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SAU U ENERGETICI
• Data je f-ja povratnog prenosa:
𝐾𝐵
•𝑊 𝑠 = 𝑠 2
𝑠 1+5
-20 db/dek
0
Magnitude (dB)
-150
-90
-135
Phase (deg)
-180
𝜑𝑝𝑓 = 67,4°
-225
-270
-1 0 1 2 3
10 10 10 10 10
Frequency (rad/s)
KB = 2,07
Bode Diagram
50
-20 db/dek
0
Magnitude (dB)
-100
-150
-90
-135
Phase (deg)
-180
𝜑𝑝𝑓 = 45°
-225
-270
-1 0 1 2 3
10 10 10 10 10
Frequency (rad/s)
Za datu f-ju povratnog prenosa.
W s 10
s 2
s s 0,5s 4
W j dB 20 log 10 20 log 20 log 20 log 20 log Arg W j 90 arctg arctg arctg
0,5 2 4 0,5 2 4
60
K v 10 rad / s
40
20
Magnitude (dB)
0
-20 d dB 0 dB
-40
1 2,5 rad / s
-60
-80
SISTEM JE STABILAN
-90
Phase (deg)
-135
pf 34,18 ? d dB ?
-180
-2 -1 0 1 2
10 10 10 10 10
Frequency (rad/s)
Za datu f-ju povratnog prenosa.
W s 10
s 1
s
2
s
s 1
2
4 4
a) Skicirati Bodeove dijagrame.
b) Označiti preteke stabilnosti.
c) Diskutovati stabilnost.
d) Odrediti i označiti konstantu greške na dijagramu.
1 j
W j 10
2
1 j
2
4 4
4 rad / s
W j dB 20 log 10 40 log 20 log 40 log
4 4
Arg W j 180 arctg arctg
16 2
W j dB 20 log 10 20 log 40 log
4
4 rad / s
4
Arg W j 180 arctg 180 arctg
2 16
rad / s 0,01 0,1 1 4 10 100
W ( j ) dB 100 60 20 8 -15,9 -75,9
-179,6 -175,7 -149,9 -194 -250,2 -268,3
150
100
System: sys
Magnitude (dB) 50 Gain Margin (dB): -10.5
Ka
At frequency (rad/s): 3.46
Closed Loop Stable? No
0
K a 10
-50
d dB 9,21 dB
-100
-135 SISTEM JE NESTABILAN
pf 42,3
-180 System: sys
Phase (deg)
-270
-2 -1 0 1 2
10 10 10 10 10
Frequency (rad/s)
Za datu f-ju povratnog prenosa.
W s 4500
s 1
s s 3s 10
2
W j dB 20 log 15 20 log 20 log 20 log
3
40 log
10
Arg W j 90 180 arctg arctg
3
2arctg
10
W j dB 20 log 15 20 log 40 log Arg W j 90 arctg arctg 2arctg
3 10 3 10
rad / s 0,1 1 3 10
W ( j ) dB 43,5 23,5 23,5 13,1
81,2 15,1 -60 -157,6
100
50 System: sys
Gain Margin (dB): -1.31
Magnitude (dB) At frequency (rad/s): 13.5
Closed Loop Stable? No
0
-50
-100
90
0
Phase (deg)
-90
-180
System: sys
Phase Margin (deg): -4.64
Delay Margin (sec): 0.431
-270
-2 -1 0 At frequency (rad/s): 14.4
1 2 3
10 10 10 Closed Loop Stable?10 No 10 10
Frequency (rad/s)