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Czon proporcjonalny
u(t) y(t)
y(t) = k u(t) k wspczynnik wzmocnienia K(s) = k K(j) = k h(t) = k 1(t) k(t) = k (t) charakterystyka skokowa charakterystyka impulsowa
Q()
P()
(k<0) k>0
Przykady realizacji
dzielnik napicia
dwignia
ukad pneumatyczny
dy (t ) T + y (t ) = ku (t ) dt
k K ( s) = Ts + 1
dy (t ) T + y (t ) = u (t ) dt
dy L T + y = L{ku (t )} dt
czyli k K (s) = Ts + 1
Amplitude
dy (t ) T + y (t ) = ku (t ) dt
k=1
0 1 2
T=1
1
4 5 6
Step Response
From: U(1)
K ( s) =
0.9 0.8 0.7 0.6 To: Y(1) 0.5 0.4 0.3 0.2 0.1 0
Time (sec.)+ 1 Ts
h(t ) =
t k (1 e T
Amplitude
k=1
0 5 10 15 20
T=5
25 30
Time (sec.)
charakterystyka impulsowa
t k T k (t ) = e T
Amplitude
k=1 T=1
Impulse Response
From: U(1)
To: Y(1)
Time (sec.)
k=1 T=5
Amplitude
10
15
20
25
30
Time (sec.)
k K (s) = sT + 1 K ( s ) s = j = K ( j ) K ( j ) = P( ) + jQ( ) P( ) = Q( ) = k 1 + 2T 2 kT 1 + 2T 2
9
0.2
P( ) =
k k=1 T=2
k 1 + 2T 2 kT 1 + 2T 2
Imaginary Axis
To: Y(1)
-0.2
Q( ) =
-0.4
-0.6
-0.8 -1
-0.8
-0.6
-0.4
-0.2
0.2
0.4
0.6
0.8
Real Axis
10
-5
-10
10-1
100
Frequency (rad/sec)
11
From: U(1)
Lm( ) = 20 lg K ( j ) Lm( ) = 20 lg k 1 + (T ) 2
( ) = arctgT
Frequency (rad/sec)
12
Przykady realizacji
ukad RC ukad LR
ukad mechaniczny
ukad pneumatyczny
13
Im aginary Axis
k=5 T=1 k
To: Y(1)
-1
-2
-3 -1
Real Axis
14
k1, T1
kn, Tn
K ( s) =
k k1 K n sT1 + 1 sTn + 1
i =n
K ( s) =
ki sT + 1 i =1 i
15
16
n=2 1 1 K ( s) = s + 1 2s + 1
Amplitude
To: Y(1)
10
12
Bode Diagrams
0.4
-30 -40 -50 0 -50 To: Y(1) -100 -150 -200 10-1
Imaginary Axis
-0.2
-0.4
-0.6
-0.8 -1
-0.8
-0.6
-0.4
-0.2
0.2
0.4
0.6
0.8
100
101
Real Axis
Frequency (rad/sec)
17
Step Response
From: U(1)
n=3 K ( s) = K ( s) = 1 1 1 s + 1 2 s + 1 3s + 1 1 6 s 3 + 11s 2 + 6 s + 1
Nyquist Diagrams
From: U(1) 0.8
0.9 0.8 0.7 0.6 To: Y(1) 0.5 0.4 0.3 0.2 0.1 0
Amplitude
12
15
18
0.6
0.4
Imaginary Axis
-0.2
-0.4
-0.6
To: Y(1)
-100
-200
-0.8 -1
-0.8
-0.6
-0.4
-0.2
0.2
0.4
0.6
0.8
Real Axis
-300 10-2
10-1
100
101
Frequency (rad/sec)
18
k K (s) = s K ( j ) = k j
h(t ) = kt
t 19
Nyquist Diagrams
From: U(1)
20
h(t)
1500 1000
Imaginary Axis
Amplitude
15 To: Y(1)
10
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
-2000 -1 -0.9 -0.8 -0.7 -0.6 -0.5 -0.4 -0.3 -0.2 -0.1 0
Real Axis
K (s) =
20 s
100
101
10 2
Frequency (rad/sec)
20
idealny kondensator
y(t)=U
licznik odlegoci
21
d 2 y (t ) dt 2
dy (t ) + = ku (t ) dt
K ( j ) =
k = P( ) + jQ ( ) j (1 + jT )
K ( s) =
k s (1 + sT )
P( ) = Q( ) =
kT 1 + (T ) 2 k
[1 + (T ) 2 ]
charakterystyka skokowa
h(t ) = kt kT (1 e
t T
)
22
Amplitude
Bode Diagrams
From: U(1) 100 80 60
10
15
20
25
30
35
40
45
50
Time (sec.)
2500 2000 1500
Nyquist Diagrams
From: U(1)
40 20 1000
Imaginary Axis
-140 -160 -180 10 -3 10 -2 10-1 10 0 -2500 -120 -100 -80 -60 -40 -20 -1500 -2000
23
0
Frequency (rad/sec)
Real Axis
siownik pneumatyczny
zbiornik
24
y ( s ) = K ( s )u ( s )
dy (t ) du (t ) T +y=k dt dt ks K (s) = 1 + sT
u (s) = y(s) =
1 s ks 1 k = 1 + sT s 1 + sT
K ( j ) = P( ) =
jk = P( ) + jQ ( ) 1 + jT kT 2 Q ( ) = k 1 + (T ) 2
k y (t ) = L1{ } 1 + sT k y (t ) = h(t ) = e T T
t
1 + (T ) 2
25
K ( s) =
ks 1 + sT
To: Y(1)
3.5
2.5
Nyquist Diagrams
From: U(1) 2.5 2
Amplitude
k/2T
1.5
1.5 1
0.5
Imaginary Axis
=0
0 -0.5 -1 -1.5
10
15
20
25
30
Bode Diagrams
Time (sec.)
k/2T
k/T
20
From: U(1)
-20
-2 -2.5 -1
-0.5
0.5
1.5
2.5
3.5
Real Axis
26
Frequency (rad/sec)
ukad pneumatyczny
27
du (t ) y (t ) = k dt K ( s ) = ks K ( j ) = j k
h(t) = k (t)
28
u(t)=U
29
Czon oscylacyjny
u(t) y(t)
Tn
d2y dt 2
+ 2Tn
dy + y = ku dt
K ( s) =
k Tn2 s 2 + 2Tn s + 1 k n 2
2 s 2 + 2 n s + n
lub d2y dy 2 2 + 2 n + n y = k n u dt dt 2
K ( s) =
n pulsacja drga wasnych nietumionych T n okres drga wasnych nietumionych wspczynnik tumienia wzgldnego k wspczynnik wzmocnienia
30
Czon oscylacyjny
Bieguny transmitancji, dla 0 < < 1 czyli rozwizania rwnania M(s) = s2+2sn+n2 = 0
2 s zespolone sprzone o ujemnej czci rzeczywistej: s1 = n ( + j 1 )
s2 = n ( j 1 2 )
Charakterystyka skokowa dana jest wzorem:
w = n 1 2 = arctg
1 2
31
Czon oscylacyjny
Amplitude
Step Response
From: U(1) 35
30
e nt h(t ) = k 1 sin( wt + ) 1 2
Step Response
From: U(1) 30
25
To: Y(1)
20
15
10
k=20 n = 1 = 0,2
0 5 10 15 20 25 30
25
Time (sec.)
20
Amplitude
To: Y(1)
15
10
k=20 n = 1 = 0,4
0 5 10 15
Step Response
From: U(1) 25
20
Time (sec.)
Amplitude
15 To: Y(1)
10
k=20 n = 1 = 0,7
1.6
3.2
4.8
6.4
Time (sec.)
32
Czon oscylacyjny
Nyquist Diagrams
From: U(1)
Nyquist Diagrams
From: U(1) 30
20
10
I m a g in a ry A x is
60
T o: Y(1)
k=20 n = 1 = 0,4
40
20
Imaginary Axis
To: Y(1)
k=20 n = 1 = 0,2
20
-10
Nyquist Diagrams
From: U(1)
-20
-20
15
-40
-30 -10
-5
10
15
20
25
10
T o : Y (1 )
Real Axis
Im aginary A x is
-60 -30
-20
-10
10
20
30
40
k=20 n = 1 = 0,7
Real Axis
-5
-10
-15
-20 -5
10
15
20
Real Axis
33
Czon oscylacyjny
Bode Diagrams
Bode Diagrams
From: U(1) 60 40
From: U(1) 30 20 10
P h a s e (d e g ); M a g n it u d e (d B )
k=20 n = 1 = 0,2
100
101
100
101
30 20 10
Frequency (rad/sec)
k=20 n = 1 = 0,1
k=20 n = 1 = 0,4
100
101
Frequency (rad/sec)
34
Czon oscylacyjny
Przykady
ukad RLC
ukad mechaniczny
35
Czon opniajcy
y (t ) = ku (t T0 )
K ( s ) = ke
sT0
u(t) y(t)
h(t)
h(t ) = k1(t T0 )
K ( j ) = ke jT0
Q()
P()
36
Czon opniajcy
ukad mechaniczny
ukad elektryczny
37