2.

Scheme bloc structurale

2.1. Preliminarii Modelul matematic: Analiza Se mparte sistemul n elemente simple; urmeaz studiul lor separat, descrierea matematic i evidenierea cauzelor i efectelor. Se asociaz fiecrui element o schem bloc parial. Sinteza

Cf. conexiunilor ntre elem. sist., se nlnuie schemele bloc pariale i se obine schema bloc structural a sistemului.

M. Voicu, IA (II)

C3 (34)

Exemplul 2.1. Motor electric de cc Fenomene: electrice, electromagnetice, electromecanice. Analiza

(a) Circuitul rotoric: (b) Circuitul rotoric (tcem): (c) Rotorul (mic. rotaie): (d) Rotorul (cuplul elmag.): (e) Rotorul (cuplul de frec.):

i u e

iex R L mm

uex

Rex Lex J m

u = Ri + L

e = k1 d J = mm mf m dt

di +e dt

mf

Fig. II.10

mm = k2i m f = k3 , k1, k2, k3 constante

C3 (34) 2

M. Voicu, IA (II)

Se expliciteaz relaia de cauzalitate. Se aplic transformarea Laplace.

ECUAII

CAUZA EFECT

INTRARE IEIRE

u = Ri +Ldi +e dt
e = k1

uei

I (s) =

1 [U(s) E(s)] (a) Ls + R

e
mm mf m i mm

E ( s ) = k1 ( s ) ( b)

d J =m m mf m dt

(s) =

1 Mm (s) M f (s) M(s) (c) Js

mm = k2i
mf = k3
M. Voicu, IA (II)

M m ( s ) = k 2 I ( s ) (d )

mf
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M f ( s) = k 3 ( s) (e).
3

INTRARE IEIRE

SCHEME BLOC PARIALE

U (s)
+_

I(s) =

1 [U(s) E(s)] (a) Ls+R

1 Ls + R

I (s)

E (s)

(s)

E(s) = k1(s) (b),

k1
_ M (s)

E (s)

(s) =

1 Mm(s) Mf (s) M(s) (c) Js

Mm (s) +_ I (s)

1 Js

(s)

Mf (s)

M m (s) = k 2 I (s) (d).

k2
(s)

Mm (s)

M f (s) = k3(s)(e).
M. Voicu, IA (II) C3 (34)

Mf (s)

k3
4

1 [U(s)E(s)] (a) Ls+R M m (s) = k2 I (s) (d) I(s) =

U (s)
+_

E(s) = k1(s) (b) (s) =

M f (s) = k3(s)(e).
E (s)

1 Mm (s) M f (s) M (s) (c) Js

+ _ M (s) 1 Js

1 Ls + R

I (s)

k1

(s)

Mm (s) +_

(s)

E (s) I (s)

Fig. II.11
k2
Mm (s)

Mf (s) Mf (s)

(s)

k3 _ M (s)

Sinteza
U (s)
+_

1 I (s) Ls + R

k2

Mm (s) +
+_

E (s) k1 1
M. Voicu, IA (II)

Mf (s)

1 Js k k3
3

(s)

Fig. II.12
C3 (34) 5

Acionri electrice cu turaie reglabil: u , m

U (s)
+_

1 I (s) Ls + R

k2

Mm (s) +
+_

_ M (s)

E (s)

Mf (s)

1 Js k3

(s)

k1

Fig. II.12

u,

m,

u
t
M. Voicu, IA (II) C3 (34)

m
t
6

2.2. Conexiuni elementare 1 Conexiunea serie

U(s)

G1(s)

X1(s)

G2(s)

X2(s)

Xn-1(s)

Gn(s)
(2.1) (2.2)

Y(s)

X i(s) = Gi(s)X i 1(s),

i = 1, n ,

X0 (s) = U(s), Xn (s) = Y(s).

Y ( s) = G(s)U (s), G( s) = i =1 Gi ( s).

(2.3)

Funcia de transfer echivalent = produsul funciilor de transfer.

M. Voicu, IA (II) C3 (34) 7

2 Conexiunea paralel

G1(s) U(s) G2(s) Gn(s)

X i(s) = Gi(s)U (s),

X1(s) X2(s) Xn (s)

(2.4) (2.5)
n

Y(s)

i = 1, n ,

Y (s) =

i =1 X i(s).
n

Y(s) = G(s)U (s), G(s) = i =1 Gi (s).

(2.6)

Funcia de transfer echivalent = suma funciilor de transfer.

M. Voicu, IA (II) C3 (34) 8

3 Conexiunea cu reacie
CALEA DIRECT

U(s)
+ _ +

X1(s) X2(s)

G1(s)

Y(s)

BUCLA DESCHIS N P

G2(s)
CALEA DE REACIE reacie negativ + reacie pozitiv
M. Voicu, IA (II) C3 (34) 9

CALEA DIRECT

X 1 (s) = U (s) X 2 (s)

Y(s)

(2.7) (2.8) (2.9)

U(s)
+ _ +

X1(s) X2(s)

G1(s)

Y (s) = G1 (s) X 1 (s) X 2 ( s) = G 2 ( s)Y ( s).

BUCLA DESCHIS N P

Y ( s) = G1 ( s) [U (s) G2 (s)Y (s)] ,

G2(s)
CALEA DE REACIE

[1 G1 (s)G2 (s)]Y (s) = G1 (s)U (s), (2.11)

+ pentru reacie negativ, pentru reacie pozitiv.

Y (s) = G0 (s)U(s), G0 (s) =

G1(s) , (2.10) 1 G1(s)G2 (s)

Funcia de transfer echivalent = raportul dintre funcia de transfer a cii directe i 1 funcia de transfer a buclei deschise n punctul P .
M. Voicu, IA (II) C3 (34) 10

2.3. Transfigurarea schemelor bloc structurale Analiza i sinteza sistemelor dinamice reclam determinarea relaiilor dintre dou sau mai multe mrimi ale schemei bloc structurale. Prin operaii de transfigurare se obin rezultatele cutate. Ele se execut conform unor identit i de transfigurare.

M. Voicu, IA (II)

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11

Fig. II. 17. Identiti de transfigurare 4 Deplasarea unui sumator de la intrarea la ieirea unui bloc a (schema iniial) b (schema final)

U1(s)
+

G(s)

Y(s) U2(s)

U1(s)

G(s)

Y(s)
+

G(s)

U2(s)

(2.12)

(2.13)

Y(s) = G(s)[U1(s) U2(s)]

M. Voicu, IA (II)

Y(s) = G(s)U1(s) G(s)U2(s)

C3 (34) 12

Fig. II. 17. Identiti de transfigurare (continuare) 5 Deplasarea unui sumator de la ieirea la intrarea unui bloc a (schema iniial) b (schema final)

U1(s)

G(s)

Y(s)
+ U (s) 2

U1(s)
+

G(s) G 1(s)

Y(s) U2(s)

(2.14)

(2.15)

Y(s) = G(s)U1(s) U2(s)

M. Voicu, IA (II)

Y(s) = G(s)[U1(s) G 1(s)U2(s)]

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Fig. II. 17. Identiti de transfigurare (continuare) 6 Deplasarea unui punct de ramificare de la intrare la ieire a (schema iniial) b (schema final)

U (s)

G(s)

Y(s) U (s)

U(s)

G(s) G 1(s)

Y(s) U (s)

(2.16)

(2.17)

Y(s) = G(s)U(s), U(s) = U(s)

M. Voicu, IA (II) C3 (34)

Y(s) = G(s)U(s), U(s) = G 1(s)G(s)U(s)

14

Fig. II. 17. Identiti de transfigurare (continuare) 7 Deplasarea unui punct de ramificare de la ieire la intrare a (schema iniial) b (schema final)

U (s) Y(s)

G(s)

Y(s)

U(s) Y(s) G (s)

(2.19)

G(s)

Y(s)

(2.18)

Y(s) = G(s)U(s), Y(s) = Y(s)

M. Voicu, IA (II) C3 (34)

Y(s) = G(s)U(s), Y(s) = G(s)U(s)

15

Fig. II. 17. Identiti de transfigurare (continuare) 8 Comutativitatea sumatoarelor a (schema iniial) b (schema final)

U2(s) U3(s) U1(s)

(2.20)

U3(s) U2(s) Y(s) U1(s)

(2.21)

Y(s)

Y(s) = [U1(s) U2(s)] U3(s)

M. Voicu, IA (II) C3 (34)

Y(s) = [U1(s) U3(s)] U2(s)

16

Fig. II. 17. Identiti de transfigurare (continuare)

9 Deplasarea sumatorului din interiorul conexiunii <<cu reacie>> la ieire

a (schema iniial)

U1(s)
+

X1(s) G1(s) X2(s) G 2(s)

U2(s) Y(s)

X 1 ( s) = U1 ( s) X 2 ( s)
X 2 ( s) = G 2 ( s)Y ( s).

Y (s) = G1(s) X 1(s) U 2(s)

Y (s) = G1(s) [U 1(s) G 2(s)Y (s) ] U 2(s)

[1 G1(s) G 2(s)]Y (s) = G1(s)U 1(s) U 2(s)

Y(s) =
M. Voicu, IA (II)

G1(s) 1 U (s) U (s), 1 G1(s)G2(s) 1 1 G1(s)G2(s) 2

C3 (34) 17

9 Deplasarea sumatorului (continuare)

U1(s)
+ a (schema iniial)

G1(s) G 2(s)

U2(s) Y(s)

Y(s) =

G1(s) 1 U (s) U (s), 1 G1(s) G2(s) 1 1 G1(s) G2(s) 2

U2(s) U1(s)
1 1 G1(s)G2(s)

b (schema final)
M. Voicu, IA (II)

G1(s) G 2(s)
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Y(s)

18

Fig. II. 17. Identiti de transfigurare (continuare)

10 Deplasarea sumatorului de la ieire n interiorul conexiunii <<cu reacie>>

a (schema iniial)

b (schema final)

U2(s) U1(s)
+

G1(s) G 2(s)

U2(s) Y(s) U1(s)

+

1 G1(s)G2(s)

G1(s) G 2(s)

Y(s)

Y(s) =

G1(s) U (s) U 2(s), 1 G1(s) G2(s) 1 Y(s) = G1(s) 1 U (s) [1 G1(s) G2(s)]U 2(s). 1 G1(s) G2(s) 1 1 G1(s) G2(s)
C3 (34) 19

M. Voicu, IA (II)

Exemplul 2.2. Motor electric de cc (continuare)

serie
U (s)
+_

M (s)

1 I (s) Ls + R

k2

Mm(s) + _ Mf

1 Js

(s)

E (s) k1 k 1
k2 Ls + R

k3

1 k = k2 Ls + R 2 Ls + R
+ _

U(s)
+_

k2 Mm(s) Ls + R +_

M (s)
1

(s)

Js k3

E(s)
k1
M. Voicu, IA (II)

Mf (s)

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20

10

Exemplul 2.2. Motor electric de cc

_

U(s)
+_

k2 Mm(s) Ls + R +_

M (s)
1 Js
k3

(s)

E(s)
k1

Mf (s)

U(s)
+_

M (s)
+_

+ k2 Ls + R M (s) m

1 Js
k3

(s)

E(s)
k1
M. Voicu, IA (II)

Mf (s)

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21

Exemplul 2.2. Motor electric de cc (continuare) M (s) U (s)

+_

cu reacie
+ _ Mf

k2
Ls + R

Mm(s) _ +

1 Js

(s)

E (s)

k3
1 Js + k3

1 1 Js = 1 J s + k3 1 + k3 Js
U(s) + E(s)
M. Voicu, IA (II)

k1

M (s)

Mm(s) k2 + Ls + R
k1
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(s) 1 Js + k 3

22

11

M (s)

Exemplul 2.3. Motor electric de cc

U(s) + E(s)

Mm(s) k2 Ls + R +
k1

1 Js + k 3

(s)

Fig. II.16

M (s) Ls+R

U(s)

k2

+ + E(s)

k2
(Ls+R)(Js+k3)

(s)

k1
M. Voicu, IA (II) C3 (34) 23

M ( s ) Ls+R k2 U (s) + +

Fig. II.19

k2 (Ls+R )( Js+k3 ) k1

(s)

Exemplul 2.3. Motor electric de cc (continuare)

( s ) = G0 ( s )U ( s ) G0 m ( s ) M ( s ),
k2 ( Ls + R )( Js + k 3 ) k2 G0 (s) = = 2 k1 k 2 LJs + ( RJ + Lk 3 ) s + Rk 3 + k1 k 2 1+ ( Ls + R )( Js + k 3 )

k2 Ls + R ( Ls + R)( Js + k3 ) Ls + R . = G0m ( s) = 2 + ( RJ + Lk ) s + Rk + k k k2 k1k2 LJs 3 3 1 2 1+ ( Ls + R)( Js + k3 )

M. Voicu, IA (II) C3 (34) 24

12

Pai de transfigurare:

a) Se echivaleaz conexiunile serie. b) Se echivaleaz conexiunile paralel. c) Se echivaleaz conexiunile cu reacie. d) Se deplaseaz punctele de ramificare i/sau sumatoarele conform identitilor 4 8 . e) Se repet operaiile de la paii a d pn se obine rezultatul dorit.

M. Voicu, IA (II)

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25

2.4. O schem bloc operaional asociat unei funcii de transfer

Y(s) =

bmsm + bm1sm1 + ...+ b0 an sn + an1sn1 + ...+ a0

U(s),
G( s)

(1.10)

Observaia 1.2 (v. 1.4) Numrtorul modeleaz operaii de amplificare i derivare; are efect de anticipare. Numitorul modeleaz operaii bazate pe integrare; are efect de ntrziere.
M. Voicu, IA (II) C3 (34) 26

13

O schema bazat numai pe integratoare Exemplu

Y(s) =

b3s + b2s + b1s + b0 U(s); a3 0 i cel puin un b j 0 . a3s 3 + a2s 2 + a1s + a0

3 2

G( s)

Se elimina numitorul

a3s 3 + a2s 2 + a1s + a0 .

13 a3s

(a3s3 + a2s 2 + a1s + a0) Y(s) = (b3s 3 + b2s 2 + b1s + b0)U(s),

1 + a 2 1 + a 1 1 + a 0 1 Y (s) = b 3 + b 2 1 + b1 1 + b 0 1 U (s) . a a3 s a3 s 2 a3 s 3 3 a3 s a3 s 2 a3 s 3
M. Voicu, IA (II) C3 (34) 27

Y (s) +

a a2 1 a Y (s) + 1 12 Y (s) + 0 13 Y (s) = a3 s a3 s a3 s

= b3 b b b U(s) + 2 1U(s) + 1 12 U(s) + 0 13 U(s). a3 a3 s a3 s a3 s

Y(s) =

b3 b a U(s) + 2 1U(s) 2 1Y(s) + a3 a3 s a3 s + b a b1 1 a U(s) 1 12 Y(s) + 0 13 U(s) 0 13 Y(s). 2 a3 s a3 s a3 s a3 s

C3 (34) 28

M. Voicu, IA (II)

14

Y(s) =

b3 b2 a U(s) + 1 U(s) 2 Y(s) + a3 s a3 a3 a b a 1 b + 12 a1 U(s) a1 Y(s) + 3 a0 U(s) a0 Y(s) s 3 s 3 3 3

Y(s) =

b3 b2 a U(s) + 1 U(s) 2 Y(s) + a3 s a a3 3 a b a 1 b + 12 a1 U(s) a1 Y(s) + s a0 U(s) a0 Y(s) , s 3 3 3 3

M. Voicu, IA (II)

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29

Y(s) =

b3 b2 a U(s) + 1 U(s) 2 Y(s) + a3 s a a3 3 b0 a b1 a + 1 1 U(s) 1 Y(s) + 1 U(s) 0 Y(s) , s s a3 a3 s a3 a3

Y(s) =

b3 b2 a U(s) + 1 U(s) 2 Y(s) + a3 s a3 a3 b0 a b1 a + 1 U(s) 1 Y(s) + 1 U(s) 0 Y(s) , s a3 a3 s a3 a3

M. Voicu, IA (II)

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30

15

b a b2 a b a 1b Y(s) = 3 U(s) + 1 U(s) 2 Y(s) + 1 a1 U(s) a1 Y(s) + s a0 U(s) a0 Y(s) . a3 s a a s 3 3 3 3 3 3

U(s)
b0 a3
+ _

b1 a3

b2 a3

b3 a3

1 s
a0 a3

+ _

1 s

+ _

1 s

Y(s)

a1 a3

a2 a3

Y(s)
M. Voicu, IA (II)

Y(s)
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Y(s)
31

Cazul general
Y(s) = bns n + bn1s n1 + ... + b0 U(s), an 0 i cel puin un b j 0 . ans n + an1s n1 + ... + a0
1n a ns

(ans n + an1s n1 + ... + a0) Y(s) = (bms m + bm1s m1 + ... + b0)U(s)

Y(s) = bn b a U(s) + n1 1U(s) n1 1Y(s) + an an s an s +

b a b1 1 a U(s) 1 1 Y(s) + 0 1n U(s) 0 1n Y(s). an s n1 an s n1 an s an s

C3 (34) 32

M. Voicu, IA (II)

16

b bn1 a Y(s)= n U(s)+ 1 U(s) n1Y(s) + ... + an s a an n a0 a1 1 b0 b1 + 1 n1 a U(s) a Y(s) + n a U(s) a Y(s) s n s n n n

b bn1 a Y(s) = n U(s)+ 1 U(s) n1Y(s) +... + an s a an n a b a 1 b + 1 a1 U(s) a1 Y(s) + s a0 U(s) a0 Y(s).... s n n n n n
M. Voicu, IA (II) C3 (34) 33

b bn1 a a b a 1 b Y(s) = n U(s)+ 1 U(s) n1Y(s)+... + 1 a1 U(s) a1 Y(s) + s a0 U(s) a0 Y(s).... an s a a s n n n n n n n

U(s)
b0 an
+ _

b1 an

b n 1 an

bn an

1 s

+ _

1 s

+ _

1 s

Y(s)

a0 an

a1 an

a n 1 an

Y(s)
M. Voicu, IA (II)

Y(s)
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Y(s)
34

17