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K
G0 (s ) =
T1s ⋅ (1 + T2 s )(1 + T3s )
K = 1 , T2 = 0.5s , T3 = 0.1s .
a) Odrediti integralno vrijeme T1=T11 tako da se postigne fazno osiguranje 45°. Nacrtati
Bodeov i Nyquistov dijagram za ovaj slučaj. Kako se održava mijenjanje T1 na
Nyquistov dijagram ?
Pokazuje nam koliko ° je fazna karakteristika iznad -180° pri presjecišnoj frekvenciji ωc.
1 1 1 1 1 1
G0 ( jω ) = ⋅ ⋅ = ⋅ ⋅ =
jωT1 1 + jωT2 1 + jωT3 jωT1 1 + jωT2 1 + jωT3
1 1 1
= ⋅ ⋅ (2)
ωT1 1 + ω 2T 2 1 + ω 2T 2
2 3
− ωT2
2
1 1 1 − jωT2 1 + ω 2T2
⋅ = ϕ 2 = arctg = − arctgωT2
zbog npr. : , 1
1 + jωT2 1 − jωT2 1 + ω 2T2 2
2
1 + ω 2T2
Π
y=
4
Π ω (T2 + T3 ) Π ω (T2 + T3 )
γ =Π− − arctg ⇒ tg = =1
2 1 − ω 2T2T3 4 1 − ω 2T2T3
Dalje dobivamo :
Da bi ta frekvencija ω45 zbilja bila presjecišna mora pojačanje biti 1. Odnosno treba
odrediti T1 da vrijedi :
K 1
G0 ( jω ) = 1 = ⋅
ωT1 (1 + ω T )(1 + ω T )
2
2
2 2
3
2
ω = ωγ = ωC
K 1
T1 = = = 0.54 s
( 2
)(
ωC 1 + ω 2T2 1 + ω 2T3
2
) 1.48 1.5476 ⋅ 1.0219
1
G0 (s ) = = K ′ ⋅ G1 ⋅ G2 ⋅ G3
T1s ⋅ (1 + T2 s )(1 + T3s )
1 1
G1 ( s ) = K ′ = = 5.35dB
s T1
1
G2 ( s ) = T2 = 0.5 , ω L 2 = 2 , log ω L 2 = 0.3
1 +T 2s
1
G3 ( s ) = T3 = 0.1 , ωL 3 = 10 , log ωL 3 = 1
1 + T3 s
Crtanje dijagrama :
L(ω)
60 ω L 2 -1 ωL 3-1 ωL 2 ωL 3 ωL 2 +1 ωL 3+1
40
20
-1
0 -1 0 1 2 log ω
-2
-20
-45
-40
-90
-3
-60 -135
-80
-180
-100 -225
-120
-270
1 1 1 − jωT2 1 − jωT3
G 0 ( jω ) = = ⋅ ⋅
jωT1 ⋅ (1 + jωT2 )(1 + jωT3 ) jωT1 1 + T2 2ω 2 1 + T3 2ω 2
1 − ω 2T2T3
Im(G0 ( jω )) = −
ωT1 (1 + ω 2T22 )(1 + ω 2T32 )
T2 + T3
ω→0 Re = − = −1.11 , Im = −∞
T1
2 2
ω → ωC Re = − , Im = − fazno osiguranje 45°.
2 2
Automatsko upravljanje, auditorne vježbe, zadatak A.6.4 4/7
Frekvencija na kojoj je ϕ = -180° → stabilnost - ωπ
1
Im = 0 ⇒ 1 − ω 2T2T3 = 0 , ω = → ne ovisi o T1!
T2T3
T2 + T3 T2 + T3 T2T3
Re(ωπ ) = − =− =−
1 1 T T T1 (T2 + T3 )
T1 (1 + T22 )(1 + T32 ) T1 (1 + 2 )(1 + 3 )
T2T3 T2T3 T3 T2
0.5 ⋅ 0.1
Za γ=45° → Re(ωπ ) = − = −0.154
0.54 ⋅ 0.6
2
− 0.15
2
− T2 + T3 -1
T1
2
−
2
G0 ( s ) 1
G2 ( s ) = =
1 + G0 ( s ) T1T2T3 s 3 + T1 (T2 + T3 ) s 2 + T1 s + 1
0.027s3+0.324s2+0.54s+1=0
s1=-10.422
s2/3=0.789 ± j1.712
U s ravnini je to :
ϕω n
cos α = =ϕ
ωn
ωn ϕ=
0.789
= 0.418
1 − ζ ωn 2
0.789 + 1.712
2 2
ω n = 1.885
α
-11 S1 -10 -1 ζωn
T2T3
Re(G (ωπ )) = − .
T1 (T2 + T3 )
T2T3
T1 = = 0.083s .
T2 + T3
1
ωπ = = 4.47 .
T2T3