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1 U3
G1 ( s ) = G 2 = U 2 (1 + T2 s ) G3 ( s ) = (1)
T1 s 1 + T3 s
x x1 x2 y
G1 G2 G3
1
G1 ( s) =
T1 s
1 −j 1 − ω1T1
G1 ( jω ) = = ⇒ A(ω ) = ; ϕ (ω ) = arctg = −90 D
jωT1 ωT1 ωT1 0
Re(G1 ( jω )) = 0
−1
Im
Im(G1 ( jω )) =
ωT1
Re
ω →∞
ω →0
Im
Re(G3 ( jω )) = U 2
Im(G3 ( jω )) = U 2T2ω ω →∞
ω →0
U2
Re
U3
G3 ( s ) =
1 + T3 s
Im
0,5U3 U3
Re
0,5U3
G ( s ) = G1 (s ) ⋅ G 2 (s ) ⋅ G3 (s ) za T1 = 1; T2 = 0 ,1; T3 = 0,01;
U 2 = 2,5; U 3 = 2; (1)
1 2
G1 ( s) = G 2 = 2,5(1 + 0,1s ) G3 ( s ) =
s 1 + 0,01s
1 1 + 0,1s
G(s) = 5 ⋅ ⋅
s 1 + 0,01s
1 1
G3 ( s ) = ⇒ T3 = 0,01 ⇒ ω L 3 = = 100 ⇒ log ω L 3 = 2
1 + 0,01s T3
K = 5 ⇒ 20 log K = 14dB
log ω L nagib -1 / +1 ϕ [D ]
G1 - -1 - -90
G2 1 +1 0/2 0 / +90
G3 2 -1 1/3 0 / -90
Tabela 1: vrijednosti za Bodeov dijagram
60
40
-1 14dB
20
0
0 1 2 3
-1 logw
-20
-40
-26dB
+90°
ϕ2
ϕ3 logw
-90°
ω L2 − 1 ω L2 + 1
ϕ (ω ) = ϕ1 (ω ) + ϕ 2 (ω ) + ϕ 3 (ω ) =
π (2)
=− + arctg (ωT2 ) − arctg (ωT3 )
2
ϕ1 (ω ) = −90D - integrator
K 2 ⋅ ωT2
ϕ 2 (ω ) = arctg ( ) = arctg (ωT2 )
U2
ϕ 3 (ω ) = − arctg (ωT3 )
Automatsko upravljanje, auditorne vježbe, zadatak A.6.2 4/8
K3 K 3 (1 − T3 jω ) K (1 − T3 jω )
G3 ( jω ) = = = 3
1 + T3 jω (1 + T3 jω )(1 − T3 jω ) 1 − ω 2T32
Ekstrem funkcije dobijemo kada je njena prva derivacija jednaka nuli :
dϕ T2 T3
=0+ − =0 (3)
dω 1 + (ωT2 ) 2 1 + (ωT3 ) 2
Dalje :
T2 T3
=
1 + ω m2 T22 1 + ω m2 T32
2
T2 + ω m2 T2T32 = T3 + ω m2 T2 T32
1 (4)
T2 − T3 = ω T T (T2 − T3 ) ⇒ ω m =
2
m 2 3
T2T3
ωm odgovara geometrijskoj sredini lomnih frekvencija ωL2 i ωL3. U Bodeovom dijagramu
to je polovica udaljenosti između tih lomnih frekvencija.
Uvrštavanjem ωm (4) u (2) dobivamo :
π T T
ϕ m = ϕ (ω m ) = − + arctg 2 − arctg 3
2 T3 T2
x− y
vijedi : arctg ( x) − arctg ( y ) = arctg
1 + xy
(5)
π 1 T T
=− + arctg ( 2 − 3 )
2 2 T3 T2
Za zadane brojčane vrijednosti dobivamo :
1
ωm = = 31,6s −1
T2T3
π 1
ϕm = − + arctg ( 10 − 0,1) = −35D
2 2
G( jω ) = 0 dB ⇒ ω m = ω c
-90°
ϕR
-180°
Dalje :
1 1 + T2 jω m K 2 K 3 1 + T2 ω m
2 2
G ( jω ) = K 2 K 3 ⋅ =
jω mT10 1 + T3 jω m ω mT10 1 + T32ω m2
T22 T3 + T2
1+
K 2 K 3 T2T3 T2T3 K 2 K 3 T2T3 T3
= =
T10 T32 T10 T2 + T3
1+
T2T3 T2
K 2 K 3T2
= = 1 ⇒ T10 = K 2 K 3T2 = 0,5s
T10
1 K3
G ( jω ) = U 2 (1 + jωT2 )
jωT10 1 + jωT3
Za T1=T10=U2U3T2 dobije se :
1 1 + jωT2 T2 − T3 1 1 1 + ω 2T2T3
G ( jω ) = ⋅ = ⋅ −j ⋅
jωT2 1 + jωT3 T2 1 + (ωT3 ) 2
ωT2 1 + (ωT3 ) 2
Re Im
T2 − T3
ω→0 Re = Im → −∞ (pojacanje ∞ , kut -90 D Bode)
T2
ω → ∞ Re = 0 Im → 0 (pojacanje 0, kut -90 D Bode)
ω = ωm ϕ m = −35D A = 1 ⇒ tangenta na pravac -35D sa
donje strane na R = 1
% zadatak e
T2=0.1; K2=2;
T3=0.01;K3=2.5;
T10=K2*K3*T2
Gs=tf(K2*K3*[T2 1],T10*conv([T3 1],[1 0]))
%pravac fi=-34°
x1=2*[0 cos(-35/180*pi)];
y1=2*[0 sin(-35/180*pi)];
%asimptota (w->0)
x2=[(T2-T3)/T2 (T2-T3)/T2];
y2=[0 -2];
figure(2);
plot(re, im,'k')
hold on
plot(x,y,'k:')
plot(x1,y1,'k--')
plot(x2,y2,'k--')
axis equal
axis([0 1.5 -1 0])
title('AU auditorne vjezbe, nyquistov dijagram za T1=T10');