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1 − T1s 1
GS ( s ) = GS 1 ⋅ GS 2 = ⋅ , T2 = 2T1 (1)
1 + T1s 1 + T2 s
GS1 Im GS
Im Im GS2
-1 1 1
Re
Re Re
ω
ω ω
1 + Ti s 1 − T1s 1
GO ( s ) = GR ⋅ GS = K R ⋅ , T2 = 2T1 (2)
Ti s 1 + T1s 1 + T2 s
K R 1 − T1s
GO ' ( s ) = (3)
T2 s 1 + T1s
2. Način: izvod
K R 1 − T1 jω K 1 − T1 jω 1 − T1 jω
GO ' ( jω ) = GO ' ( s) = = R =
T2 jω 1 + T1 jω T2 jω 1 + T1 jω 1 − T1 jω
K R 1 − 2T1 jω + (T1 jω ) 2 K R − j − 2T1ω + T1 ω 2 K R − 2T1ω 1 − T1 ω 2
2 2
= = = −j =
T2 jω 1 + (T1ω ) 2 T2ω 2
1 + T1 ω 2 T2ω 1 + T12ω 2 1 + T1 ω 2
2
K R − 2T1ω 1 − T1 ω 2
2
−j
T2ω 1 + T12ω 2 2 2
1 + T1 ω
asimtota
lim =
ω →0
Im G O'
Re
KR=1
KR=0,5
ω ω ω
π
ϕO (ωc ) = − − 2arctgωT1 (5)
2
Iz (4) i (5) slijedi:
π π π
−π = − − 2arctgωπ T1 ⇒ = 2arctgωπ T1 ⇒ arctgωπ T1 = ⇒ ωπ T1 = 1 (6)
2 2 4
Te konačno dobivamo:
1
ωπ = (7)
T1
KR
GO ( jω ) = (8)
T2ω
KR Tω
Ar GO ( jωπ ) = 1 ⇒ Ar = 1 ⇒ Ar = 2 π (9)
T2ωπ KR
T2 T
Ar = ⇒ KR = 2 (10)
T1 K R T1 Ar
1 T1T2 2 K 1 T2 1 1 1 1
2
= ⇒ ωn = R = = ⇒ ω n =
ωn KR T1T2 Ar T1 T1T2 Ar T12 T1 Ar
2ζ T ω T 1 1 T1 ( A − 1) (12)
= 2 − T1 ⇒ ζ = n 2 − T1 = T2 Ar − T1 = r
ωn K R 2 KR 2T1 Ar T2 2 Ar
t
T1
K R 1 − T1 s T 1 1 − T1 s 1 1 − T1 s
GO ( s ) = = 2 = (13)
T2 s 1 + T1 s Ar T1 T2 s 1 + T1 s Ar T1 s 1 + T1 s
1 1 ( Ar − 1) 1 T2
ωn = ; ζ = ; Ar = (15)
T1 Ar 2 Ar K R T1
KR Ar ωn ζ
2 1 1/T1 0
1 2 1/( 2 T1) 0,354
0,5 4 1/(2T1) 0,75