Professional Documents
Culture Documents
−4
3
s+α
Rexenje
4 4
R(s) = Q(s) − Xi (s)
s s+α
4 4
Xi (s) = R(s) − 2 P (s) ⇒ Xi (s) = Q(s) − Xi (s) − 2 P (s)
s s+α
16 4
Xi (s) 1 + = Q(s) − 2 P (s)
s(s + α) s
1
s2 + α s + 16 4 s + α X (s) − 2 1
Xi (s) = u Xu (s)
s(s + α) s 3 3
1+ 1+
s+α s+α
s2 + α s + 16 4 2s + 2α 4 − 2 s2 − 2 α s
Xi (s) = Xu (s) − Xu (s) = Xu (s)
s(s + α) s(s + α + 3) s+α+3 s(s + α + 3)
Xi (s) 4 − 2 s2 − 2 α s s(s + α) (s + α)(−2 s2 − 2 α s + 4)
W (s) = = =
Xu (s) s(s + α + 3) s2 + α s + 16 (s2 + α s + 16)(s + α + 3)
Sistem je stabilan (za α > 0) tako da je:
(s + α)(−2 s2 − 2 α s + 4) 4α α 2
K = lim 2 = = = = 0, 1
s→ (s + α s + 16)(s + α + 3) 16 (α + 3) 4 (α + 3) α=2 20
Rexenje
poly([-1-i -1+i])
ans =
1 2 2
s+2
W (s) = 3
+ 2s + 2 s2
Na osnovu prenosne funkcije se dobija sledea diferencijalna jednaqina ponaxanja
Kretanje je:
1 s 1 3
X(s) = 2 1
s + 2 s + 2 −2 s + 2 6 s+3
3s + 6
X1 (s) =
(s + 3)(s2 + 2 s + 2)
syms t s
ilaplace((3*s + 6)/((s + 3)*(s^2 + 2*s +2)))
ans = (3*exp(-t)*(cos(t) + 3*sin(t)))/5 - (3*exp(-3*t))/5
−3 t −t
−3 t
χ1 (t; 0x ; e ) = 0, 6 e (cos t + 3 sin t) − 0, 6 e = 0, 1862
t=2
Rexenje
−5 4 20
Wok (s) = − WRxi (s) WOy (s) = − =
s s+a s(s + a)
Lok (ω) = 20 log 20 − 20 log ω − 20 log a2 + ω 2
Lok (2) = 20 log 20 − 20 log 2 − 20 log a2 + 4
Rexenje
Iz jednaqine stanja i jednaqine izlaza upravljaqkog sistema se dobija:
W(s) = C (s I − A)−1 B + D
1 s + 4 0 1 −2 β
W(s) = 1 −1
(s + 1)(s + 4) 0 s+1 1 −2 −6
1 1 −2 β 1
W(s) = s + 4 −s − 1 = 3 −6 (β + 6) s + 4 β + 6
(s + 1)(s + 4) 1 −2 −6 (s + 1)(s + 4)
se dobija:
1 1 2
ẋi (t) + xi (t) − z(t)
u(t) =
3 3 3
diferenciranjem te jednaqine i kombinovanjem sa jednaqinom ponaxanja upravljaqkog sistema
se dobija:
1 ... 1 2 5 5 10 4 4 8
x i (t) + ẍi (t) − z̈(t) + ẍi (t) + ẋi (t) − ż(t) + ẋi (t) + xi (t) − z(t)
3 3 3 3 3 3 3 3 3
= 3 xi − 6 xi + (4 β + 6) z(t) + (β + 6) ż(t)
odnosno
...
x i (t) + 6 ẍi (t) + 9 ẋi (t) + 22 xi (t) = 9 xi (t) + (12 β + 26) z(t) + (3 β + 28) ż(t) + 2 z̈(t)
12 β + 26 + (3 β + 28) s + 2 s2
Wz (s) =
s3 + 6 s2 + 9 s + 22
Na osnovu Hurvicovog kriterijuma se zakljuquje da je sistem stabilan (a2 a1 > a3 a0 , 6 · 9 >
1 · 22)
12 β + 26 + (3 β + 28) s + 2 s2 12 β + 26
Kz = lim =
s→0 s3 + 6 s2 + 9 s + 22 22
12 β + 26 50
εsz = − Kz = − =− = −2, 2727
22 22 β=2
5. Ako je prelazna funkcija sistema prvog reda P dejstva pri nenultim poqetnim uslovima
oblika:
g(t) = a + e−t
odrediti odziv tog sistema iz istog poqetnog uslova u slobodnom reimu rada.
xi (2) = 0, 4060 2, 5
Rexenje
Poqetni uslov se dobija iz:
xi0 = g(0) = a + 1
Pojaqanje sistema je
K = lim g(t) = lim (a + e−t ) = a
t→+∞ t→+∞
xi (t) = (a + 1) e−t
−2
xi (2) = (a + 1) e = 0, 4060
a=2
6. Ako je α = 2
KP + KI + KD = 20 2, 5
Rexenje
1
KP + KsI + KD s 2 KD s2 + KP s + KI
W (s) = s +s+α =
1 s3 + (1 + KD )s2 + (α + KP )s + KI
1 + KP + KsI + KD s 2
s +s+α
f (s) = s3 + (1 + KD )s2 + (α + KP )s + KI
Zadati polinom je:
poly([-1 -2 -3])
ans = 1 6 11 6
f (s) = s3 + 6 s2 + 11 s + 6
Na osnovu toga sledi:
1 + KD = 6 ⇒ KD = 5
α + KP = 11 ⇒ KP = 11 − α
KI = 6
Konaqno:
KP + KI + KD = 11 − α + 6 + 5 = 22 − α = 20
α=2
7. Ako je sistem opisan sa
π
L(ω) = 20 + 20 log ω − 20 log 1 + ω2, ϕ(ω) = π + + arctan ω
2
odrediti
χ(t; −2, 0; t) = −1.524, 1 2, 5
Rexenje
Prenosna funkcija je:
s
W (s) = −10
1−s
Diferencijalna jednaqina ponaxanja
A = 1, B = b0 − a0 b1 = 0 − (−1) 10 = 10
x̂u (t) = xu (t − σ) = t − 2
1 2 1 − 2s
X̂u (s) =
2
− =
s s s2
1 1 − 2s 10 − 20 s
X(s) = 10 2
= 2
s−1 s s (s − 1)
8. Za sistem opisan sa
Ẍi (t) + 2 Ẋi (t) + Xi (t) = 2 Xu (t) + Ẋu (t)
odrediti XuN (t) za Xi (t) = 2 cos (2 t).
XuN (t) = 2, 3495 2, 5
Rexenje
ẊuN (t) + 2 XuN (t) = Ẍi (t) + 2 Ẋi (t) + Xi (t)
Xi (t) = 2 cos (2 t) Ẋi (t) = −4 sin (2 t) Ẍi (t) = −8 cos (2 t)
ẊuN (t) + 2 XuN (t) = −8 cos (2 t)−8 sin (2 t)+2 cos (2 t) = −6 cos (2 t) − 8 sin (2 t)
simplify(laplace(-6*cos(2*t) - 8*sin(2*t)))
ans = -(2*(3*s + 8))/(s^2 + 4)
6 s + 16
s XuN (s) − XuN 0 + 2 XuN (s) = −
s2 + 4
XuN 0 = Xi0 = Xi0 = 2 cos 0 = 2
1 6 s + 16 2 2 s2 + 8 − 6 s − 16 s2 − 3 s − 4
XuN (s) = − + = = 2
s + 2 s2 + 4 s+2 (s + 2)(s2 + 4) (s + 2)(s2 + 4)
Proverimo da li sistem pobuen takvim (nominalnim) ulazom na izlazu daje eljenu vred-
nost izlaza:
Ẍi (t) + 2 Ẋi (t) + Xi (t) = 2 Xu (t) + Ẋu (t), Xi0 = 2, Ẋi0 = 0, Xu0 = 2
s2 Xi (s) − Ẋi0 − s Xi0 + 2 sXi (s) − 2 Xi0 + Xi (s) = 2 Xu (s) + s Xu (s) − Xu0
2+s Ẋi0 + s Xi0 + 2 Xi0 − Xu0
Xi (s) = Xu (s) +
s2
+ 2s + 1 s2 + 2 s + 1
2+s 2s + 4 − 2
Xi (s) = 2
Xu (s) +
(s + 1) (s + 1)2
2+s s2 − 3 s − 4 2s + 2
Xi (s) = 2 +
(s + 1) (s + 2)(s + 4) (s + 1)2
2 2
ilaplace((2 + s)*2*(s^2 - 3*s - 4)/((s + 1)^2*(s + 2)*(s^2 + 4)) + (2*s + 2)/(s + 1)^2)
ans = 2*cos(2*t)
Xi (t) = 2 cos (2 t)
9. Odrediti prelaznu funkciju, pri nultim poqetnim uslovima, HPO sa slike (xu1 (t) = xu2 (t) =
h(t)), ako su: co = 1, cp = 2, A = 2, kq = 3 i l = 5.
xu2
cp
x2 l 1
2l x1
2 co
q xu1
A kq
q
3
4 x3
2l l
5
xi
g(t) = −2 2, 5
Rexenje
Xu2 (s) 1 X1 (s) 12 X2 (s) Xr (s) Q(s) 1 Xi (s)
Ts kq −
T s+1 3 − As
1
3
Prenosna funkcija unutraxnje povratne sprege (negativne):
kq
−
W1 (s) = A s = −9
kq 6s − 3
1−
3As
−9 −9
W1 (s) 6 s − 3 6 s − 3 = −3
W2 (s) = = =
W1 (s) −9 1 −3 2s
1− 1− 1−
3 6s − 3 3 6s − 3
1 1 1 1 2 1 −1 − 2 s 1
G(s) = Wxu1 (s) + Wxu2 (s) = − − = 2 =− 2
s s s (2 s + 1) s 2s + 1 s s (2 s + 1) s
g(t) = − t = −2
t=2
10. Odrediti uqestanost ω ∗ pri kojoj hodograf uqestanosne karakteristike otvorenog kola
preseca negativni deo realne ose.
ω ∗ = 4, 5826 2, 5
Rexenje
2 2
Wok (s) = 2
= 2
(s + a)(s + 3) (s + a)(s + 6 s + 9)
2 (j ω − a)(9 − ω 2 − 6 j ω)
Fok (j ω) =
(j ω + a)(9 − ω 2 + 6 j ω) (j ω − a)(9 − ω 2 − 6 j ω)
2 (j ω − a)(9 − ω 2 − 6 j ω) 6 ω 2 − 9 a + a ω 2 + j (9 ω − ω 3 + 6 a ω)
Fok (j ω) = = −2
(−ω 2 − 1)((9 − ω 2 )2 + 36 ω 2 ) (ω 2 + 1)((9 − ω 2 )2 + 36 ω 2 )
6 ω2 − 9 a + a ω2 (6 + a) ω 2 − 9 a
ReFok (ω) = −2 = −2
(ω 2 + 1)((9 − ω 2 )2 + 36 ω 2 ) (ω 2 + 1)((9 − ω 2 )2 + 36 ω 2 )
9 ω − ω3 + 6 a ω 9 + 6 a − ω2
ImFok (ω) = −2 = −2 ω
(ω 2 + 1)((9 − ω 2 )2 + 36 ω 2 ) (ω 2 + 1)((9 − ω 2 )2 + 36 ω 2 )
Imaginarni deo Fok (j ω) je jednak nuli za ω = 0 i ω = ω ∗
√ √
ω = 9 + 6 a
∗
= 21 = 4, 5826
a=2
sys = tf([2], poly([-2 -3 -3]))
sys =
2
-----------------------
s^3 + 8 s^2 + 21 s + 18
Nyquist Diagram
0.1
0.08
0.06
0.04
0.02
Imaginary Axis
-0.02
-0.04
-0.06
-0.08
-0.1
-1 -0.8 -0.6 -0.4 -0.2 0 0.2
Real Axis
Predmetni nastavnik