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A8 1 PDF
A8 1 PDF
Z
Z - smetnja prevedena
XR
KR
+ U 1 Y
na ulaz procesa
TR
T1
-
GR GS
a) Prikaži izlaznu veličinu y(s) kao funkciju referentne vrijednosti xR(s) i smetnje z(s)
b) Odredi prirodnu frekvenciju neprigušenih oscilacija ωn i relativni koeficijent
prigušenja ζ
c) Odrediti KR i TR tako da se postigne ζ=0,707. Izračunati i skicirati, za ζ=0,707,
ovisnosti KR=f1(T1/ TR) i ωN =f2(T1/ TR)
d) Skicirati za tako određeni regulator Bodeov dijagram prijenosne funkcije
otvorenog kruga Go(jω)
e) Skicirati prijelazne funkcije hx(t) i hz(t).
KR
G R (s) = (1)
1 + TR s
1
GS (s) = (2)
1 + T1 s
Y ( s ) = (U ( s ) + Z ( s ) ) ⋅ GS ( s ) = Gs ( s ) ⋅ ( GR ⋅ E ( s ) + Z ( s ) )
= GS ⋅ ( GR ( X R ( s ) − YS ( s ) ) + Z ( s ) )
= GS ⋅ GR ⋅ X R ( s ) − GS ⋅ GR ⋅ Y ( s ) + GS ⋅ Z ( s )
Y ( s ) ⋅ (1 + GS ⋅ GR ) = GS ⋅ GR ⋅ X R ( s ) + GS ⋅ Z ( s )
GR GS GS
GX ( s ) = GS ( s ) =
1 + GRGS 1 + GR GS
Y ( s ) = G X X R + GS X S (4)
Uvrštavanjem prijenosnih funkcija elemenata u izraz (4) dobivamo
KR 1
Y (s) = ⋅ ⋅ X R (s)
1 + K R TRT1 s 2 + TR + T1 s + 1
1+ KR 1+ KR
1 TR s + 1 (5)
+ ⋅ ⋅ Z ( s)
1 + K R TRT1 s 2 + TR + T1 s + 1
1+ KR 1+ KR
1+ KR
ωn = (6)
TRT1
2ξ TR + T1
=
ωn 1 + K R
T +T ω 1 TR + T1 1 + K R 1 T2 T12
ξ = R 1⋅ n = ⋅ = R
+
1+ KR 2 2 1+ KR TRT1 2 1+ KR TRT1 TRT1
1 TR T
ξ= + 1 (7)
2 1+ KR T1 TR
(T + T )
2
1 1 1
= ⋅ ⋅ R i ⇒ 2 (1 + K R ) TRT1 = TR 2 + 2TRTi + Ti 2
2 4 1+ KR TRT1
2 K RTRT1 = TR 2 + Ti 2
1T T
KR = R + 1 (8)
2 T1 TR
1T T 1 TR 2 + T12
1+ R + 1+
1+ KR 2 T1 TR 2 T1TR 2T1TR + TR 2 + T12
ωn = = = =
TRT1 T1TR T1TR 2T12TR 2
TR + T1 1 1 1 1 1 T1
= = + = ⋅ + 1
2 ⋅ T12TR 2 2 T1 TR 2 T1 TR
1 1 T1
ωn = ⋅ + 1 (9)
2 T1 TR
1 T T T1 1 1
KR = 1 + R , X= ⇒ KR = X +
2 TR T1 TR 2 X
1 1 T1
ωn = ⋅ + 1 , y = ω n 2 ⇒ ω n 2 ⋅ T1 = 1 + x, y = 1+ x
2 T1 TR
KR 1
GO ( s ) = GR ( s ) ⋅ GS ( s ) = ⋅ (10)
1 + TR s 1 + T1s
KR 1
hX (∞) = hZ (∞) =
1 + KR 1 + KR