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AUTOMATE
1. Sisteme de ordinul 2
2. Raspunsul sistemului la semnale standard
• impuls unitar
• treapta unitara
• rampa
3. Notiuni privind calitatea sistemului de ordinul 2
4. Exemple de calcul
Prof. dr. ing. Valer DOLGA 2
Sisteme de ordinul 2
b0 b0
Y ( s) b0 a0 a0
G ( s) = = = = =
U ( s ) a2 ⋅ s 2 + a1 ⋅ s + a0 a2 ⋅ s 2 + a1 ⋅ s + 1 1 ⋅ s 2 + 2 a1
⋅ s +1
a0 a0 a0 a0
2 ⋅ a0 ⋅ a 2 ⋅
a2 a2
S S ⋅ ωn2
= = 2
1 2 2ξ s + 2ξω ⋅ s + ω 2
⋅s + ⋅ s +1 n n
ωn
2
ωn
b a1
S= 0 - sensibilitatea sistemului, sau ξ= - factorul de
a0 factorul de amplificare 2 a0 ⋅ a 2 amortizare
a
ωn2 = 0 - pulsaŃia naturală a
a2
sistemului
T = 1 / ωn
Raspunsul sistemului la un semnal standard
−1
b0
y( t ) = L −1
{Y ( s )} = L 2
⋅ U ( s )
a2 ⋅ s + a1 ⋅ s + a0
−1
Sωn2
y( t ) = L 2 ⋅ 1
2
s + 2ξωn ⋅ s + ωn
1
y ( t ) = Sωn2 ⋅ L− 1
( s − s1 )( s − s 2
)
s1 = ωn ( − ξ + ξ2 − 1 ), s2 = ωn ( − ξ − ξ 2 − 1 )
1 s1t 1
y ( t ) = Sω2n ( e − e s2 t )
s1 − s2 s1 − s2
Raspunsul calitativ
al sistemului
dy( t ) s s2
= ω2n ( 1 e s1t − e s2 t ) = 0
dt s1 − s2 s1 − s2
s1t vf s2 tvf
s1e = s2 e
s /s
tvf = − ln 1 2
s1 − s2
Raspunsul sistemului:
y ( t ) = Ae − ξωn t sin( ωn 1 − ξ2 t + φ )
s 2 + 2ξωn + ωn2 = 0
p1 = −ξωn + ξ 2ωn2 − ωn2 = −ξωn + ωn ξ 2 − 1
− 2ξωn ± 4ξ 2ωn2 − 4ωn2
p1, 2 = p2 = −ξωn − ξ 2ωn2 − ωn2 = −ξωn − ωn ξ 2 − 1
2
Prof. dr. ing. Valer DOLGA 11
ξ >1
kωn2 p2 p1 − p2t
y (t ) = 1 − ⋅e − p1t
+ ⋅e
p1 p2 p2 − p1 p2 − p1
kωn2
t →∞ y (t ) =
p1 p2
ξ =1
p1 = p2 = −ωn
1
kωn2 L−1 = t ⋅ e − at
Y (s) = (s + a )2
s (s + ωn )2
1
Y ( s) = k −
1
−
ωn
2
(
y (t ) = k 1 − e−ωn t − ωnt ⋅ e−ωn t )
s s + ω n (s + ω n )
Prof. dr. ing. Valer DOLGA 12
ξ <1
y (t ) = k 1 −
e −ξωnt
1−ξ 2
(
sin ωn 1 − ξ 2 t + φ )
cos φ = ξ
1.2
y/H
0.8
0.6 y/H
0.4
0.2
0
0 2 4 6 8 10 12 14
ωn*t 16
U ( s ) = c / s2
Se utilizeaza forma standard pentru functia de transfer:
1
G( s ) =
T 2 s 2 + 2ξTs + 1
c 1
Y(s) = ⋅
2
s T 2 s 2 + 2ξTs + 1
Prof. dr. ing. Valer DOLGA 15
u(t)=ct
ξ=0.1
ξ=0
u
ξ=1
t
Răspunsul unui sistem de ordinul 2 la un semnal rampă
tC
t SC
tS
πξ
−
1−ξ 2
σ 1 = yS ⋅ e Supracresterea
3πξ
− 2πξ
1−ξ 2 −
σ 2 yS ⋅ e 1−ξ 2
rap _ amortizare = = πξ
=e
σ1 −
1−ξ 2
yS ⋅ e
3
tS = Durata de linistire (eroarea admisa pentru atingerea
ξωn valorii stabilizate - 5 %)
2 1
n= −1 Numarul de oscilatii pina la linistire
π ξ 2
1 p1 = p2 = −4
G ( s) = 2
s + 8s + 16
1 1
Y (s) = =
Y (s) = G ( s) X ( s) ( )
s s 2 + 8s + 16 s (s + 4 )(s + 4 )
1
X ( s) =
s
ω2n H Hω2n t F( s )
G( s ) = Y ( s ) = G( s ) ⋅ = L∫ x( τ )dτ =
s 2 + ω2n s s( s 2 + ω2n )
0 s
ωn
t
− H ω2n − s 2 + ω2n ωn
1
L ( 2 2 ) = Hωn L (1 ) = Hωn ( ∫ L− 1( )( dτ )
s s + ωn 2 2
s 0 s + ωn
t
1 t
y ( t ) = Hωn ∫ sin ωn τdτ = Hωn ( − cos ωn τ ) 0 = H ( 1 − cos ωn t )
0
ωn
u(t)
y
timp