Otomatik Kontrol Vize Snav

S-1)

11.04.2013
Yanda blok diyagram verilen sistem iin;

?

b) sisteme ait blok diyagram

B( s)
R(s)




a)

X (s) m

1
s A( s )

Y (s)

R(s)

G( s)

Y (s)

eklinde dzenlenmek istendiindeG(s)=?

a)
1.yol, Dorudan blok diyagram zerinden
1-) B ( s ) = c( sR ( s ) A( s ))

5-) 4 numaral denklem 1de yazlr ise B( s ) = c ( sR( s ) sY ( s ) )

2-) X ( s ) = B ( s ) + k ( R ( s ) Y ( s ))

6-) 4 ve 5 numaral denklemler 2de yazlr ise

sm ( sY ( s ) ) = c ( sR( s) sY ( s) ) + k ( R( s) Y ( s) )
X (s)
X ( s ) = smA( s )
sm
A( s )
4-) Y ( s ) =
A( s ) = sY ( s )
s

s 2 mY (s ) = scR(s ) scY (s ) + kR( s) kY ( s)

3-) A( s ) =

Y ( s ) ( s 2 m + sc + k ) = R ( s ) ( sc + k )

Y (s)
sc + k
= 2
R ( s ) s m + sc + k
2.yol,

1
s m + sc

R(s)

sc

1
s

Y (s)

k
s m + sc + k
2

R(s)

1
s m + sc

sc

Y (s)

sc + k
R( s)

k
s m + sc + k

Y (s)

Y (s)
sc + k
= 2
R ( s ) s m + sc + k

b)

R(s)

G( s)

Y (s)

Y (s)
G (s)
sc + k
sc + k
=
= 2
G ( s) = 2
R ( s ) 1 + G ( s ) s m + sc + k
s m

S-2)

0.8
50s + 1

r (t )


  5
basamak giri iin;
i) ifadesini elde ediniz.
y (t )
ii)    ?
elde ediniz.
ii) nin son deerini y () = lim y ( kT ) ve y () = lim( z 1)Y ( z )
k

z 1

ifadelerinden ayrayr hesaplaynz.

i) Y ( s) = R ( s)G ( s) Y ( s) = R ( s)G ( s ) Y ( z ) = R( z )G ( z )

r (t ) = 5u (t ) R( z ) = 5
G ( z ) = Z {G ( s )}T =5 s

G( z ) =

z
z 1

0.8

0.8 1

0.8
50
Z
=Z
=Z
=

50 s + 1 T = 5 s
s + 150 T =5 s 50 s + 150 T = 5 s

0.8 1
1
z
s +
sT
50
50
s+ 1 z e
50

0.016 z

=
z 0.905
s =1/ 50
T =5 s

z 0.016 z
0.08 z 2
Y ( z ) = R( z )G ( z ) = 5
=
z 1 z 0.905 ( z 1)( z 0.905)

ii)1.yol rezid yntemi kullanlarak,

0.08 z 2
0.08 z 2
k 1
+ ( z 0.905)
y ( k ) = ( z 1)
z
z k 1
( z 1)( z 0.905)
( z 1)( z 0.905)
z =1
z = 0.905

y (k ) = 0.842 0.762*0.905k
2.yolbasit kesirlere ayrma yntemi kullanlarak,

Y ( z)
0.08 z
A
B
=
=
+
A = 0.842, B = 0.762
z
( z 1)( z 0.905) ( z 1) ( z 0.905)

Y ( z ) 0.842
0.762
0.842 z 0.762 z
=

y (k ) = 0.842 0.762*0.905k
z
z 1 z 0.905
z 1 z 0.905
iii) y ( ) = lim( z 1)Y ( z ) = lim( z 1)
z 1

z 1

0.08 z 2
0.08*12
=
= 0.842
( z 1)( z 0.905) (1 0.905)

y() = lim y(k ) = lim ( 0.842 0.762*0.905k ) = 0.842

k

S-3)
a) (10p)

uort (t) = K u (t)

uort (t) = Ric (t) + Vc (t) ve ic (t) = C (t)
uort (t) = R C (t)

d Vc (t)
olduuna gre;
dt

d Vc (t)
+ Vc (t) olarak elde edilir. Buradan;
dt

k
d Vc (t) uort (t) Vc (t)
burada C (t) = c soruda belirtildii gibi denklemde yerine koyulduunda;
=
Vc (t)
dt
RC (t)
d Vc (t) uort (t) Vc (t)
V (t) V (t) 2
=
= uort (t) c c
olarak elde edilir.
kc
dt
Rk
Rk
c
c
R
Vc (t)
d Vc (t)
Vc (t) Vc (t) 2
f1 =
= uort (t)

lineer olmayan diferansiyel denklem.

dt
Rkc
Rkc
b) (5p)

Vc (t) = V0 olmak zere;

f
A* = 1
Vc (t) V0 ,u0

f
B* = 1
u (t) V0 ,u0

Vc (t) Vc (t)2

u
(t)

ort

Rk
Rkc u0 2V0 * u0 2V0
c

A =
=
=

Rkc Rkc
Vc (t)
Rkc

Vc (t) Vc (t) 2
(t)

ort

Rk
Rkc V0
V
c

B* = 0
=
=

Rkc
u (t)
Rkc

c) (10p)

Vc (s)
B*
sVc (s) = A Vc (s) + B u (s)
=
D (s) kontrolr olmak zere srekli-zaman kapal evrim
u (s) s A*
*

kontrol blok diyagramn iziniz.

u (s)

D (s)

B* Vc (s)
s A*

Srekli-zaman kapal evrim kontrol blok diyagramn

S-4)I.dereceden zaman sabiti 1 ve ak-evrim kazanc 1 olan sistemin transfer fonksiyonuG(s) aada belirtildii
gibi elde edilir;

= 1; K = 1
G (s) =

K
1
=
s +1 s +1

a)(10p)
Sistem, saysal kontrolr D(z) ile kontrol edildii iin kapal-evrim kontrol blok diyagram; ayrk-zaman kapal
evrim kontrol blok diyagram olarak izilmelidir.

1
s +1

D( z )
G (z)

Veya

1
s +1

1 e sT
s

D( z )

G (z)

eklinde izilebilir.
b) (10p)
Ayrk-zaman ak-evrim transfer fonksiyonu: T=0.1

ATF = D (z) G(z); D (z) = K

1 e sT 1
1
1
G (z) = Z

= (1 z ) Z

s + 1
s ( s + 1)
s

G (z) =

z 1 1
z
s

z s (s + 1) z e sT

+
s =0

1
z
( s + 1)
s ( s + 1)
z e sT

G (z) =

z 1 z
z
z

= 1

0.1
z z 1 z e
z 0.9048

G (z) =

0.0952
z 0.9048

ATF = K

s =1
T=0.1

0.0952
z 0.9048 olarak elde edilir.

c)(5p)
Ayrk-zaman kapal evrim transfer fonksiyonu;

T (z) =

C (z)
D (z) G(z)
=
R (z) 1 + D (z) G(z) olarak hesap edilmelidir.

Buradan;

0.0952
z 0.9048 olduuna gre (bkz b kk);
0.0952
K
0.0952 K
z 0.9048 =
T (z) =
0.0952
z 0.9048 + 0.0952 K olarak elde edilir.
1+ K
z 0.9048
D(z) G(z) = K