TEORIA SISTEMELOR

AUTOMATE

Prof. dr. ing. Valer DOLGA,

 Cuprins_4
Cuprins_4
Metodepentru
Metode pentruanaliza
analizadinamica
dinamicaaa
sistemelor
sistemelor
1.
1.
Metoda
Metodaintegrarii
integrariiecuatiei
ecuatieidiferentiale
diferentiale
2.
2.
Metoda
Metodatransformatei
transformateiLaplace
Laplace
3.
3.
Transformata
TransformataLaplace
Laplace
4.
4.
Inversa
Inversatransformatei
transformateiLaplace
Laplace

Prof. dr. ing. Valer DOLGA 2

 Metoda integrarii ecuatiei
duc k i
RC  uc  U 0
dt
dy  t 
 a0 y  t   bx  t  + R
a1 U0
dt - uc
C
y  t   yo  t   y p  t 
yo(t) – este soluţia pentru ecuaţia omogenă
n
d k y t 

k 0
ak
dt k
0

yo  t   C1e s1t  C2 e s2t  ....

n

a s
k 0
k
k
0
Prof. dr. ing. Valer DOLGA 3
RC  s  1  0 t

s
1 uC 0  C1  e RC
RC
yp(t) – este o soluţie particulară a ecuatiei neomogene uCp  U0
t

uC  uC 0  uCp  C1  e RC
 U0
Constanta C1- pentru momentul t = 0: uC  0 C1  U 0

 
t

uC  U 0 1  e 
RC

 
Prof. dr. ing. Valer DOLGA 4
 Rezolvare - Matlab

Prof. dr. ing. Valer DOLGA 5

 Metoda transformatei Laplace

Ecuatii diferentiale L  f (t ) Ecuatii algebrice

functie de timp: f(t) in “s”: F(s)

u(t) y(t)

U(s) Y(s)
L W(s)
Model matematic
al sistemului
Functia de transfer
Y (s)
W ( s) 
U (s)
y
L- 1Y (s)
 y (t ) Y ( s)  U ( s ) W ( s)
t Prof. dr. ing. Valer DOLGA 6
 Transformata Laplace


 f ( t )e t dt     R,0    
0

L  f (t )   f (t )e  st
dt  F ( s )
L = operatorul Laplace

0 s    j

Semnale standard:
•semnal treapta unitara
•semnal rampa unitara
u (t )  •Semnal sinusoidal
•Semnal cosinusoidal …….

Prof. dr. ing. Valer DOLGA 7

 Funcţia unitate (treaptă unitară)

 0 t  0 1
f (t )  
 1 t  0
0 t

f (t ) k -functia constanta, pentru t0

u u
   e du  e
L  f (t )  F ( s )   f (t )e st dt   e st dt
0 0
 st  u
1
t u
s

Prof. dr. ing. Valer DOLGA 8

   0 0
L  f ( t )  F ( s )   e dt   e d (  u )   (   eu du )  1 eu  1 ( 1  0 ) 
u u 1 1
0 0
s s  s  s
1

s
1
L{1} 
s
1
L { k }  L { k 1 }  k  L {1}  k
s

  
1
L  f (t )  F (s)   f (t )e  st
dt   k  e  st dt  k   e  st dt  k 
0 0 0
s

Prof. dr. ing. Valer DOLGA 9

 Functia exponentiala

1
 0 , pentru t  0
f ( t )    t
e , pentru t  0
0 t

  
L  f ( t )  F ( s )   f ( t )e  st dt   e  t e  st dt   e   s   t dt 
0 0 0

1 ( s   )t  1  1
 e  0   
s 0  s   s  

   s 1 
L e  t
Prof. dr. ing. Valer DOLGA 10
 Functia rampa

 0t0
f (t ) 
 Ct t  0 C
C este o constantă
reală
0 t
  
L  f (t )  F (s)   f (t )e  st
dt   Cte  st dt  C   te  st dt
0 0 0

Integrarea u t
prin parti  udv  uv   vdu du  dt
b b b 1  st
v e
 udv  uv   vdu
s
a a a
dv  e  st dt
Prof. dr. ing. Valer DOLGA 11
 


 t  st 

 1  st  
F ( s )  C  te dt  C  (uv 0   vdu )  C   e
 st
    e C dt  
 s 0
s  
0
0 0

C C  1  C
 0   e  st dt    e  st 
s 0 s  s 0 s2

C
L{Ct}  2
s

Prof. dr. ing. Valer DOLGA 12

 identitatea lui Euler

e  j  cos   j sin 
e j  e  j
j  1 cos  
2
e  j
 cos   j sin   sau daca   t
 +
 j  e j t  e  j t
e  cos   j sin  
 cos t 
2

e j  e  j
sin  
e  j  cos   j sin   - 2j
 sau daca   t
e  cos   j sin  
 j
e jt  e  jt
sin t 
2j
Prof. dr. ing. Valer DOLGA 13
 Functia “cos”
 
L  f ( t )  F ( s )   f ( t )e  st
dt   e  st cos  t  dt 
0 0

 

 st  e
jt
e  jt 
1    s  j t
 e   dt   e  e   s  j t dt
0  2  20

1  (    j j )t s    j
L  f ( t )  F ( s )   ( e  e    j j )t )dt 
20

1   t 1  (   2 j )t 1  t  1  (   2 j )t

  e dt   e dt   e  e 
20 20 2 0 2(   2 j ) 0

1 1 1 2   2 j   j s
  (  )  
2    2 j 2(   2 j ) 2  2j s 2  2

s
L  cos( t ) 
s 2  2 Prof. dr. ing. Valer DOLGA 14
 Functia “sin”

Studiu individual

Prof. dr. ing. Valer DOLGA 15

 Functia impuls unitar
(functia Dirac)

 0 , pentru t  0
f ( t )  ( t )  
 , pentru t  0 f(t)=d(t)


 ( t )dt  1 0 t


L  f ( t )  F ( s )   ( t )e  st dt  1
0

L  ( t )  1
Prof. dr. ing. Valer DOLGA 16
 Functia patratica

 0 pentru t  0
f (t )   2
Ct pentru t  0
0 t

•integrare prin parti

L Ct   s3
2 2C

•generalizare
L t   n 1
n n!
s

Prof. dr. ing. Valer DOLGA 17

 Transformata Laplace – proprietati
(extras)
EXPRIMAREA
NR. PROPRIE-
ÎN FUNCŢIE DE TRANSFORMATA LAPLACE
CRT. TATEA
TIMP
L  ax(t ) aF (s )
1 Liniaritate L  x1(t )  x2 (t ) F1( s)  F2 ( s)
L   ak xk ( t )  ak  Fk ( s )
 dx(t ) 
L 
Derivare în  dt  sF ( s )  x(0)
2 funcţie de
timp
 d 2
x(t )  s 2 F ( s )  sx(0)  x' (0)
L 2 
 dt 
Derivare de
ordinul “n”  d n x(t )  s n F ( s )  s n 1x(0)  s n  2 x (1) (0) 
3
în funcţie de
L n 
timp
 dt  ...  x ( n 1) (0)

Prof. dr. ing. Valer DOLGA 18

 Exemplu
- forţa elasticǎ Fe; - forţa de amortizare Fa;
- forţa de inerţie Fi

F ( t )  Fe  Fa  Fi
dx d 2x
F (t )  K S  x (t )  K d  M 2
dt dt
 dx d 2x 
L  f (t )  L K s x  K d   M  2  
dt dt 
L  F (t )  F ( s ) 

dx   d 2 x 
 

 L K x  L  K
     L M  
 s   d 2
dt   dt 
X (s) 1
W (s)  
F ( s) Ms 2  K d s  K s  K s  X  s   K  sX  s   M  s2 X  s  
d
 2 
  K s  K  s  M  s  X  s 

 d 
Prof. dr. ing. Valer DOLGA 19
 Exemplu – domeniul electric

rezistor U t  R  I t  U (s)  R  I  s

inductivitate dI  t  U ( s )  sLI ( s )
U (t )  L 
dt
capacitate 1 1 I  s
U  t    I  t dt U ( s)  
C C s

C
R L

U(t)
?
I(t)

Prof. dr. ing. Valer DOLGA 20

 Anexa – transformata Laplace
(extras)
NR. PROPRIE- TRANSFORMATA
FUNCŢIA DE TIMP
CRT. TATEA LAPLACE
 0 , pentru t  0
1 Funcţia Dirac f ( t )  ( t )   L  ( t )  1
 , pentru t  0
Funcţia unitate  0 t  0
2 (treaptă f (t )   L{1}  1
unitară)  1 t  0 s
 0t0 C
3 Funcţia rampă f (t )  L {Ct} 
 Ct t  0 s2
4
Funcţia rampă
pătratică
 0 pentru t  0
f (t )   2
pentru t  0
   s3
L Ct 2 2C
Ct

5
Funcţia rampă
de ordinul n
 0 pentru t  0
f (t )   n L t n   nn!1
Ct pentru t  0 s

L e  t   1
Funcţia  0, pentru t  0
6 f ( t )    t
exponenţială , pentru t  0 s
e
Funcţia s
7 periodică f ( t )  cos t L  cos( t ) 
armonică s 2  2
Prof. dr. ing. Valer DOLGA 21
 Inversa transformatei Laplace

Functie in “s”
? Functie de timp

f ( t )  L-1 F ( s )

F ( s )  Z1( s )  Z 2 ( s )  ....  Z n ( s )

f ( t )  L-1 F ( s )  L-1 Z1( s )  Z 2 ( s )  ...Z n ( s ) 

n
  Zi ( s )
L-1
i 1
Prof. dr. ing. Valer DOLGA 22
 gr [Q(s)]= m
Q( s )
Y ( s) 
P( s ) gr [P(s)] = n

Daca m >= n Q( s ) N (s)

Y (s)   K (s) 
P( s ) P( s )

 N ( s) 
y (t )  L  Y ( s )   L
-1 -1
K ( s)  
 P( s) 
 N ( s) 
 L  K ( s)  L
-1 -1
 
 P( s ) 
Prof. dr. ing. Valer DOLGA 23
Numitorul P(s):
a) Radacini reale si distincte: r1, r2,…,rn
b) Radacini reale, distincte si multiple
c) Radacini complexe
a)
N ( s) N (s ) k1 k2 kn
    ....
P( s )  s  r1  s  r2  .... s  rn  s  r1 s  r2 s  rn

N (s )
ki   s  r1 
P( s ) s   r
i
Prof. dr. ing. Valer DOLGA 24
 Le    t

1
s

-1 N ( s )  -1 k1  -1 k2  -1 kn 

L    L  L    .....L  
 P( s )   s  r1   s  r2   s  rn 
 k1e r1t  k2e r2t  ....  kne rnt

Prof. dr. ing. Valer DOLGA 25

 Exemplu – pentru cazul “a”
1 1 1
X ( s)  3  2 
s  3s  2 s  s  3s  2  s s  s  1 s  2 
2

 b  b  4ac
2
s1,2 
2a
1 A B C
X ( s)    
s  s  1 s  2  s s  1 s  2
B C
sX ( s )  A  s  s sX ( s ) s 0  A
s 1 s2
1 1
A  sX ( s ) s0 s 
s s  1 s  2  s0 2
Prof. dr. ing. Valer DOLGA 26
 1
B   s  1 X ( s ) s 1   s  1 
s  s  1 s  2  s  1

1 1
   1
s  s  2 s 1
  1  1  2 
1 1
C   s  2  X ( s ) s  2   s  2 
s  s  1 s  2  s  2
s  s  1 s  2

1 1
 
  2   2  1 2
1 1 1  1  1  1 1 
x (t )  L     L 
1
L   
2 s   s  1 2 s  2 
1 t 1 2 t
 e  e
2 2
Prof. dr. ing. Valer DOLGA 27
 Cazul - b

N (s) N (s)
Z ( s)   
P ( s )  s  r1  s  r2 .... s  rn p  s  rn  p1  p

k1 kn A1 A2 Ap
  ...    ... 
s  r1 s  rn  p  s  rn  p 1   s  rn  p 1  2
 s  rn p 1  p
 
Ap  s  rn  p 1 p Z ( s )  s   rn  p 1

Ap 1 
d
ds

s  rn  p 1 p Z ( s )s   rn p 1

………….. A 
1
1 d p 1

( p  1 )! ds p 1
s  rn  p 1
p
Z( s ) 
s   rn  p 1
 
Prof. dr. ing. Valer DOLGA 28
 Exemplu-cazul b

1 k1 k2 A1 A2 A3
Y ( s)      
s3 ( s  1)( s  2) s  1 s  2 s s 2 s3

1
k1  ( s  1)   1
3
s ( s  1)( s  2) s  1

1 1
k 2  ( s  2)  
s3 ( s  1)( s  2) s  2 8

 3 1  1
A3   s   
3
 s ( s  1)( s  2)  s 0 2

Prof. dr. ing. Valer DOLGA 29

 d  3 1  d  1 
A2   s      
ds  3 ds  ( s  1)( s  2)  s  0
s ( s  1)( s  2)  s 0
 2s  3  3
  
2 2 4
 ( s  1) ( s  2)  s 0

1 d2  3 1  1 d2  1 
A1  s  3     
2
2! ds  s ( s  1)( s  2)  2! ds  ( s  1)( s  2)  s  0
2
s0

1  2( s  1)( s  2)  2( 2 s  3) 2  1 2  2  2  32  7
     
3 3
2!  ( s  1) ( s  2)  s 0
2 23 8

Prof. dr. ing. Valer DOLGA 30

 Le    t

1
s

1   1  1  1 / 8  1   7 / 8 
y (t )  L  L  L  
 s  1 s  2  s 
2
 3 / 4  1 / 2  1 7 3 1 t
 L1   L1
  e t
  e  2t
  t  
2   3
8 8 4 2 2
 s  s 

-1 1  e at  t n
L 
  s  a  n 1  n!
 
Prof. dr. ing. Valer DOLGA 31
 Cazul -c

 2
 n
P( s )  s  as  b   ( s  ri )
i 3

N (s ) A1s  A2 n A
Z (s )    i
P( s ) s 2  as  b i 3 s  ri

A1 si A2 prin identificare
Ai – conform procedurilor
anterioare

Prof. dr. ing. Valer DOLGA 32

 Exemplu – cazul c

2 A3 A1s  A2
Y(s ) 

s s2  s  2 
 
s s2  s  2

( A3  A1 )s 2  ( A3  A2 )s  2 A3  2
A3  1
A3  A2  0  A2  1
A3  A1  0  A1  1

2 1  s 1
Y(s ) 
  

s s2  s  2 s s 2  s  2
Prof. dr. ing. Valer DOLGA 33
 Le  at
 A cost  B sin t    A( s  a )  B
( s  a )2   2

 
 1 3 3
   (s  )   
1  1  1 s  1 1 2 3 2
y (t )  L    L   1 L  
s  2 2 2
s  s  2  1  3 
  s      

  2   2  
1
 t  3 3 3 
1 e 2 
  cos t sin t 
 2 3 2 

Prof. dr. ing. Valer DOLGA 34