Chapter 6 Self-Study Solution

Automatic Control Systems

Teaching Assistant: Eunchan Do / Sihyun Yoo

E-mail: dec1995@hanyang.ac.kr / ysh324@hanyang.ac.kr

S 01 )
aL ) forque eqvalion

Ts sin 8 odz f Fad K kFdaFn

= J αF
Jθ =

르 8
5 i5
Verf smal sn 5

'

②
∴
Jdtrd =
Tsd28 +
KFdi θ

(b ) Laplace Transformation

Js ( s )= Tsdz kFdi θ
θ

D
( s) + (s )

⇒ θ CS ) Tsd 2

DLS ) Jss -

KFd )

C) JD =Tssm 5 ( d + dz ) +kFd @

Jdtad
θ
=
Ts ( di + dz ) 8 + kFdz @

Laplace transfornation

Js ( s ) = Ts( ditdz ) 4 ( s ) + KFd .

θ Ls )

: θ Cs ) Ts ( ditdz )
=

Dcs ) Js
β
-

KFd 2
s0 ) 2 DC Motor block
l dagranc
Ra Lca

q
W
laia
ㅇ

*
5 KcL ' ea =
iaRa t teb

ee
coia LM kbWm Tm ki i
eb
=
=

, @

( JmfJ ) 8 Bmom
8
. m
t
=
Tm( JL : Load inertia )

Eacs )
1 IaLs ) Tm ( s ) θm ( s )
7 7
1 2 m (s )
7 Ki 7 1
7 7
Raf las
+

( Jm + J ) S +
. Bm 5
a
무

Eb (s )

kb
 nom - bb ksy K
y (t) e =
= tacs ] G Cs ] ELs )
r

- =
= .

' y -

y (t
-

TD ) ( Timedelaf TD =

rA sec )

TDS
Laplace Transformatiorntime shist . Y ( s; ; =
n θ (s ) e

∴ Overall block dicegran

θ m (s )
Ea(s ) YCs )
laj
+ ECs )

stBm
1
a (s ) Tbs
Ga K > > 3 >
-

, >
(s ) 9
4 Rot ki ' ) 어
se
(Juth) s

A =
a

B (s ) kb
)

<

ks <

(b ) DC Mofor

K은
Dt
thibkik
7 , =
, 7
)

) stBm )
α
( hathas ) 우 (Jm +i ( RatLas ) (
0

⇒ ( Jnt )stBa )

kb <

Tos
kkinGce
빌 =

)
s [( βatlas)
( ( Jmtr) stBmltkok ]

100 p
onlosed -fransfer funct
-

TDs
KK : MGc s)e -(

KCS ) =

Tps
RCs )
-

St ( Ruthas ) 는 ( Jm + JK ) stBm 3 + kbk ; ] + kkiks nGc ( s ) e