2016

(1) RLC
(2)
(3)
(4)
4.1
()

(1)

(2)

(3)
( 4-1)

(physics law)(system
identification)

linear/non-linear

linear

linear /
non-linear

linear/non-linear

non-linear

non-linear

linear

linear

linear

linear

4-1
4-1

y ( n ) (t ) + a n 1 y ( n 1) (t ) + + a1 y (t ) + a0 y (t ) = bm r ( m ) (t ) + + b1r(t ) + b0 r (t ) (4-1)

bm s m + + b1 s + b0
Y ( s)
H ( s) =
=

R ( s ) s n + a n 1 s n 1 + + a1 s + a0

(4-2)

x (t ) = A x (t ) + B u(t )

(4-3)
y(t ) = C x (t ) + D u(t )
x (t ), y(t ), u(t )

A, B, C , D
(4-3) H (s )
H ( s ) = C ( sI A) 1 B + D

(4-4)

(filter)
(noise)(disturbance)
(resonance)(aliasing)

(low-pass filter)(high-pass filter)

(band-pass filter)(Notch filter)
(compensator)

4-1

4-2

 4-1

K
s

1
s
sT

e
K

s+K
PID
1
Ki + K p + Kd s
s

4.2

RLC
/()(
)() 4-1 4-2
(1)

V (s )
I (s )

(2)

R
V ( s) = R I ( s)

I (s )

V (s )

(3)

I (s )

V (s ) _
C

V ( s) = L s I ( s)

1
V ( s) =
I ( s)
Cs

(4)

V1

+
_

Vo

V2

Vo = A (V1 V2 )

4-1 ()()

4-2

R
Ls

V = R I v(t ) = R i (t )
d i (t )
V = L s I v(t ) = L
dt
1
1
V =
I v(t ) = i (t )dt
C
Cs

1
Cs

Vo = A (V1 V2 ) , A

4-3

 4-1 4-2 RLC G ( s ) = Y ( s ) / U ( s )

i (t )
R

u(t )

y (t )
_

4-2

RLC

1KVL
i (t ) = C y (t ) KVL
u (t ) = Li(t ) + R i (t ) + y (t ) = L C y(t ) + R C y (t ) + y (t ) = u(t )

( L C s 2 + R C s + 1)Y ( s ) = U ( s )
G (s )
G( s) =

Y ( s)
1

=
2
U ( s) L C s + R C s + 1

2
4-2 4-3

Ls

1
Cs

U (s )

4-3

RLC

G( s) =

1
Cs

Y ( s)
1
=
=

2
U ( s) L s + R + 1
LC s + RC s + 1
Cs

RLC
1
1

G( s) =
= 2 2
2
LC s + RC s + 1 n s + 2 n1 s + 1
4-4

Y (s )
_

R C
1
=

2 L
LC

n =

4-2 4-4 RLC G ( s ) = Y ( s ) / U ( s )

R1

i1 (t )

u(t )

C1

4-4

+
v1 (t )
_

L2

i2 (t )
+

C2

y (t )

R2

RLC

1KVL
i1 (t ) = C1 v1 (t ) i2 (t ) = C2 y (t ) KVL
u(t ) = R1 (i1 (t ) + i2 (t )) + v1 (t )
v1 (t ) = L2 i2 (t ) + R2 i2 (t ) + y (t )

R1C1v1 (t ) + v1 (t ) + R1 C 2 y 2 (t ) = u(t )

L2 C2 y(t ) + R2 C2 y (t ) + y (t ) v1 (t ) = 0

( R1C1 s + 1)V1 ( s ) + R1 C 2 s Y ( s ) = U ( s )
V1 ( s ) + ( L2 C 2 s 2 + R2 C 2 s + 1)Y ( s ) = 0

Y (s) =

1
U ( s)
( L2 C 2 s + R2 C 2 s + 1)( R1C1 s + 1) + R1C 2 s

G( s) =

Y ( s)
1

=
2
U ( s ) ( L2 C 2 s + R2 C 2 s + 1)( R1C1 s + 1) + R1C 2 s

2
4-4 4-5

4-5

R1
+

1
C1s

U (s )

4-5

L2 s

V1 ( s )
_

1
C2 s

R2

Y (s )
_

RLC

L2 , R2 , C 2 Z 2 ( s ) ( 4-6)
1

Z 2 ( s ) = L2 s + R2 +
C2 s

1
C s
1
1
Y ( s)

= 2 =
=
2
V1 ( s ) Z 2 ( s ) C 2 sZ 2 ( s ) L2 C 2 s + R2 C 2 s + 1

R1

1
C1s

U (s )

4-6

V1 ( s )
_

Z 2 ( s ) = L2 s + R2 +

1
C2 s

RLC

C1 , Z 2 ( s ) Z1 ( s )

1
Z 2 (s)
C1 s
Z 2 ( s)
Z1 ( s ) =
=

1
C
s
Z
s
+
(
)
1
1
2
+ Z 2 ( s)
C1 s

V1 ( s )
Z1 ( s )
Z 2 ( s)

=
=
U ( s ) R1 + Z1 ( s ) R1C1 sZ 2 ( s ) + Z 2 ( s ) + R1

G( s) =

Y ( s ) V1 ( s ) Y ( s )
1
=
=
2
U ( s ) U ( s ) V1 ( s ) R1C1C2 s Z 2 ( s ) + C 2 sZ 2 ( s ) + R1C 2 s
=

( L2 C 2 s + R2 C 2 s + 1)( R1C1 s + 1) + R1C 2 s

2

4-6

 RLC RLC
5 4-7

R1

L1

C1

C2

R2

4-7

RLC

1 RLC (normal tree)

RLC
(tree)(normal tree)
(loop)(branch)

(cut set)
4-7 4-8

x3 = iL1

R1
+

C1

u
_

4-8

L1
x1 = vC1

x2 = vC2

R2

C2

y
_

RLC ( 4-7)

4-8 x1 = vC1 x 2 = vC2 x3 = i L1

x = [x1

x2

x3 ]
T

4-7

 3
(1) KCL

4-8 R2 ( 4-9 R2 )

i R2 = i L1 = x3

(4-5)

R2

v R2 = R2 x3

(4-6)

(2) KVL

4-8 R1 ( 4-9 R1 )

v R1 = u vC1 = u x1

(4-7)

R1
i R1 =

u x1

R1

vR1

(4-8)

x3 = iL1

iR1 R1
+

C1

u
_

L1

+
x = vC1
_1

x2 = vC2
R2

4-9

vR2

C2 +
y
_

iR2
+

R1 R2

4
(1)() KCL

4-8 C1 C2 ( 4-10)
iC1 = C1 x1 = i R1 i L1 =

u x1
x3
R1

(4-9)

iC2 = C 2 x 2 = i L1 = x3

4-8

(4-10)

(2)() KVL

4-8 L1 ( 4-10)

v L1 = L1 x 3 = vC1 vC2 v R2 = x1 x 2 R2 x3

(4-11)

1 /C1 R1
x = Ax + Bu =
0
1 /L1

vR1

iR1 R1
+

iC1
C1

u
_

1 /C1
1 /C1 R1

1 /C 2 x + 0 u (4-12)
0
R2 /L1

0
0
1 / L1

+
x1 = vC1
_

vL1

x3 = iL1

L1

x2 = vC2
R2

4-10

vR2

iC2

C2 +
y
_

iR2

5
4-7 y = vC2 = x 2

y = c x = [0 1 0] x

4-9

(4-13)

4.3

()() 4-11 4-3

(1)

x
F (s )

(2)

(3)

F (s )

F (s )

B
F ( s) = BV ( s) = B s X ( s)

F ( s) = M sV ( s) = M s X ( s)
2

K
F ( s) = V ( s) = K X ( s)
s

4-11 ()()

4-3

B
Ms

F = B V f (t ) = B v(t )
d v(t )
F = M s V f (t ) = M
dt
K
F = V f (t ) = K v(t )dt
s

K
s

4-3 4-12 G ( s ) = Y ( s ) / U ( s )

u(t )

B
4-12

M y(t ) + B y ( y ) + K y ( y ) = u(t )

M s 2 Y ( s) + B s Y ( s) + K Y ( s) = U ( s)
4-10


( M s 2 + B s + K ) Y ( s) = U ( s)

Y ( s)
1

=
2
U ( s) ( M s + B s + K )

a
1/ M

= 2
G( s) = 2
s + ( B / M ) s + ( K / M ) s + 2 n s + n2
n =

B
K
=
2
M

KM

4-4 4-13 G ( s ) = Y ( s ) / R( s )
R(s ) Y (s )

m2

k2

()

b
x

m1

k1
()

r
4-13

m1 m2
m1 x = b ( y x ) + k 2 ( y x) + k1 (r x)

m2 y = b ( y x ) k 2 ( y x)
r (t )
m1 x + bx + ( k1 + k 2 ) x by k 2 y = k1r
m2 y+ by + k 2 y bx k 2 x = 0

m1 x + bx + (k 1 + k 2 ) x m2 y + by + k2 y

4-11


( m1 s 2 + b s + ( k1 + k 2 )) X ( s ) (bs + k 2 ) Y ( s ) = k1 R( s )
( m2 s 2 + b s + k 2 ) Y ( s ) ( b s + k 2 ) X ( s ) = 0

m1 s 2 + b s + k1 + k 2

b s k2

X ( s ) k1 R( s )
=

m1 s + b s + k 2 Y ( s ) 0
b s k2
2

Y ( s) =

k1 b s + k1 k 2
R( s )
( m1 s + b s + k1 + k 2 )( m1 s 2 + b s + k 2 ) (b s + k 2 ) 2
2

k1 b s + k1 k 2
Y ( s)

G( s) =
=
2
R( s ) ( m1 s + b s + k1 + k 2 )( m1 s 2 + b s + k 2 ) (b s + k 2 ) 2
4-5 4-13 u(t ) = r (t )
y (t )

m1 m2
m1 x = b ( y x ) + k 2 ( y x) + k1 (r x)

m2 y = b ( y x ) k 2 ( y x)
r
m1 x + b x + ( k1 + k 2 ) x b y k 2 y = k1 r
m2 y+ by + k 2 y bx k 2 x = 0
x1 = x x 2 = y x3 = x x 4 = y
x = [x1 , x 2 , x3 , x 4 ]
T

0
x = Ax + Bu =
(k1 + k 2 ) / m1

k 2 / m2

0
0
k 2 / m1
k 2 / m2

1
0
b/ m1
b/ m2

0
0

0
1
r ,
x+
k1 / m1
b/ m1

b/ m2
0

m2 y
y = [0 1 0 0] x

()() 4-14
4-4
4-12

(1)

(2)

(3)

(4)

= D = D s

n=

K
K
= = K
s

= J s = J s
2

N1

N2
N1

N2

1
1
n
2 = n1

2 =

4-14 ()()

4-4

D
Js

T = D (t ) = B (t )
d (t )
T = J s (t ) = J
dt
K
T = (t ) = K (t )dt
s
2 = 1 / n 2 = n 1

K
s

4-6 4-15 G ( s ) = 2 ( s ) / 1 ( s ) 1
2

0
J1

N1

D1
N2

D2
J2

2 2

4-15

1
n
1 = n 2
J 1 J 2

0 = 2

4-13

K2

1
n

1 = J 1 1 + D1 1 + 2

2 = J 2 2 + D2 2 + K 2 2

1
n

1 = J 1 n2 + D1 n2 + ( J 2 2 + D2 2 + K 2 2 )

1
1
1
J 2 ) s 2 + ( D1 n + D2 ) s + K 2 ) 2 ( s ) = 1 ( s )
n
n
n
G (s )
(( J 1 n +

G( s) =

2 ( s)
1

=
1 ( s ) ( J n + 1 J ) s 2 + ( D n + 1 D ) s + 1 K
1
2
1
2
2
n
n
n

1 ( s )
1

=
1 ( s ) ( J + 1 J ) s 2 + ( D + 1 D ) s + 1 K
1
2
1
2
2
n2
n2
n2
4-5

4-5

(1)
v
f

i
v

q
x

(2)
R
B
D
L
M
J
C
1/K
1/K
(3)
KVL

(4)

4-14

4.4

4-16
()

armature
i
N
+ u

4-16

4-6

(1) (torque constant) K t (Nm/A)

(2) (armature resistance) Ra ( )

(3) (armature inductance) La (H)
(4) (moment of inertia) J m (Kg-m2)
J m J L n
JL

n2
(5) (voltage constant ) K e (Vol t-sec) K e

J J = J m +

MKS Nm/A
4-15

 K t K e

Power = = K t i = vi = K e i

Ke = Kt

(4-14)
(4-15)

(6) (maximum speed) max (rad/sec or RPM)

(7) (maximum continuous torque) Trms (Nm)

(8) (maximum peak torque) Tmax (Nm)

Tmax

(Root-Mean-Square, RMS) Trms

4-6 (MKS )
Torque constant
0.03 newton-meter/ampere
Back-emf constant
0.03 volt-sec
Resistance
1.6 ohm
Motor inductance
0.3 10 3 henry
Rotor inertia
3.3 10 6 kilogram-meter2
Viscous damping
0.5 10 6 newton-meter-sec
Static friction torque
0.005 newton-meter
Mechanical time constant
5.0 10 3 sec
Electrical time constant
0.2 10 3 sec
Maximum speed
3000 rpm = 100 rad/sec
Maximum torque
0.11 newton-meter
Maximum power
50 watt
Rated voltage
24 volt

4-17

u = R a i + La

d
i + K e
dt

(4-16)

= Kt i

(4-17)

4-16

Jm

d
+ B m + TL = .
dt

(4-18)

K t (torque constant)
Ra (armature resistance)
La (armature inductance)
J m (moment of inertia)
K e (voltage constant )
Bm (Viscous damping)

u (armature voltage)
i (armature current)
(angular velocity)
(motor torque)
TL (load torque)

U = R a I + La I s + K e
= Kt I

(4-19)
(4-20)

J m s + Bm + TL (s ) =

(4-21)

4-18 TL

Ra

La

+
u
_

i
+
Ke

4-17

= Kti

Bm

Jm

TL /
u

1
La s + Ra

Kt

J m s + Bm

Ke

4-18
4-17

1
s


Kt

(4-22)
G (s) = =
2
U J m La s + ( J m R a + B m La ) s + ( B m R a + K e K t )

M (s) =

Kt
G (s)
(4-23)
=
=
2
U
s
s [ J m La s + ( J m Ra + Bm La ) s + ( Bm Ra + K e K t )]

4-19
G (s )
Kt
1

=
2
U J m La s + 2 n s + 2n
(natural frequency) n
G ( s) =

n =

(4-24)

K e K t + Bm Ra
J m La

(4-25)

(damping ratio)
=

J m R a + B m La
1 J m R a + B m La

=
2 n
J m La
2 J m La ( K e K m + B m R a )

G (s)

1
s

(4-26)

4-19

>> 1

s 2 + 2 n s + 2n = ( s p1 )( s p 2 )
= s 2 ( p1 + p 2 ) s + p1 p 2 s 2 p1 s + p1 p 2

p1 = 2 n

(4-27)

p2 = n = n = n
p1
2 n
2
2

p1 p 2 2 n

4-18

(4-28)

 n / (2 ) >> 1 p1 >> p 2 p 2

(dominant pole)
(4-22)
Km

G ( s) = =
U (Tm s + 1)(Te s + 1)

(4-29)

K m (velocity gain constant) Te

Tm
Kt

K e K t + Bm Ra

Km =

(4-30)

Te Tm
Te =

J m La
1
1
=
=
p1 2 n J m Ra + Bm La

(4-31)

Tm =

1 2 J m Ra + Bm La

=
=
p 2 n K t K e + Bm Ra

(4-32)

Tm >> Te G (s )
G (s)

Km
Tm s + 1

(4-33)

n
BW

K K + Bm Ra
1

= t e
Tm J m Ra + Bm La

(4-34)

100 (rad./sec)
4-7
4-7

(s)
Km
Tm
Te
G(s) =
U (s)
Km
Kt
J m R a + B m La
J m La
(Tms + 1)(Tes + 1)
K e K t + Bm Ra
K t K e + Bm Ra
J m Ra + Bm La
Km
1
Bm = 0
J m Ra
La
(Tms + 1)(Tes + 1)
Ke
Ra
Ke Kt
La = 0

Km
Tm s + 1

Kt
Bm Ra + K e K t

Ra J m
Bm Ra + K e K t

Bm = 0

Km
Tm s + 1

1
Ke

Ra J m
Ke Kt

La = 0

4-19

0
0

 4
P4-1 P4-1 RLC G ( s ) =

C1

+
V1 ( s )

R2

R1

V2 ( s )

V1 ( s )

+
V (s)
_ 2

C2

P4-1 RLC
P4-2 P4-2 RLC G ( s ) =

V2 ( s )

V1 ( s )

+
V1 ( s ) _

1H

1H
1

1F

V2 ( s )

P4-2 RLC
P4-3 P4-3 OP G ( s ) =

R4

R2

R3

+
_

C4

C2

+
V1 ( s )

V2 ( s )

V1 ( s )

+
V2 ( s )

R1

P4-3 OP
P4-4 P4-4 RLC x = Ax + b u y = c x + d u

x = [x1 , x 2 ] u(t ) y (t )
T

G ( s ) = Y ( S ) / U ( s )

4-20

R
+

u(t )

x1 (t )

x2 ( t ) = y ( t )

P4-4 RLC
P4-5 P4-5 RLC x = Ax + b u y = c x + d u

x = [x1 , x 2 ] u(t ) y (t )
T

x2 = vC2
_

R
+

C1

u(t )

x3 = iL1

C2
x1 = vC1

y (t )
_

P4-5 RLC
P4-6 P4-6 ()
x = Ax + b u y = c x + d u u(t ) y (t )
G ( s ) = Y ( S ) / U ( s )

y (t )

()

B
u(t )

()

P4-6
P4-7 P4-7 Y1 ( s ) / U ( s )

4-21

k2
m2 y2

b1

b2
m1

y1

P4-7
P4-8 P4-8 Y ( s ) / U ( s )

b2
m1

k1

b1

P4-8
P4-9 P4-9 RLC x (t ) = [x1 (t ), x2 (t ), x3 (t )]T
u(t ) y (t )
(a) x (t ) = A x (t ) + b u(t ) , y (t ) = c x (t ) + d u(t )
(b) G ( s ) = Y ( s ) / U ( s )
1

1H

u(t )

1F

+
_ x1 (t )

P4-9

x3 (t )

1F

+
x2 ( t )
_

RLC

P4-10 P4-10 RLC

4-22

+
1

y (t )

(1) x (t ) = A x (t ) + b u(t ) , y (t ) = c x (t ) + d u
x (t ) = [ x1 (t ), x2 (t )]T
(2) G ( s ) = Y ( s ) / U ( s )

(3) RLC

R1

+
x1 (t )
_

u(t )

P4-10

x2 (t )
R2

y (t )
_

RLC

P4-11 P4-11
(1) G ( s) = Y ( s) / U ( s)
(2) x (t ) = A x (t ) + b u(t ) , y (t ) = c x (t ) + d u
(3) RLC

B2
input force

B1

u(t )

M1

M2

x1 (t ) = y (t )

x2 (t )

P4-11
P4-12 P4-12 RLC 1 ()2 ()()
() = 1 ()

P4-12 RLC
(a) RLC {A, b, c, d}
() = () + (),
() = () + (), () = [ 1 (), 2 ()] ;
4-23

()

(b)() = ()

(c) G(0)
(d)() = sin() , 0(), 0

(e)() = [0, 1]

P4-13 P4-13 RLC 1 ()2 ()

() () = 2 ()
R1 = 1 ohm

+
u (t )_

R2 = 1 ohm

+
x (t )
_1

C =1F

y = x2 (t )
L =1H

P4-13 RLC
(a) = + , = , = [1
()

() = ()

2 ]

(b)() = sin() , 0, = 0
(zero state response) (), 0
(c) = 1 = 0
(zero-input response) (), 0 [RLC = 0]
P4-14

=?
(a) P4-14 ()
()

(b)() = () =?
input force

output displacement

y (t )

u (t )
K1

K2
B2

B1

P4-14
P4-15 P4-15 ()
1 ()2 ()
4-24

 P4-15
(a)
(b)1 () =
(c)2 () =

1 ()
()

2 ()
()

P4-16

()

()

+ () + () = ()

+ () () = 0

= 1, = 1, = 1, = 1, = 1, = 1
(a)() = 1, > 0 (), 0
(), 0
(b)(), 0(), 0
4 MATLAB

4-25