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BE ( x )dS BE L BE
0
wS
x y1
d
dt
wS
d
dt
x y1
BE ( x ) Ldx
BE
d ( x y1 )
d
dx
BE ( x y1 )
BE ( x )
t
dt
dt
wS L 2 B E
2
Wm WS i WS i WS i
x y1
BE ( x ) L( x ) K i
di
u
(
t
)
R
i
(
t
)
L
e( t )
A
A
dt
e(t ) K (t )(t )
m(t ) K (t )i (t )
d
F m m r
dt
diE
dt
H1
( s )
U ( s)
M r 0
1
1
1
L
JR
K
( A s 1) 2 A 2 S
R A sLA
JS
rA
K
1
1
1
2
2 1
1
K
1
L
JR
RA sLA
JS
( A s 1) 2 A 2 S
rA
K
1
1
1
1
K (TA S 1)Tm S
K
K
1
RA
1
STm
I ( s)
TA S 1
RA
- element de ordinul I cu un zerou
H 2 ( s)
2
1
1
U ( s) 1
TmT A S Tm S 1
TA S 1 Tm S
I stationar
1
SI m
U0
RA
lim s
0
2
s 0
TmTs S Tm S 1 s
Modelul structural
di RA K 1
dt L i L L u
A
A
A
d 1 Ki F 1 m
dt J J J r
Rdi A K
1 0
i dt A LAi
x L u m
A 1 r
d K F
0 J
dt y
J
;
i
01
.
x Ax bu b1mr
y c1T x
Presupunnd cuplul rezistent nul, pot obine funciile de transfer:
1
( s )
1
K
H1 (s)
c1T sI A b
2
U ( s)
Tm TA s Tm s 1
H 2 ( s ) [10][ sI A]1 b
1
,0 t
u(t )
0, t
(t )dt 1 ,
0
y (t )
1, t 0
u(t )
0, t 0
Rspunsul indicial
y (t )
h(t )u( )d
0
h( )d .Pt
h0
H ( s)
Kn2
y (t ) K
s 2 2n n2
e n t
0 1 y (t ) KU 0 1
sin(n 1 2 t )
12
K
K
y (t ) e T
Ts 1
T
Tosc
n 1 2
( SRA) f ( ) e
2
1 2
B. n domeniul frecven
B.1 Locul de transfer
u(t ) A sin(1t )
y (t ) B sin(1t ) A H ( j ) sin(1t )
Fcnd 1 variabil:
B
A
arg H ( j1 ) (1 )
H ( j1 )