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3: Centrifugalno njihalo
Slika prikazuje shemu centrifugalnog njihala (J.Watt, Regulacija brzine parnih strojeva).
r0
FG
r
dα
FD = K ⋅ α ′ , α ′ =
dt
f (ω , α , α ′, α ′′) = 0 (1)
Automatsko upravljanje, auditorne vježbe, zadatak A.2.3 1/7
Promatramo sile samo u smjeru gibanja (oko zgloba "•" ). Sile u ostalim smjerovima
"prihvaća" zglob. Dakle analiza samo u smjeru okomitom na šipku L – projekciju na
tangentu na kružnicu koju opisuje masa m.
FR - rezultanta
α
L FR = cos α ⋅ FC − sin α ⋅ FG − FD
dα
= m ⋅ cosα ⋅ (r0 + L ⋅ sin α )ω 2 − m ⋅ g ⋅ sin α − K ⋅
FR dt
FD α FC
m
∑F i =0
dv d 2s d 2α
FA = m ⋅ a = m ⋅ = m⋅ 2 = m⋅L⋅ 2
dt dt dt
β
S
tgβ =
L L
S S = L ⋅ tgβ ≈ L ⋅ β
d 2α K dα g r
f = 2 + ⋅ + ⋅ sin α − 0 + sin α ⋅ ω 2 ⋅ cos α = 0 (2)
dt mL dt L L
tromost prigušenje gravitacija centrifugalna
vrijedi :
g r 2
⋅ sin α 0 − 0 + sin α 0 ⋅ ω0 ⋅ cos α 0 = 0 - riješavanjem dobijemo :
L L
g tg α 0 Π
ω0 = ⋅ 0 ≤ α0 <
L r0 ,
2
(3)
+ sin α 0
L
r0
Za = 0,5 treba nacrtati : α 0 = f (ω0 ) .
L
Dakle :
ω0 tgα 0
=
g L 0,5 + sin α 0
ω0
α0
90
g L
75
0° 0
60
30° 0,577
45° 0,828 45
60° 1,126 30
75° 1,596
15
90° ∞
0,5 1 1,5 2 ω0
g L
ω = ω0 + ∆ω
α = α 0 + ∆α
α ′ = ∆α ′
α ′′ = ∆α ′′
∂f ∂f ∂f ∂f
∆f = 0 = ⋅ ∆α ′
′ + ⋅ ∆α ′ + 0 ⋅ ∆α + 0 ⋅ ∆ω (4)
∂α ′′ ∂α ′
0 0
∂α ∂ω
Parcijalne derivacije koje se dobiju iz izraza (2) su konstante ovisne o odabranoj radnoj
točki.
∂f
0=1
∂α ′′
∂f K
0 =
∂α ′ mL
∂f g r 2 2 1
0= ⋅ cos α 0 + 0 ⋅ ωo ⋅ sin α 0 − ω0 ⋅ cos 2α 0 vrijedi: sin α ⋅ cos α = ⋅ sin 2α
∂α L L 2
∂f r0
0= − 2⋅ + sin α 0 ⋅ cos α 0 ⋅ ω0
∂ω L
Automatsko upravljanje, auditorne vježbe, zadatak A.2.3 4/7
Uvrštavanjem parcijalnih derivacija u izraz (4) dobiva se :
K g r 2
∆α ′′ + ⋅ ∆α ′ + ⋅ cos α 0 ⋅ 0 ⋅ sin α 0 − cos 2α 0 ⋅ ω0 ⋅ ∆α =
mL L L
r
= 2 ⋅ ω0 ⋅ 0 + sin α 0 ⋅ cos α 0 ⋅ ∆ ω (5)
L
Ukoliko ponovno promotrimo (3) ,
g tg α 0
ω0 = ⋅
L r0
+ sin α 0
L
g
možemo zaključiti da ima dimenziju kutne brzine vrtnje.
L
Normiranje - postupak kojime želimo " poopćiti " neki sustav ili ga prikazati na neki
prepoznatljiv način.
2∆α ∆ω
=y =x , slijedi :
Π g
L
normiranje
izlaza normiranje
ulaza
1 d 2 y 2ζ dy
2
⋅ 2 + ⋅ + y = K ⋅ x (t ) (6)
ωn dt ωn dt
2g r 2
ωn = ⋅ cos α 0 ⋅ 0 ⋅ sin α 0 − cos 2α 0 ⋅ ω0
L L
1 K
ξ= ⋅ (7)
2 mLωn
4 g ω0 r0
K= ⋅ ⋅ 2 ⋅ + sin α 0 ⋅ cos α 0
Π L ωn L
1 d 2 y 2ζ dy
2
⋅ + 2 ⋅ + y = K ⋅ x (t ) , uz x = S (t ) .
ωn dt 2 ωn dt
Yh (t ) = C ⋅ e st
2
s s
Iz karakteristične jednadžbe + 2ζ ⋅ + 1 = 0 , dobivaju se rješenja :
ωn ωn
( )
s1, 2 = ωn ⋅ − ζ ± j 1 − ζ 2 ,
y (t ) = K ⋅ x0 + C1 ⋅ e S1t + C2 ⋅ e S 2 t .
y ( t ) = K ⋅ x 0 ⋅ 1 −
e − ζω n t
1−ζ 2
(
⋅ sin ⋅ 1 − ζ 2 ω n t + arccos ζ )
(8)
1 2 2ζ x
2 ⋅s + ⋅ s + 1 ⋅ Y ( s) = K ⋅ X ( s) = K ⋅ 0
ω ωn s
n
x0
L [X 0 ⋅ s ( t ) ] =
s
i prema tome
1 2ζ x
Y ( s ) ⋅ 2 ⋅ s 2 + ⋅ s + 1 = K ⋅ 0
ωn ωn s
x 1
y (t ) = L−1 K 0 ⋅ 0 ⋅
s 1 2ζ
⋅s +
2
⋅ s + 1
ωn
2
ωn
Brzina se ne može
skokovito mijenjati zbog
rotacije mase.
Skokovito se ne može
mijenjati ni α ni α ′ .