Академический Документы
Профессиональный Документы
Культура Документы
27.03.2012
S.1)
b) r ( t ) = u ( t ) ve Kd =1 iin;
i) c(k) = c(kT) = ?
ii) c ( ) = lim c ( k ) ve c ( ) = lim ( z 1)C ( z ) ifadelerini hesaplaynz
z 1
S.2)
yanda verilen sistem iin,
i) dinamik denklemleri yaznz
ii)
?
S.3)
ia =sbt
if
Rf
ef (t)
Lf
Ty
J
w
S.4)
Yanda verilen kontrol sisteminde,
a) Bozucu girii D(s) iin k cevabn elde
ediniz.
b) G ( s ) =
1
, H ( s) = 1 ve
s +1
D(s) =
1
olduuna
s
x(kT ) =
i =1
1
d m1
( z zi )m X ( z ) z k 1
z = zi
(m 1)! dz m1
n
d m 1
z
1
X ( z) =
( s si ) m X ( s )
m 1
z e sT s = si
i =1
(m 1)! ds
Sre 100dk
Baarlar
Do.Dr.Ayhan ZDEMR - Yrd.Do.Dr.rfan YAZICI
C.1
a) G ( z ) = Z
C(z)
R( z )
{ }
0.5
s +1
T = 0.1
Kd G( z)
1 + Kd G( z)
b) C ( z ) =
= s +1
0.5
z
z
0.5 z
= 0.5
=
sT
1*0.1
s + 1 z e s =1
ze
z 0.905
0.5 z
0.5 zK d
z 0.905 =
=
0.5 z
z + 0.5 zK d 0.905
1 + Kd
z 0.905
Kd
0.5 zK d
R( z )
z + 0.5 zK d 0.905
r (t ) = u (t ) R ( z ) =
0.5 z 2
z
iin C ( z ) =
z 1
( z 1)(1.5 z 0.905)
0.5
0.333 z 2
k 1
1.5
z
z k 1
c ( k ) = ( z 1)
+ ( z 0.603)
0.905
( z 1)( z 0.603)
z = 0.603
( z 1)( z
)
1.5
z =1
z2
c(k ) =
0.5 z 2
0.5*12
=
= 0.84
z 1
z 1
( z 1)(1.5 z 0.905) (1.5*1 0.905)
k
c ( ) = lim c ( k ) = lim(0.839 0.506*0.603 ) = 0.839
c) C ( z ) =
0.8 =
0.5 zK d
z
,
z + 0.5 zK d 0.905 z 1
0.5 K d
1 + 0.5K d 0.905
c ( ) = lim( z 1)C ( z ) =
z 1
0.5 z 2 K d
z + 0.5 zK d 0.905
dir.
F (t ) = k1 ( x (t ) x1 (t ) ) + B1
F (t ) = m
d ( x (t ) x1 (t ) )
dt
dir.
F ( s ) = k1 ( X ( s ) X 1 ( s ) ) + sB1 ( X ( s ) X 1 ( s ) )
d 2 x1 (t )
dx (t )
F (s)
F (s)
+ B2 1 + k2 x1 (t ) F ( s ) = s 2 mX 1 ( s ) + sB2 X 1 ( s ) + k 2 X 1 ( s ) X 1 ( s ) = 2
=
2
dt
dt
s m + sB2 + k2 A( s )
F (s)
F (s)
+ sB1 X ( s ) sB1
A( s )
A( s )
k1
sB1
1 + A( s) + A( s)
= A( s) + sB1 + k1
=
A( s) ( sB1 + k1 )
sB1 + k1
F ( s ) = k1 X ( s ) k1 X 1 ( s ) + sB1 X ( s ) sB1 X 1 ( s ) = k1 X ( s ) k1
X (s)
k
sB
F ( s ) 1 + 1 + 1 = k1 X ( s ) + sB1 X ( s )
F (s)
A( s ) A( s )
2
X ( s ) s m + s ( B2 + B1 ) + k2 + k1
=
F ( s ) ( s 2 m + sB2 + k2 ) ( sB1 + k1 )
C.3 a) Ayrk-zaman saysal kontrol yaplacandan, srekli zaman iaretler Analog Dijital Dntrc
(ADC) ile T rnekleme zaman aralklar ile rneklenir ve saysala dntrlr. Kontrol kural saysal
ilemci ile ilenir ve saysal kontrol iareti retilir. Bu saysal kontrol iareti ayn rnekleme zaman
aralnda Digital Analog Dntrc (DAC) ile tekrar srekli zaman iarete dntrlerek
kuvvetlendirici zerinden sistem giriine uygulanr. Ayrk-zaman saysal prensip kontrol devresi aada
verilmitir.
dw(t )
+ Ty
dt
elektriki moment
mekanik moment
4-) Te (t ) = Tm (t ) (srekli rejimde) not: rotorun sabit akm kayna ile beslendii kabul
edildiinden zt emk sz konusu olmaz.
3
I f ( s) =
E f ( s)
sL f + R f
2-) Te ( s ) = K i I f ( s )
( s ) =
3-) Tm ( s ) = sJ ( s ) + Ty ( s )
Tm ( s ) Ty ( s )
sJ
4.a) Verilen kontrol blok diyagram R(s)=0 iin aada verildii gibi yeniden dzenlenir.
b) Yukarda elde edilen kontrol blok diyagram yardm ile D(s) giri iin C(z) elde edilir.
1. X ( s ) = D( s ) Y ( s )*
2. C ( s ) = X ( s)G ( s ) ise C ( s ) = D ( s )G ( s ) Y ( s )* G ( s ) dir.
3. Z ( s ) = C ( s ) H ( s ) ise Z ( s ) = D ( s )G ( s ) H ( s ) Y ( s )* G ( s ) H ( s ) dir.
ve Z ( s )* = DGH ( s )* Y ( s )* GH ( s )* dir.
4. Y ( s )* = KZ ( s )*
Y ( s )* iin dzenlenir
Y ( s)* =
KDGH ( s)*
1 + KGH ( s )*
C ( s) = D( s)G ( s )
C ( s)* = DG ( s)*
KDGH ( s)*
G ( s) yldzlanr ise
1 + KGH ( s)*
KDGH ( s)*
G ( s)* ve
*
1 + KGH ( s)
4
C ( z ) = DG ( z )
KDGH ( z )
G ( z ) olarak yazlr.
1 + KGH ( z )
b)
1
0.2221z
DG ( z ) = Z { D ( s )G ( s )} = Z
= 2
s ( s + 1) z 1.779 z + 0.7788
K
0.2221z
KDGH ( z ) = Z {KD ( s )G ( s ) H ( s )} = Z
=K 2
z 1.779 z + 0.7788
s ( s + 1)
K
z
KGH ( z ) = Z { KG ( s ) H ( s )} = Z
=K
z 0.7788
( s + 1)
1
z
G ( z ) = Z {G ( s )} = Z
=
( s + 1) z 0.7788
C ( z ) = DG ( z )
C (z) =
0.2221z
KDGH ( z )
G(z) = 2
z 1.779 z + 0.7788
1 + KGH ( z )
0.2221z
z 1.779 z + 0.7788
2
0.2221z
z
z 1.779 z + 0.7788
z
z 0.7788
1+ K
z 0.7788
2
0.2221z 2
z 2 1.779 z + 0.7788
z 0.7788 + Kz
C(z) ifadesi mevcut topoloji ile Bozucu girii K kazanc ile kta sfrlanamaz. K = olsa dahi C ( ) = 0
olmaz.