEGc(s)
G(s)=Gc(s)Gp(s)
G c ( s )G p ( s )
C ( s)
=
E6J 4F
R( s ) 1 + G c ( s )G p ( s )
W
1
E ( s ) = 1 + G ( s )G ( s ) R( s ) E7J 4F
c
p
4-4
W
p(t)=Kpe(t)
P(s)= KpE(s)
W
G c ( s ) = K p E8J 4F
- 123 -
233
WR0
R0 t 0
r
t
=
(
)
0 t<0
R( s ) =
R0
s
W
G p ( s) =
1
s + 1
7J 3R(s)Gp(s)Gc(s)
E ( s) =
1
1
1+ K p
s + 1
R
0
s
E9J 4F
9J 3
E ( s ) = R0
s + 1
s(s + 1 + K p )
E10J 4F
s 0
s + 1
s(s + 1 + K p )
R0
1+ K p
E11J 4F
- 124 -
233
E11J 4F
KKKp
Simulink
r (t ) = 1 G p ( s ) =
1
W
s +1
Kp =2
Kp =5
K p = 10
K3J 3
1
KP=10
KP=5
KP=2
0
0
0.5
1.5
2.5
KE4J 4F
- 125 -
233
5-4
W
p (t ) = K I e( )d
0
Gc ( s) =
W
KI
s
E12J 4F
WR0
t0
t<0
R
r (t ) = 0
0
R
R( s) = 0
s
G p ( s) =
1
s + 1
E7J 4FR(s)Gp(s)Gc(s)
E ( s) =
1
K
1
1+ I
s s + 1
R
0
s
E13J 4F
13J 3
E ( s) =
s(s + 1)
R
0 E14J 4F
(s 2 + s + K I ) s
- 126 -
233
e ss = lim sE ( s ) = lim s
s 0
s 0
R0
s (s + 1)
= 0 E15J
s (s + 1 + K I )
4F
E15J 4F
Simulink
W r (t ) = 1 G p ( s ) =
s +1
KI=2
1.2
KI=0.
KI=0 3
0.8
KI=0.1
0.6
0.4
0.2
10
15
4J 3
E5J 4F
- 127 -
20
233
6-4
W
t
p(t ) = K p e(t ) + K I e( )d
0
Gc ( s) =
K ps + KI
s
E16J 4F
t0
R0:
t<0
R
R( s ) = 0
s
r(t ) =
R0
0
W
G p ( s) =
1
s + 1
7J 3R(s)Gp(s)Gc(s)
E ( s) =
1+
1
K ps + KI
s
1
s + 1
R
0 E17J 4F
s
16J 3
E ( s) =
s(s + 1)
R
0
s 2 + s( K p + 1) + K I ) s
E18J 4F
- 128 -
233
R
s(s + 1)
e ss = lim sE ( s ) = lim s 0
= 0 E19J
s (s 2 + s(1 + K p ) + K I )
s 0
s 0
4F
E19J 4F
Simulink
r(t ) = 1 G p ( s) =
s +1
K I = 2,
K p =1
K I = 1,
K p =1
K I = 1,
Kp =2
E6J 4FESimulinkF
K
K I = 2,
K p =1
K I = 1,
K I = 1,
0
0
Kp =2
K p =1
5J 3
- 129 -
233
7-4
W
p(t ) = K p e(t ) + K I e( )d + K D
0
de(t )
dt
W
Gc ( s) =
KDs2 + K ps + KI
s
E20J 4F
t0
R0
t<0
R
R( s ) = 0
s
r(t ) =
R0
0
W
G p ( s) =
1
s + 1
7J 3R(s)Gp(s)Gc(s)
E ( s) =
1+
KDs2 + K ps + KI
s
s + 1
R
0
s
E21J 4F
- 130 -
233
20J 3
J 4F
E (s) =
s(s + 1)
R
0 E22
( + K D ) s 2 + ( K p + 1) s + K I ) s
J 4F
R
s(s + 1)
= 0 E23
e ss = lim sE ( s ) = lim s 0
2
s ( + K D ) s + ( K p + 1) s + K I
s 0
s 0
E23J 4F
SimulinkE7J 4F
r (t ) = 1 G p ( s ) =
s +1
K I = 1,
K I = 1,
K I = 2,
K p = 1 , K D = 2 W
K p = 1 , K D = 1 W
K p = 1 , K D = 0.2 W
- 131 -
233
KEPIDFE8J 4F
Kp
1
Constant
1
Ki
G(s)
Kd
simout
s+1
To Workspace
du/dt
PIDSimulimk7J 4
K I = 1,
K p = 1, K D = 2
K I = 2,
K p = 1 , K D = 0.2
K I = 1,
K p = 1, K D = 2
0
0
10
15
E8J 4F
- 132 -
233
J 1
W
R(s)
r(t)
E(s)
1
s +1
e(t)
C(s)
c(t)
F(s)
f(t)
J 2
W
R(s)
r(t)
E(s)
e(t)
F(s)
f(t)
10
s+2
C(s)
c(t)
2
s+4
J 3
J 4
- 133 -
233
K J 5
K
R(s)
E(s)
r(t)
e(t)
B(s)
b(t)
C(s)
K
s+2
c(t)
2
s+4
WJ 6
ess
Kp
C(s)
Constant
s+2
Sum1
Ki
1
s
- 134 -
G(s)
233
WJ 7
1
Constant
ess
Kp
Ki
C(s)
1
s+1
G(s)
Kd
du/dt
- 135 -
233
AC Motor
Actuator
Analog
Armature
Automation
Block Diagram
Bode Diagram
Cascade
Characteristic Equation
Characteristics
Chart Recorder
Closed Loop
Compensator
Control system
Control Valve
Controlled Variable
Controller
Critical Damping
Cutoff Frequency
Damping
DC Motor
Delay Time
Derivative
Derivative Controller
Design
- 136 -
233
Digital
Disturbance
Dynamic
Error
Feedback
Feedback Path
Final Control Element
Flow Meter
Flow rate
Forward Path
Frequency Response
Gain
Gain Crossover
Frequency
Gain Margin
Hydraulic
Input
Integral
Integral Controller
Lag Compensator
Laplace Transform
Lead Compensator
Level
Magnitude
Manual Control
Matrix
Motor
Open Loop
- 137 -
233
Oscilloscope
Output
Over Damping
Overshoot
Parallel
Peak Time
Performance
Permanent Response
Phase Crossover
Frequency
Phase Margin
Phase Shift
Pneumatic
polynomial
Potentiometer
Process
Programmable Logic
Control
Proportional
Proportional Controller
Reference Input
Resonance Frequency
Response
Response Curve
Rise Time
Root
Sensor
Series
- 138 -
233
Set Point
Settling Time
Signal Conditioning
Signal Conversion
Simulation
Specification
Stability
Stability Criteria
Step Input
Stepper Motor
Summing Junction
System
Tachometer
Time Constant
Time Domain Response
Transducer
Transfer Function
Transient response
Two Position Control
Underdamping
Unit step
Unity Feedback
- 139 -
233
- 140 -
233
K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K
K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K
1K K K K K K K K K K K K K K K K K K K K K K K
2K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K
3K K K K K K K K K K K K K K K K K K K K K K
4K K K K
IntroductionJ K1J 1
11 K K K K K K K K K K K K K K K
Block DiagramK1J 4J 1
24 K K K K K K K K K
Closed-loop ControlK2J 5J 1
25 K K K K K K K K K K K K K K
25 K K K K K K K K K
K6J 1
Feedback ControlEF1-6-1.
K7J 1
29 K K K K K K K K K K K K K K K K K8J 1
30
36 K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K
40 K K K K K K K K K K K K K K K K K K K
41 K K K K K K K K K K K K K K K K K K K K K K K K K K K K K
42 K K K K K K K K K K K K K K K K K K K K K K K K K K K K K1J 2
43 K K K K K K K K K K K
LAPLACE TRANSFORMATION2-2.
43 K K K K K K K K K K K K K K K K K K K
-141-
IntroductionK1J 2J 2
233
43 K K K K K K K K K K K K K K K K Complex S-plane2-2-2.
46 K K K K K K K K K K K K
53 K K K K K K K
54 K K K K K K
Laplace TransformationK3J 2J 2
58 K K K K K K K K K K K K K K K K
K6J 2J 2
63 K K K K K K K K K K K K K K K K
K7J 2J 2
67 K K K K K K K K K K K K K K K K K K
70 K K K K K K K K
71 K K K K K K
72 K K K K K
Control ValvesK3J 2
73 K K K K K K K K K K K K K K K K K I-ControllerK3J 4J 2
75 K K K K K K K K K K K K K K K K
76 K K K K K K K K K K K K K
D-ControllerK4J 4J 2
PI-ControllerK5J 4J 2
79 K K K K K K K K K K K K K PD-ControllerK6J 4J 2
81 K K K K K K K K K K PID-ControllerK7J 4J 2
85 K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K
89 K K K K K K K K K K K K K K K K K K K K K K W
89 K K K K K K K K K K K K K K K K K K K K K K K K K K K K K
90 K K K K K K K K K K K K K K K K K
Transfer FunctionK1J 3
233
119 K K K K K K K K K K K K K K K K K K
119 K K K K K K K K K K K K K K K K K K K K K K K K K K K K K
4-4
126 K K K K K K K K K K K K K K K K K 4-5
128 K K K K K K K K K K K K K K 4-6
130 K K K K K K K K K K K
4-7
133 K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K
136 K K K K K K K K K K K K K K K K K K K K K K K K K K K K K
140 K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K
-143-
EF
GOTEVOT appreciates the financial support provided by BAE SYSTEMS