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R1 Mreža
Dvopol
R1
L R i2
Pojačalo
U2ref UR U1 C U2
snage
Regulator
Slika 8.5.
GR ( s ) = U R ( s ) / U 2 ref ( s ) ,
L R L R i2
U1 C U2 + C U2
1 / Cs U2
U2 = ⋅ U1 = −I2
Ls + R + 1/ Cs (sL + R ) 1 / Cs
U2 = −I2 ⋅
(sL + R ) ⋅ 1 / Cs
sL + R + 1 / Cs
sL + R
U2 =
U1
− =
1
(U1 − (1 + Ts ) ⋅ R ⋅ I 2 ) (2)
LCs + RCs + 1 LCs + RCs + 1 LCs + RCs + 1
2 2 2
L
gdje je : T = .
R
R ⋅ I 2 ( s)
1 + Ts
-
UR + 1 U2
KS
LCs 2 + RCs + 1
R2 C2
1 + Ti s
GR ( s ) = K R ⋅ , (3)
Ti s
R1
U2ref R2
gdje su : KR = ;
UR R1
U2 Ti = R2C2 . (4)
⋅ [U ( s ) − (1 + Ts ) ⋅ R ⋅ I 2 ( s )]
1
U 2 ( s) = (5)
(1 + T1s )(1 + T2 s ) 1
2 2
R R 1 1 1 1 1
=− ± − =− ± − ωn = − , −
2
s1, 2 (6)
2L 2L LC 2T 2T T1 T2
1
vrijedi ωn = .
LC
1 + Ti s KS
G0 ( s ) = K R ⋅ ⋅ T1 >T2 (7)
Ti s (1 + T1 s )(1 + T2 s )
T1 – dominantna vremenska konstanta
Odabiremo :
Ti T1
= = TiK , pa iz (7) dobivamo :
KR ⋅ KS KR ⋅ KS
1
G0 ( s ) = K R ⋅ K S ⋅ , (8)
T1 s (1 + T2 s )
1
G0 ( s ) = .
TiK ⋅ s (1 + T2 s )
Dakle :
1 1 1
− − −
T2 T1 T2
G0 ( s ) 1 1
G X ( s) = = =
1 + G0 ( s ) 1 + TiK s(1 + T2 s ) 1 + TiK s + TiK T2 s 2
Iz toga slijedi :
1 2ζ 1 TiK
ωn = i = TiK ⇒ ζ = ⋅ .
TiK T2 ωn 2 T2
2
Da bi dobili ζ = , treba biti :
2
1 T1
KR = ⋅ . (9)
2 K S T2
1
G0 ( s ) = (10)
2T2 s (1 + T2 s )
U 2 ( s) 1
G X ( s) = = . (11)
U 2 ref ( s ) 2(T2 s )2 + 2T2 s + 1
GZZ ( s ) =
U 2 ( s)
=−
1 + Ts
⋅ GK ( s ) = −
(1 + Ts )T1s ⋅ G ( s)
R ⋅ I 2 ( s) Ks ⋅ GR ( s ) K R K S (1 + T1s )
X
1 + Ts 2T2 s
G ZZ ( s ) = − ⋅ (12)
1 + Ts 2(T2 s )2 + 2T2 s + 1