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Proiect
1(t)
1(t)
reprezentat n
figura 2.1, are valori nule pentru t< 0 i valoarea 1 pentru
t> 0,la t=0 avnd loc trecerea n salt ntre cele dou valori [1]:
1(t)=
(2.2)
1(t)=1
pentru
0=0.
0+=1 i 1
t=0 :1
1(tt 0)
(2.3)
Fig. 2.1
Fig. 2.2.
1(t)
este:
t0,
se
L {1 ( t t 0 ) }= (2.5)
Rspunsul unui SA monovariabil liniar neted la un semnal de intrare
treapt
unitar, ncondiii iniiale nule, se numete rspuns indicial sau funcie
indicial, notat
pe parcursul disciplinei, cu
h(t ).
C=ct .
se
t 0 , se exprim prin
C 1(tt 0) . O utilizare a funciei treapt unitar
const n
urmtoarele [7]: o funcie mrginit f (t)
definit n intervalul
< t< ,
multiplicat cu
t< 0
i n rest
f (t)1(t )= (2.6)
t0 .
p(t , T )= (2.8)
unde A este aria impulsului.
Fig. 2.4.
Fig. 2.5.
1(t) , semnalul
p(t , T ) se exprim n
r (t)=1(t) .
=0
rezult:
rezulta:
st=lim =ct
=1,2
st=lim
automate de tipul
=1,2
Sistemele
Fig.2.52
durata regimului
Suprareglajul
reprezint
Deci suprareglajul
mrimea de ieire
y st . Se obinuiete ca suprareglajul s
Fig. 2.15
=[ ] , (2.55)
raspuns indicial EI 01
k =1;
T=5 ;
num=[k ]; den=[ T 1];
ys=step(num, den , t );
v =t ;
df 1=diff ( v )./diff (t );
df 2=1.05df 1;
df 3=0.95df 1 ;
td=t(2 :length(t));
plot (t , ys , ' r ' , td , df 1, ' y ' ,td , df 2, 'b ' , td , df 3, ' g' ); grid
title(' raspuns indicial EI 01 ');
xlabel(' t ( sec)' ) ;
ylabel(' h(t) ');
k=1;
T=5;
t=0:0.1:30;
num=[k];
den=[T 1];
yi=impulse(num,den,t);
plot(t,yi,'-k');grid
title('Functie pondere Eio1');
xlabel('t(sec)');
ylabel('w(t)');
gtext('Functia pondere');
[X,Y]=ginput
Performante:
tr=5( sec)
%Caracteristicile de frecventa Ei 01
%f.d.t G(S )=k /(Ts+ 1)
k=1,15;
T =3 ;
figure (1)
w=20: 0.1:20 ;
subplot (221)
u=k ./(1+(wT ) .2);
plot (w , u ,' k ' ); grid
title(' Caracteristica reala de frecventa U (omega)') ;
subplot (222)
v =(kTw)./(1+(wT ) .2);
plot (w , v , 'k '); grid
subplot (223)
a=(u .2 +v .2);
plot (w , a , 'k '); g rid
ylabel(' A (omega)') ;
subplot (224)
fi=atan (v ./u);
%Locul de tr ansfer
figure (2)
w=60: 0.1:60 ;
%F , D , T , G(S)=K /(TS+1)
k=1,15;
T =3 ;
num=[k ];
den=[T 1];
w=logspace(1,1,200);
[mag , phase , w]=bod e( num, den) ;
subplot (221)
subplot (222)
k =1;
csi = 0.25;
wn = 2;
num=[k(2pi)2 ]
den=[12csi2pi (2pi)2 ];
ys=step(num, den , t )
v =t ;
df 1=diff ( v )./diff (t );
df 2=1.0 5df 1;
df 3=0.95df 1 ;
td=t(2 :length(t));
plot (t , ys , ' m' ,td , df 1, ' y ' , td , df 2,'b ' ,td , df 3, 'g ') ; grid
[ X ,Y ]=ginput
k =1;
csi = 0.25;
wn = 2;
num=[k(2pi)2 ];
den=[12csi2pi (2pi)2 ]
yi=impulse(num , den , t);
xlabel(' t ( sec)' ) ;
ylabel(' w(t )' );
2
1.8
1.6
1.4
h(t)
1.2
1
0.8
0.6
0.4
0.2
0
0.5
1.5
2.5
t(sec)
3.5
4.5
1.5
h(t)
0.5
0.5
1.5
2.5
t(sec)
3.5
Performante:
st=0 ;
y max=1.354 ; =0.354 ; =1;
4.5
Pt
=0. 707
1.4
1.2
1
h(t)
0.8
0.6
0.4
0.2
0
0.5
st=0 ;
y max=1.0433 ;
=0.433 ;
=1 ;
t r =0.0468 ; t 1=0.0714 ;
t i=0.023 ; t 2=0.0134 ;
t c=0.0468; N =0.
1.5
2.5
t(sec)
3.5
4.5
Pt
=1
1.4
1.2
1
h(t)
0.8
0.6
0.4
0.2
0
0.5
Performante:
1.5
2.5
t(sec)
3.5
4.5
st=0 ; =0 ;
=1 ;
t r =t c=0.0771;
t i=0.027 .
1.4
1.2
1
h(t)
0.8
0.6
0.4
0.2
0
0.5
1.5
2.5
t(sec)
3.5
4.5
Performante :
st=0 ;
=0 ; =1 ;
t i=0.046 ;
t c=t r=0.1827
Pentru =0
Performante:
st=0 ; y max=1,442
=0,83 ; =1 0,808
t r =0,170 ; t i=0,002
t c=0,0295; t 1=0,05
N=3.
2
1.8
1.6
1.4
h(t)
1.2
1
0.8
0.6
0.4
0.2
0
Pentru
0.5
1.5
2.5
t(sec)
3.5
=0.25
st=0 ;
4.5
1.5
h(t)
0.5
Pentru
0.5
=0.707
Performante
st=0 ;
y max=1.0433 ;
=0.433 ;
=1 ;
1.5
2.5
t(sec)
3.5
4.5
t r =0.0468 ; t 1=0.0714 ;
t i=0.023 ; t 2=0.0134 ;
t c=0.0468; N =0.
1.4
1.2
1
h(t)
0.8
0.6
0.4
0.2
0
Pt
0.5
=1
Performante:
1.5
2.5
t(sec)
3.5
4.5
st=0 ; =0 ;
=1 ;
t r =t c=0.0771;
t i=0.027 .
1.4
1.2
1
h(t)
0.8
0.6
0.4
0.2
0
0.5
Pt =2
Performante :
st=0 ;
=0 ; =1 ;
1.5
2.5
t(sec)
3.5
4.5
t i=0.046 ;
t c=t r=0.1827
Pentru =0
1.4
1.2
1
h(t)
0.8
0.6
0.4
0.2
0
0.5
1.5
2.5
t(sec)
3.5
4.5
num=[wn2 ];
2
den=[12csiwn wn ];
figure(1)
[mag , phase , w]=bode (num, den , w);
mv=max(mag)
c=cos ( phasepi/180);
s=sin (phasepi/180);
u=mag.c ;
v =mag.s ;
pmax=ma x( u); pmin=min (u) ; vmin=min(v );
subplot (221)
ylabel(' U (omega)' ) ;
subplot (222)
semilogx (w , v , 'k ') ; grid
subplot (223)
semilogx (w ,mag , 'k '); gri d
subplot (224)
semil ogx (w , phase ,'k '); grid
figure(2)
w=logspace(5,1,100);
[u , v ]=nyquist (num , den , w);
figure(3)
0.5
V(omega)
U(omega)
0
-0.5 -5
10
-1 -5
10
0.5
0 -5
10
0
Fi(omega)
M(omega)
10
10
Omega(rad/sec)
Caracteristica amplitudine-frecventa
1.5
1
10
Omega(rad/sec)
10
-0.5
10
10
Omega(rad/sec)
Caracteristica faza-frecventa
-50
-100
-150
-200 -5
10
10
Omega(rad/sec)
10
Locul de transfer
0
-0.1
-0.2
V(omega)
-0.3
-0.4
-0.5
-0.6
-0.7
-0.8
-0.9
-0.4
-0.2
0.2
0.4
U(omega)
0.6
0.8