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2
H (s ) = 2
s + 2 s + 2
1
0 < <1
H (s)
H (s)
H (0) = 1
factorul de amortizare
H (s) =
1
1 + 2s + 2 s 2
= 1/
s1, 2 = j 1 2
= 0,
<0
e t
sin t 1 2 +
1 2
s1, 2 = j
1.4
1.2
0.8
0.6
0.4
0.2
ti
t1
0
10
12
14
16
18
20
12
Suprareglajul
=e
Timpul tranzitoriu
e t 0.02 tt ln(0.02) tt
Regulatoare Automate
ln(0.02)
ti
p
H(s)=w 2/(s 2+2*csi*w *s+w 2)
2
0
1.8
0,1
1.6
0,2
1.4
0,4
ampltudine
1.2
0,6
0,707
0.8
1,5
0.6
0.4
0.2
6
timp [sec]
10
12
H (z ) =
b1d z + b0
2
z + a1d z + a 0 d
z1, 2 = e
s1, 2 T
unde:
a1d = 2 e T cos T 1 2 , a0 d = e 2 T
Not:
Caz particular frecvent ntlnit n practic al unui sistem de ordinul II avnd funcia de transfer:
b
H (s) =
s( s + a)
b1d
a1d = 1 e aT , a 0 d = e aT
bT 2
, a=0
2
=
1 e aT
b
aT
Te
a
a
,b
0d
bT 2
, a=0
2
=
e aT 1
b
+ T
a
a
Regulatoare Automate
H (s)
la ieire se obine:
~
1
y ( s ) = H ( j)
+ H (s)
s j
1
y ( s ) = H ( s ) u (s ) = H ( s )
s j
y (t ) = H ( j)e jt + y (t )
y (t ) = L
[ H ( s )]
y (t ) = L
[ y ( s)]
va fi:
componenta tranzitorie
H ( j ) = H ( j ) e
123
A( )
j ()
A()
amplitudine-plusaie
()
faz-plusaie
Regulatoare Automate
-1
0.1
10
100
1000
lg()
H ( s) =
sq
1 + si,k
1 + 2s j.l + 2 s 2j , l
r (s)
=
p( s)
m1
m2
i =1
n1
j =1
n2
k (1 + s i ) 1 + 2 j s + 2j s 2
s q (1 + s k ) 1 + 2l s + l2 s 2
k =1
l =1
H (s ) = H i (s ), r = 1 + q + m1 + m2 + n1 + n2
i =1
lg( A B) = lg A + lg B
Not: n Matlab, trasarea caracteristicilor de frecven logaritmice se face utiliznd funcia bode.
Regulatoare Automate
1. Elementul constant
- Amplitudinea:
H ( s ) = k , H ( j) = k
A() =| k |, A() dB = 20 lg | k |
0
() =
- Faza:
Caracteristicile de frecven pentru elementul constant
k >0
k <0
Bode Diagram
Magnitude (dB)
7.5
7
utiliznd Matlab
>>num = [2];
>>den = [1];
>>bode(num,den);
20*lg(k),
k=2
6.5
6
5.5
Phase (deg)
5
1
0.5
0
-0.5
-1
10
Regulatoare Automate1
10
Frequency (rad/sec)
2.Elementul integrator
1
1
1
H ( s ) = , H ( j) =
= e
s
j
( ) =
- Faza:
1
= 20lg = 20lg
dB
H ()
5
Magnitude (dB)
0
-5
-20 dB/dec
-10
-15
Phase (deg)
-20
() 0
-45
-90
0
10
Regulatoare
Frequency (rad/sec)
Automate
10
3. Elementul derivativ
H ( s ) = s, H ( j) = j = e
() =
Magnitude (dB)
15
10
Caracteristicile de
frecven ale
elementului derivativ
sunt n
oglind cu cele ale
elementului
integrator fa de
abscis.
+20 dB/dec
5
0
-5
Phase (deg)
90
45
0
0
10
Regulatoare Automate
Frequency (rad/sec)
10
1
H (s) =
1 + s
- Amplitudinea:
A() dB = 20 lg
constanta de timp
A() =
1
1 + 2 2
1 + 2 2
= 20 lg 1 + 2 2
( ) = arctg ( )
-Faza:
Caracteristicile de frecven pentru elementul de ntrziere de ordinul I
A() dB
Bode Diagram
20
Magnitude (dB)
>0
10
-10
-20
0
Phase (deg)
t =
-20 dB/dec
-45
-90
0,
[0, t ]
=
> t
20 lg ,
A() =
-3
10
-2
10
t =
-1
10
Regulatoare
Automate
0
Frequency (rad/sec)
10
1
0.707
2
20 lg 2 = 10 lg 2 = 10 0.3 = 3dB
1
10
H ( s) = 1 + s
constanta de timp
- Amplitudinea:
>0
H ( j) = 1 + j = 1 + 2 2 e j arctg ( )
A() dB = 20 lg 1 + 2 2
() = arctg()
- Faza:
Magnitude (dB)
40
30
+20 dB/dec
20
10
Phase (deg)
0
90
45
-3
10
-2
10
Regulatoare
t 10-1Automate
Frequency (rad/sec)
10
10
H (s) =
s 2 + 2 s + 2
1
1 + 2 s + s 2 2
- Amplitudinea:
>0
constanta de timp
factorul de amortizare
A() dB = 20 lg 1 2 2
)2 + 4 2 22
- Faza:
<<
>>
arctg
1 2 2
() =
2
+ arctg 2 2
1
1
> =
A() dB 20 lg1 = 0
() 4 >> () 2
A() dB 20 lg 4 4 = 40 lg
[0, t ]
0,
A() dB =
> t
20 lg ,
Caracteristica A() este format din dou drepte
- una constant
A() dB = 0
pentru
Regulatoare Automate
> t
H()
H(s)=1/(1+2*csi*tau*s+tau2*s 2)
20
=0.1
0.5
Magnitude (dB)
1
-20
0.707
-40 dB/dec
-40
-60
Phase (deg)
-80
() 0
-45
-90
/2
-135
-180
-2
10
-1
10
Regulatoare 10
Automate
Frequency (rad/sec)
10
10
A()
Caracteristica real
= 0.707
=0
1 > > 0.707
tinde ctre
Caracteristica de faza
()
lim () = 0
pornete din 0
( t ) =
Regulatoare Automate
H (s ) = 1 + 2s + 2 s 2
>0
constanta de timp
factorul de amortizare
- Amplitudinea
A() dB = 20 lg 1 2 2
)2 + 4 2 22
- Faza:
arctg
2 2
1
() =
2
arctg
2 2 1
Regulatoare Automate
1
> =
a) Trasarea manual
)(
10 s 2 1 + 10 2 s 1 + 10 6 s 2
H (s ) =
1 + 10 1 s 2 1 + 10 3 s 1 + 10 5 s
)(
)(
s=0
zerou de ordin 2
Pulsaii de
tiere
s = 10
, pol de ordin 2
s = 10 2
t = 10 2
s = 10 6
t = 10 6
zerou de ordin 1
zerou de ordin 2
Polii
(rdcinile numitorului)
t1 = 10
s = 103
, pol de ordin 1
s = 105
, pol de ordin 4
Pulsaii de
tiere
t = 10
t = 103
t = 105
H ( j ) =10 =
( )
H ( j10) dB = 20 lg 103 = 60 dB
Regulatoare Automate
)(
)
)(1 + j10 )
(1 + j )2 (1 + j102
4 4
103
t = 0
t = 101 ;
P2
O2
amplitudine dB
t = 10 6
t = 10 2 ;
O
t = 103
P
t = 105
P4
O2
10 5
10 6
80
40
0
40
80
10 2
10 1
101
10 2
10 3
10 4
Regulatoare Automate
107
10 8 rad / sec
180o
Faza in grade
90 o
0o
90o
180o
270o
10 7
10 8
180o
10 6
180o
10 5
270o
0o
45o
90o
10 4
180o
10 3
10 2
45o
10 1
180o
10 1
180o
180o
rad / sec : 10 2
b) utiliznd Matlab
>>s = tf('s')
>>y = 10*s^2*(1+s/10^2)*((1+s/10^6)^2)/((1+s/10)^2
*(1+s/10^3)*(1+s/10^5)^4);
>>w = logspace(-2,8,100);
% genereaza un vector de 100 de puncte,
%pe o scara logaritmica, de la 10-2 pana la 108
>>bode(y,w)
>>grid
Bode Diagram
100
Magnitude (dB)
50
-50
-100
180
Phase (deg)
90
0
-90
-180
-270
-2
10
10
10
10
10
Frequency
(rad/sec)
Regulatoare
Automate
10
Regulator
HR
Proces
HP
H bi ( s ) =
H bd ( s )
1 + H bd ( s )
Valorile limit ale indicatorilor de robustete, necesare asigurrii unui grad de robustee acceptabil:
- Margine de amplitudine M A
- Marginea de faz
>2 (6dB);
M : 30 60
o
1.Exemplu
amplitudine (decibeli)
H (s ) =
2
1 3 7 2
s + s +s
10
10
, marginea de amplitudine
MA
>>num = [0 0 0 2];
>>den = [1/10 7/10 1 0];
>>w =logspace(-1,2,100);
50
0
-50
-100
-1
10
10
10
10
faza (grade)
-90
-135
-180
-225
-270
-1
10
10
Regulatoare
Automate
1
10
frecventa (rad/sec)
10
Caracteristicile Bode cu
evidenierea marginii de faz i
de amplitudine