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Sl.8.3.
m f = K f ⋅ ω2 moment trenja
Moment ubrzanja ( dinamički moment ) – suma svih momenata koji djeluju na teret
dω 2
JT ⋅ = m − K f ⋅ ω2 = C f ⋅ (ϕ1 − ϕ 2 ) − K f ⋅ ω2 (1)
dt
d 2ω dω
J T ⋅ 2 + K f ⋅ 2 + C f ⋅ ω2 = C f ⋅ ω1 (3)
dt dt
Normiranje – djeljenje sa Cf i prelazak u standardni oblik
JT 1 Kf 2ξ
= 2; = ; Ω 0 ≡ ω1 (4)
C f Ω0 Cf Ω0
Normirani zapis
1 d 2ω2 2ξ dω2
⋅ + ⋅ + ω2 = ω1 (5)
Ω0 dt 2 Ω0 dt
d (ϕ 1 − ϕ 2 ) ϕ1 − ϕ 2
ω1 + dt
m
+ 1
ω2
∫ Cf -
∫
- - J
ω2
K f
Ω2 (s) 1
Gs ( s ) = = 2
Ω1 ( s ) s 2ξ (6)
+ s +1
Ω0
2
Ω
1 Kf Kf 1
ξ= ⋅ ⋅ Ω0 = ⋅ >1 (7)
2 Cf 2 C f ⋅ JT
s 2 + 2ξΩ 0 s + Ω 0 = ( s − s1 ) ⋅ ( s − s2 ) = 0
(
s1,2 = Ω0 ⋅ −ζ ± ζ 2 − 1 ) =−
1
,−
T1 T2
1
(8)
pa (6) prelazi u
Ω0 Ω0 T1 ⋅ T2 ⋅ Ω0
2 2 2
1
Gs ( s) = = = =
( s − s1 ) ⋅ ( s − s2 ) 1 1 (T1 ⋅ s + 1) ⋅ (T2 ⋅ s + 1) (T1 ⋅ s + 1) ⋅ (T2 ⋅ s + 1)
s + ⋅ s +
T1 T2
1
Pri tome vrijedi: T1 ⋅T2 =
Ω0
2
1 1 1 1 T1 1 T2 1
Y ( s ) = Gs ( s ) = = − +
s s (T1 ⋅ s + 1)(T2 ⋅ s + 1) s T1 − T2 1 T1 − T2 1 (10)
s+ s+
T1 T2
iz toga
T1 −
t
T2 −
t
y (t ) = hω 2 (t ) = ω2 (t ) = 1 − ⋅e +T1
⋅ e ⋅ S (t )
T2
(11)
T1 − T2 T1 − T2
T s 1 + TD1 s
GR ( s) = K R ⋅ 1 + D = K R ⋅ pri TV << TD1 (12)
1 + TV s 1 + TV s
UR ω2
GR KP GS
-
1 + TD1S 1
G0 ( s ) = K P ⋅ ⋅ KP ⋅
1 + TV s (1 + T1s ) ⋅ (1 + T2 s ) (13)
TD1 = T2
Dobivamo:
K0
G0 ( s ) = ; K0 = K P ⋅ K R ; (14)
(1 + T1 s ) ⋅ (1 + TV s )
Prijenosna funkcija zatvorenog kruga tada glasi:
G0 ( s ) K0 K0 1
GZ ( s ) = = = ⋅
1 + G0 ( s ) (1 + T1s ) ⋅ (1 + TV s ) + K 0 1 + K 0 T1 ⋅ TV s 2 + T1 + TV s + 1 (15)
1 + K0 1 + K0
1 + K0 1 T1 + TV 1
Ω0 = ζ2 = ⋅ ⋅ (16)
T1 ⋅ TV 2 T1 ⋅ TV 1 + K0
Za zadani ζ 2 = 2 / 2 dobiva se
1 T1 T1 TV TV 1 T1 TV
KR = ⋅ + 2⋅ ⋅ + −1 = +
T (18)
2K P V TV T1 T1 2 K P TV T1
T1
x= y = K0 = K R ⋅ K P
TV
pa dobivamo
1 T T 1 1
y = K0 = K ⋅ ⋅ 1 + V ⇒ y= ⋅ x +
2K P TV T1 2 x
ZAKLJUČAK:
Da bi se dobilo čim veće pojačanje otvorenog kruga (tj. da bi odstupanje u
stacionarnom stanju bilo čim manje ) potrebno je težiti čim većoj razlici nepokraćene
vremenske konstante procesa i parazitne vremenske konstante regulatora. To
potvrđuje pretpostavku da treba vremenskom konstantom regulatora poništiti manju
vremensku konstantu procesa T2.
Automatsko upravljanje, auditorne vježbe, zadatak A.8.3. 5/5