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Regelungstechnik FS 12
Lsung 7
Aufgabe 1: ([SeEM11] Aufg. 5.6)
Let
Is given that:
T ' s
1
T ' s s s 1
1
23
T ' s
T ' s s
1 2
s 1
ss 1 s s 1
23
1
23
s 1 s 0
23
23
s s 1
23
23
s s 1/
T ' t 231 e t /
T ' t 1 T t 1 T 93 82 11 231 e 1 /
1
Therefore,
1.54
11
ln1
23
T ' s
-1-
T ' s
3
2
1
3.08 2
4.74
T ' s s 2
1 22
2
1.54 s 1
1.54 s 1
s
1.54 s 1
s 1.54 s 1 s
s
s
a) At peaks,
1
dy
KM e t / cos
dt
1
sin
t e t /
1
sin
1
t cos
Since KM 0 and e t / 0
2
1
0 cos
t n
2
1 2
t
1 2
1 2
sin
1 2
t sin
1 2
tp
1 2
b) Overshoot, M P
y t p KM
KM
M P e t / cos
sin exp
1 2
1 2
c) Decay ratio, DR
y t 2 p KM
y t p KM
, where t 2 p
3
1 2
exp
1 2
extremum).
DR
KMe
t 2 p /
KMe
t p /
exp t 2 p t p exp
-2-
1 2
exp 2
1 2
M p2
t 0
t , sin A 1 2 , cos A
e t /
then y t KM 1
1 2
e t /
cos B sin B KM 1
sin A B
1 2
0.05 t ln 0.05 1 2
therefore
ts
20
ln
1 2
This formula can be used in the entire range of corresponding to underdamped system.
Aufgabe 3: ([SeEM11] Aufg. 5.20)
dc
w1c1 w2 c 2 wc
dt
C '1 s Vs w 70 7 s 10 49 s 1
C ' m s
K
30
, K
1 , = 6 sec = 0.1 min (from the graph)
C ' s s 1
3
The requested transfer function is
C ' m s
1
0 .5
0 .5
-3-
b) C '1 s
C ' m s
3
s
1.5
s 0.1s 149 s 1
c' m t 1.51
0.1e t / 0.1 49e t / 49
49 0.1
c) C ' m s
0.5 3
1.5
49s 1 s s49s 1
c' m t 1.5 1 e t / 49
d) The responses in b) and c) are nearly the same. Hence the dynamics of the conductivity cell are
negligible.
Literatur
[SeEM11] D. E. Seborg, T. F. Edgar, and D. A. Mellichamp. Process Dynamics and Control. John
Wiley & Sons, New York, 2011.
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