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Analiza sistemului
A de ordinul II
în domeniul timp Analiza sistemului
B de ordinul II
în domeniul complex
Analiza sistemului
C de ordinul II
Abordarea structurală
Analiza sistemului
D de ordinul II
Calcul simbolic
Analiza sistemului
A de ordinul II în domeniul timp
u(t ) yC (t )
u(t ) y L (t )
u(t ) y R (t )
u(t ) i (t )
d 2 y( t ) d y( t )
a2 2
a1 a0 y( t ) b0 u( t )
dt dt
? ? ?
1 se numeşte:
n pulsaţia naturală a sistemului.
T
1 d 2 y( t ) 1 a1 dy( t ) 1 1
n 2
2 2 y( t ) 2 ku( t )
T dt T a0 dt T T
1 a1
1 a1 T 2 a0 a1 a1
2
2 n 2 T a0 2 a0 a 2
n
T 2 a0
d 2 y( t ) dy( t )
2
2 n 2
n y ( t ) k 2
n u( t )
dt dt
MM-II, (model matematic intrare- ieşire), de ordinul II.
a2 LC
2
d y( t ) dy( t )
LC 2
RC y( t ) u( t ) a1 RC
dt dt a 1
0
a1 RC R C2 R C 1
, n
2 a0 a 2 2 1 LC 2 LC 2 L LC
di ( t ) 1
u( t ) Ri ( t ) L i ( t )dt
dt C
1 dy( t )
y( t ) i ( t )dt i ( t ) C
C dt
d 2 y( t ) dy( t )
LC 2
RC y( t ) u( t )
dt dt
d 2 y( t )
y( t ) Lu( t )
dy( t )
L LC 2
RC
dt dt
LCs 2Y ( s ) RCsY ( s ) Y ( s ) U ( s )
Y ( s) 1
G( s ) y ( 0 )0
U ( s ) dy( 0 ) LCs 2 RCs 1
0
dt
R-L-C
u(t) y(t)
serie
1
U(s) Y(s)
LCs 2 RCs 1
d 2 y( t )
L 2
2 n
dy( t )
2
n y ( t ) L
k 2
n u( t )
dt dt
s Y ( s ) 2 n sY ( s ) nY ( s ) n U ( s )
2 2 2
Y ( s) 2
G( s) 2 n
y ( 0 ) 0
U ( s ) dy( 0 ) s 2 n s n2
0
dt
n2
U(s) Y(s)
s 2 2n s n2
n2 1 1
G( s) 2 2
s 2 n s n s 2 n s n
2 2
1 2 2
s s1
n2
n2
n
1 1
2 LC n LC
n
2 RC R C
n 2 L
Rezolvarea în domeniul timp
d 2 y( t ) dy( t )
2
2 n 2
n y ( t ) 2
n u( t )
dt dt
y p ( t ) 1 ( t )
y( t ) y ( t ) y p ( t )
y ( t ) C 1 e p1 t
C 2 e p2 t
d
p p 2 2 n p n2 0
dt
p1, 2 n n 2 1 n j n 1 2
b b 2 4 ac 2 n 4 2 n2 4 n2
p1, 2
2a 2
p1 t p2 t
p1 n j n 1 2
y( t ) 1 C1 e C2e
p2 n j n 1 2
y C ( t ) 0 y ( 0) 0
dy( t ) dy( t )
i (0) 0 i C dt 0 dt 0
t 0
y (0 ) 0 1 C 1 C 2 0
C 1 C 2 1
p1 C 1 e p 2 C 2 e t 0
dy( t ) p1 t p2 t
dt p1 C 1 p 2 C 2 0
t 0
1 1 1 1
0 p2 p2 p1 0 p1
C1 ,C2
1 1 p 2 p1 1 1 p 2 p1
p1 p 2 p1 p 2
p1 t p2 t p2 p1 t p1 p2 t
y( t ) 1 C 1e C2e 1 e e
p2 p1 p2 p1
j t j t j t j t
1 e e e e
2 j 2 j
e t e j t e j t j j t j j t
1 e e
2j 2j 2j 2j
e t e j t e j t e j t e j t
1
2j 2
t
e
1 sin t cos t
n 1 1
2 2
1 sin
2
n
e t
y ( t ) yC ( t ) 1 sin t cos t
n 1 2
e t
1 sin t cos t
2 n
1 n
2
n2 2 2
cos 1 sin 1
2
n 2
n 2
n n
1
e
cos sin n 1 t
n t 2
1 2 sin cos n 1 2 t
sin
n t
e
1 n 1 2 t
1 2
n 1 2
arctg
cos
y( t ) yC ( t ) 0 1, u( t ) U
e n t 1 2
U 1
sin n 1 t arctg
2
1 2
arccos R
n 2 L n
arcsin 1 2
n
n
yC ( t ) U 1
e n t
n 1 2 LC
sin n 1 2 t arccos
n t
e
yC ( t ) U 1 sin n 1 2 t arccos
1 2
Aplicaţie numerică: n =6,362 (rad/s), =0.16, U=12 (V).
yC ( t ) 12 1
e 0.166.362t
1 0.16 2
sin 6.362 1 0.16 2 t arccos( 0.16 )
0.16 6.362 1.01792
R 34.568
1.017903415
2 L 2 16.98
U=12(V) t=1(s)
1 2 1 0.16 2 0.987117014
n 1 2 6.280038443
R
1.01792, LC 6.28013011 16.98 1455 10 6
2L
1.01792
0.987117794, arccos 1.4101057
6.362
sint sin(6.28013011 1 1.4101057) 0.98662358
» t=0:0.01:4;yc=12*(1-exp(-0.16*6.362*t)/sqrt(10.16^2).
*sin(6.362*sqrt(1-0.16^2)*t+acos(0.16))); plot(t,yc);grid
» syms t
» yc=12*(1-exp(-0.16*6.362*t)/sqrt(1-0.16^2).*sin(6.362*
sqrt(1-0.16^2)*t+acos(0.16)));
» subs(yc,'t',1)
ans=12-100/203*exp(-3181/3125)*609^(1/2)*
sin(17316665094547203/2251799813685248)
» 12-100/203*exp(-3181/3125)*609^(1/2)*
sin(17316665094547203/2251799813685248)
ans =7.6661 » sqrt(1-0.16^2)0.9871
» 6.362*sqrt(1-0.16^2)6.2800
» acos(0.16)1.4101
» -0.16*6.362-1.0179
» yc1=12*(1-1.0131*exp(-1.10179*t).*sin(6.28*t+1.4101));
y( t ) yC ( t ) 0 1, u( t ) U
e n t 1 2
U 1 sin n 1 t arctg
2
1 2
» yc1=12*(1-1.0131*exp(-1.10179*t).*sin(6.28*t+1.4101));
Analiza sistemului
B de ordinul II în domeniul complex
n2
U(s) Y(s)
s 2 2n s n2
n2 U Q
Y ( s) G( s) U ( s) 2 N
s 2 n s n s
2
s
U U s 2 n
2
s s 2 n s n2
U n2
Q lims Y ( s ) U
s 0 2
n
Q U n2 U U s 2 n
N Y ( s) 2
s s s 2 n s n
2 2
s
s 2 n s n2
» step(h)
» step(h(1,1),h(2,1),h(3,1));grid
Analiza sistemului
D de ordinul II.
Calcul simbolic
Pasul 1- sintaxa impuls, functie indiciala, matlab-linie de comanda
Ex:
>> syms z w t
>> diff(sin(w*t),t)
ans =cos(w*t)*w
ş.a.m.d.