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x3
1
s2
x4
1
s
ri.
x2
no
rs
ua
.e
Lineer haraket
dzlemi
Ra
ub
ks
C(s)
Y ( s)
i
R( s)
Y ( s)
i bulunuz.(Sorumlu deilsiniz.)
R( s)
i f sbt
ia
e(t)
em
de
S-2:
1
s3
x1
tla
co
m
SORULAR
a(t)
V(t)
Kalnlk kontrolne ait sistemde rotor kontrollu dc makine kullanlmtr. Rotor endktans La
ve viskos srtnmesi Bm ihmal edilmitir.
Bm = La =0
J m : rotor ataleti
ub = Kb . w(t) zt emk
Te=Ki.ia(t)elektriki moment
Ki: moment katsays
K: Kuvvetlendirici kazanc
Ks : l dzeni
V(t)= sbt malzeme ekme hz
a(t )
lineer dili kazanc
(t )
S-3:
co
m
ri.
B1
tla
x1
k1
x2
no
m
x3
B2
rs
k2
S-4:
de
R=1
T=1 sn
e(t)
em
V(z)=?
V(t)
S-5:
1 e sT
s
R(s)
.e
T=0,1 sn
4
s2
C(s)
Yar iletken
6V
5V
3,16V
R1
0 ~ 10 V
Vk
IB
R2
0 ~ 10 V
Vgiri
Vgiri
Vk
co
m
8
s 1
C(s)
tla
Ak-evrim transfer fonksiyonu yukarda verilen sistem rnekleme zaman, T=0,2 sn olmak
zere PI kontrolr ile kontrol edilmek istenmektedir.
.e
em
de
rs
no
U(s)
ri.
S-7:
1
s3
x2
1
s2
x3
x4
1
s
ri.
a)
1
s3
x3 K x2
x2 x1
x1 r ( x4 y x2 ) denklemler birletirilir
1
sy( s 2)( s 3) sy y sy (s 2) r
K
no
x3
s2
x
y 4
s
x4
rs
Y ( s)
K
R( s) s( s 2)( s 3) Ks K Ks(s 2)
de
x1
em
b)
.e
i)
x1
tla
C-1:
co
m
CEVAPLAR:
ii)
K
s3
1
s2
x3
L1
L2
x4
1
1
s
L3
1
-1
1 adet ileri yol vardr.
K
P1
s( s 2)( s 3)
Tekli dngler;
L1
K
K
K
, L2
, L3
s3
( s 2)( s 3)
s( s 2)( s 3)
iii)
s 3 ( s 2)( s 3) s( s 2)( s 3)
iv)
v)
s( s 2)( s 3) Ks( s 2) Ks K
s ( s 2)( s 3)
K
Y ( s) P1 1
Y ( s)
s ( s 2)( s 3)
R( s)
R( s) s ( s 2)( s 3) Ks ( s 2) Ks K
s ( s 2)( s 3)
Y ( s)
K
R( s ) s ( s 2)( s 3) Ks ( s 2) Ks K
e(t ) r (t ) c(t ) K s
c(t ) a (t Td )u (t Td )
ua (t ) Ke(t )
ri.
C ( s ) A( s )e sTd
ua (t ) Raia (t ) ub (t )
ua ( s ) K E ( s )
I a (s)
Te (t ) Ki ia (t )
.e
em
de
rs
no
dw(t )
Tm (t ) J m
dt
d (t )
w(t )
dt
d
Td
V
a (t )
(t )
ua ( s ) ub ( s )
Ra
tla
ub (t ) Kb w(t )
co
m
C-2:
ub ( s ) Kb ( s )
Te ( s ) Ki I a ( s )
Tm ( s ) J m s( s ) ( s )
Tm ( s )
sJ m
1
( s ) s ( s ) ( s ) ( s )
s
A( s ) ( s )
co
m
C-3:
Sistem dengede!
tla
baldr.
F k1( x1 x2 )
i)
d
( x2 x3 ) B1s ( x2 x3 )
dt
F ( s)
F ( s)
sx2 ( s)
sx3 ( s) x2 ( s)
x3 ( s)
B1 ( s )
B1s
rs
no
F B1
F M
d 2 x3
dt 2
B2
dx3
k2 x3
dt
em
ii)
F ( s)
F ( s) F ( s)
x2 ( s ) x1 ( s )
x3 ( s )
k1
k1
B1s
de
F k1 ( x1 x2 ) x1 ( s )
s-domeninde;
.e
F ( s)
Ms 2 B2 s k2 x3 (s ) x3 (s )
F
(
s
)
iii)
Ms 2 B2 s k2
ii) F B1s( x2 x3 ) x2 ( s)
ri.
iii) F k1 ( x1 x2 ) x1 ( s)
F ( s)
F ( s)
F ( s)
x3 ( s) x2 ( s)
2
B1 ( s)
B1s Ms B2 s k2
F ( s)
F ( s) F ( s)
F ( s)
x2 ( s) x1( s)
2
k1
k1
B1s Ms B2 s k2
co
m
i (t ) C
dV (t )
I ( s ) sCV ( s )
dt
E * ( s ) RI ( s ) V ( s )
no
tla
E* (s)
RCsV ( s) V ( s) V ( s)
s 1
e*(t)
T=1 sn
1
s 1
V(t)
em
de
e(t)
rs
G(s)
V*(t)
V ( z ) E ( z )G ( z )
z
z 1
z
z
z
1
G( z) Z
V
z
(
)
z 1 z e1
s 1 z e1
.e
E ( z ) Z u (t )
e* (t ) R i (t ) V (t )
ri.
C-4:
z2
V ( z) 2
z 1,3678 z 0,3678
z2
V ( z)
( z 1)( z 0,3678)
G( z )
R( z ) olmak zere;
1 G( z )
co
m
C(z)
no
C ( z)
rs
1 e sT 4
4
1
G( z ) Z
(1 z ) Z
rezd teoremini kullanlarak;
s
s
2
s
(
s
2)
, T 0,1sn
em
de
z 1
1
z
1
z
4
( s 2)
s
sT
z s ( s 2) z e
s ( s 2) z e sT
s 0
s 2
4
z 1 1 z
1
z
0,3625
G
(
z
)
z 2 z 1 2 z e0,2
z 0,8187
0,3625
z
0,3625 z
z 0,8187
C ( z)
C( z)
0,3625 z 1
( z 1)( z 0, 4562)
1
z 0,8187
.e
G(z)
R(z)
tla
a)
ri.
C-5:
b)
C (kT ) ( z 1)
0,3625 z
0,3625 z
z k 1 ( z 0, 4562)
z k 1
( z 1)( z 0, 4562)
( z 1)( z 0, 4562)
z 1
z 0,4562
0,3625 k
0,3625
1
(0, 4562)k
1 0, 4562
(0, 4562 1)
x(kT )
d m1
1
(m 1)! dz m1 ( z zi )m x( z) z k 1 z zi
i 1
d m1
z
1
m
x( z )
(
s
s
)
x
(
s
)
1
sT
(m 1)! ds
z
s
i 1
i
D(z)
G( z )
no
Vr(z)
1 e sT
s
rs
Ts=1 sn
5
6
10 s 1
de
Ts=1 sn
em
5 6(1 e sT ) 5 z 1 1
G( z) Z
Z
1
1
60
z
10s( s )
s( s )
10
10
5 z 1
1
z
1
1
z
(s )
s
sT
sT
6 10 z s ( s 1 ) z e
10
1
s (s ) z e
10
10
s 0
1
s
10
.e
5
G( s) 6
10s 1
tla
10 sn
K
eklinden
5
K
Vg ( s) s 1
6
V ( s)
ri.
C-6:
co
m
5 z 1
z
z
G( z)
1
6 10 z 1
1
10
( z 1)
z e
10
10
Vk(s)
5
z 1 5 z e z 1
1
6 z e 6 (z e )
10
0, 0793
z 0,9048
ri.
G( z )
10
co
m
(K p KI )
K p KI
z 1
.e
em
de
rs
R(z)
KI K p
no
tla
C-7:
10
T=0,2 sn
T=0,2 sn
1 e sT
s
8
s 1
C(s)