Method#1 for developing cross-coupled discrete-time models

and subsequent independent (SISO) discrete-time models

for computer interfaced systems with ZOH
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1. Develop a physical system model (由物理特性找出系統數學描述)

Use basic physics principles for each element
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2. Prepare differential equation (ODE) description (寫出 ODE )

Select relevant manipulated input and ouput variables for the equations
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3. Form the Laplace transform of the differential equations (對 2. 所得 ODE 做拉式轉換)

L ( ODE ) → Ø(s) = f( Input = M(s) ) include the effects of initial conditions !!!
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4. Cross-solve the Laplace transformed differential equations for each state as needed. (解出 Ia(s) 及 Ωm(s))
Only the initial conditions from states and cross-coupled states should remain.

Ke KT Rp Rp Jp 1-ζ2
請以 ωn = 、 ζ= = 、 φ = tan-1 化簡式子
LpJp 2ωnLp 2 KeKTLp ζ
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1
5. Substitute the zero order hold (step input) model for the manipulated input (帶入Ea(s) = e (t )，整理 Ωm(s))
s a 0
1
L ( Step input ) → M(s) = mstep(t=0)
s
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6. Find the continuous time step response solution (cross-coupled initial conditions) (反拉式轉換求 ia(t) 及 ωm(t))
L-1 ( Ø(s) ) → ø(t) terms (the response to a step input given initial conditions)

ωn2 ωn -ζω t
C1t = L-1 { } = e n sin( 1-ζ2ωnt)
s2+2ζωns+ωn2 1-ζ2
sωn2 ωn -ζω t
請以 C2t = L-1 { } = - e n sin( 1-ζ2ωnt-φ) 化簡式子
s2+2ζωns+ωn2 1-ζ2
ωn2 ωn -ζω t
C3t = L-1 { } = 1- e n sin( 1-ζ2ωnt+φ)
s(s2+2ζωns+ωn2) 1-ζ2
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7. Find the cross-coupled response at the next sample instant (令 t = T 帶入 ia(t) 及 ωm(t))
Sample at time t=T to obtain the equation for ø(T) given mstep(t=0) and initial conditions
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8. Find the cross-coupled difference equation models in sampled time domain (令T = k, t0= k-1 帶入ia(T)及ωm(T))
Generalize to an arbitrary time kT (and correspondingly to the abbreviated form "k")
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9. Find the Z-domain model of the cross-coupled difference equations (將 k 及 k-1 用Z-1代換)
Use Z function to "transform" the difference equations using backshift properties
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10. Find the cross-coupled transfer functions given the latched manipulated inputs (將二式整理成輸出入信號為主的帶分數形式)

Solve the Z-domain transfer function models for desired rational fraction format
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11. Solve the cross-coupled transfer functions for the independent transfer functions (Ea(Z)為輸入，解出 Ia(Z) 及 Ωm(Z))

Single input – single output transfer functions (ex: Ia(Z) = ？ * Ea(Z))

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12. Find the independent difference equations.

Invert the independent transfer functions to obtain independent difference equations
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