Control Theory Quiz
of 12
-
Upload
pushplatameena1 -
Category
Documents
-
view
219 -
download
1
Transcript of Control Theory Quiz
-
8/20/2019 Control Theory Quiz
1/28
( )
+
( )
+
( )
+
( )
+
m m m
m
m
m
m
t
t t t t m t
B
M Force
(input) F
Displacement(output)
x
K
Appendix-B OLC.p65 4/22/08, 3:44 PM15
-
8/20/2019 Control Theory Quiz
2/28
r t ( )
y
3.6
0.320 t (msec)
y t ( )
(a)(b)
1
t s + 1
t
• t t
Ê ˆ Á ˜ Ë ¯
( )( )
w
z w w =
+ +
• z w zw
t
t
t
-
+
t
t
+
-
t
t
-+
t
t
+-
z w
i t ( ) R
e t 0( )C
L
R1
C 1
R2
C 2e1 e2 e3
e4
E s2( ) E 4( ) s
E 1( ) s E 3( ) s= ( ) H s1 = ( ) H s2
Appendix-B OLC.p65 4/22/08, 3:44 PM16
-
8/20/2019 Control Theory Quiz
3/28
Ê ˆ Á ˜ Ë ¯
Ê ˆ Á ˜ Ë ¯
Ê ˆ Á ˜ Ë ¯
Ê ˆ Á ˜ Ë ¯
t t
d d d d d d d d d d d d
=
+
Ê ˆ > Á ˜ Ë ¯
Ê ˆ = Á ˜ Ë ¯
Ê ˆ
-
8/20/2019 Control Theory Quiz
4/28
z
+
+
+
+
e1 e2
C 2
C 1
R1
R2 R3
R4
( ) ( ) ( )
( ) ( ) ( )
+
( )
( ) ( ) ( )
+
( )
( ) ( ) ( )
-
0 5 10 15 20
1.8
2
1.6
1.4
1.2
1
0.8
0.6
0.4
0.20
Time (seconds)
A m p
l i t u
d e
Appendix-B OLC.p65 4/22/08, 3:44 PM18
-
8/20/2019 Control Theory Quiz
5/28
R s( ) D s( )
W s( ) N s( )
G s( )
H s( )
Y s( )
w
¥ w
+
+
+
( )
+
t
t
++ + +
t
t
++ + +
( )
t + + +
t
t
+ ++ + +
Driveshaft
Loadshaft
Appendix-B OLC.p65 4/22/08, 3:45 PM19
-
8/20/2019 Control Theory Quiz
6/28
R s( ) E s( ) K 1
U s( )
K 2 s
K
t s + 1
1 s
Y s( )
W s( )
t
t
++ + +
t + + +
t
t
+ ++ + +
t
t
++ + +
t + + +
t
t
++ + +
t
t
++ + +
t
t
+ ++ + +
t + + +
t
t
++ + +
Appendix-B OLC.p65 4/22/08, 3:45 PM20
-
8/20/2019 Control Theory Quiz
7/28
+
( )
+
+ ( )
+
( )
( )
-+
w w
++
++
-+
w r ( ) s1
– 0.1
1w ( ) s
K 10 + 1 s
w w
K 1 G s( )
K 2
Y s( ) R s( )
Appendix-B OLC.p65 4/22/08, 3:45 PM21
-
8/20/2019 Control Theory Quiz
8/28
m
r
(a)
y
y
8
t
(b)
K
t s + 1
O
( )
w w
w r ( ) = 0 s
W (s)
w ( ) s
0.1
10
10 + 1 s
R s( ) 4 3 s + 1
Y s( )
10
s + 10
Appendix-B OLC.p65 4/22/08, 3:45 PM22
-
8/20/2019 Control Theory Quiz
9/28
1.25Y s( )
1( ) R s
s= 0.1
2 + 1 s
1( )W s s
=
K 1
t s + 1
q r q
q
q q q
1.250.1
2 + 1 s
R s( ) = 0
K f
1( ) =W s
s
Y s( )
+ + +
++ + +
++ + +
++ + +
R s( ) 10
s s2 + 2 + 1
Y s( )
Appendix-B OLC.p65 4/22/08, 3:45 PM23
-
8/20/2019 Control Theory Quiz
10/28
R s( ) Y s( )3( )
2 1
Ê ˆ = +Á ˜ +Ë ¯ I
P
K G s K
s s
W s( )
R s( ) Y s( )
K 3
2 + 1 s
R s( ) Y s( ) K P
10
s + 0.333
R s( ) = 0 Y s( ) K P
0.3
2 + 1 s
0.5( )W s
s=
t
R s( ) Y s( )0.3
2 + 1 s
K I s
Appendix-B OLC.p65 4/22/08, 3:45 PM24
-
8/20/2019 Control Theory Quiz
11/28
•
R s( ) = 0Y s( )
0.3
2 + 1 s
0.5( )W s
s=
K I s
t
D
D
D
D
w w
a a a a a
Appendix-B OLC.p65 4/22/08, 3:45 PM25
-
8/20/2019 Control Theory Quiz
12/28
a a a a
w w
+ +
+ ++ + + +
R s( ) Y s( )
3 2
2
4 5 2 s s s+ + + K c
Appendix-B OLC.p65 4/22/08, 3:45 PM26
-
8/20/2019 Control Theory Quiz
13/28
r y K
s s p( + )
0.003
0.03
y
t 0(a) (b)
( )( )
t +
v
t t •
( )
( )
w
zw w + +
v
w z • z w
q m
q r s s(0.1 + 1) K
20 q
Appendix-B OLC.p65 4/22/08, 3:45 PM27
-
8/20/2019 Control Theory Quiz
14/28
¢
w r = const K A 0.1 + 1 s
20 w
0.1
w
zw w =
+ +
w
• •
•
R s( ) Y s( )1
s s( + 1) K P
Appendix-B OLC.p65 4/22/08, 3:45 PM28
-
8/20/2019 Control Theory Quiz
15/28
R s( ) = 0 Y s( )2
s s2 + 0.4 + 1 K K s P D+
0.5( )W s
s=
R s( ) Y s( ) K
s s( + 1)t K P
W s( )
K D s
R s( )Y s( )
K I s
3 + 2
s s s3 2+ 4 + 5 + 2
Appendix-B OLC.p65 4/22/08, 3:45 PM29
-
8/20/2019 Control Theory Quiz
16/28
s
s s
s
jw
jw jw
jw
(a)
(c)
(b)
(d)
Appendix-B OLC.p65 4/22/08, 3:45 PM30
-
8/20/2019 Control Theory Quiz
17/28
s s s
jw
jw jw
(a) (b) (c)
•
++ + + +
++ + + +
jw
s – 2 – 1
K = 0.4
K = 6
K
•
Appendix-B OLC.p65 4/22/08, 3:45 PM31
-
8/20/2019 Control Theory Quiz
18/28
at t
t
+>
+ a a a a a
w w w t
Im
j1
45°
Re
– 1 j
w = 0 w = • Re
Im
– 1
G( ) -plotw j
w = • w = 0Re – 1
G j( )- plotw Im
Appendix-B OLC.p65 4/22/08, 3:45 PM32
-
8/20/2019 Control Theory Quiz
19/28
w w wt
w = 0
0 0
0
w = •
Im
Im
(a)
(c)
(b)
(d)
Im
Im
w = •
w =•
w w
w
w = •
Re
ReRe
dB
dB
dB
dB
– 6 dB/octave
– 6 dB/octave
– 60 dB/decade
– 60 dB/decade
– 40 dB/decade
– 40 dB/decade
– 12 dB/octave
– 12 dB/octave
w = 5 w = 5
w =
log w
(a)
(c)
(b)
(d)
log w
log w
log w 15 w =
15
Appendix-B OLC.p65 4/22/08, 3:45 PM33
-
8/20/2019 Control Theory Quiz
20/28
dB
– 6 dB/octave
– 12 dB/octave
log w
dB
+ 40 dB/decade
+ 20 dB/decade
log w
+
+
w F
F F F
t
•
w
dB
+ 20 dB/decade
log w w = 2
w = 0w = •
Im
0.3
1 1 1 2
. 3 3 º
Re
Appendix-B OLC.p65 4/22/08, 3:45 PM34
-
8/20/2019 Control Theory Quiz
21/28
+ ++ +
+ ++ +
+ ++ +
w w
w p p p p
t w p t t p t p t p
dB
log w
log w
0
– 180º
f
Appendix-B OLC.p65 4/22/08, 3:45 PM35
-
8/20/2019 Control Theory Quiz
22/28
Im ( )G
w = • w = •
w
Re ( )G
dB – 20dB/decade
– 20dB/decade
log w
System I System II
w w
Appendix-B OLC.p65 4/22/08, 3:45 PM36
-
8/20/2019 Control Theory Quiz
23/28
( )
w
z w + z
w w w w w w
( )
w
z w + z
+
Appendix-B OLC.p65 4/22/08, 3:45 PM37
-
8/20/2019 Control Theory Quiz
24/28
( )
w
z w +
w w w w w w w w
w w
w
r y K
s s( + 1)t
Zero-order hold
T
Appendix-B OLC.p65 4/22/08, 3:45 PM38
-
8/20/2019 Control Theory Quiz
25/28
È ˘Í ˙Î ˚
- È ˘È ˘ È ˘+Í ˙Í ˙ Í ˙-Î ˚ Î ˚Î ˚
È ˘Í ˙Î ˚
+ +
+
+
È ˘Í ˙Î ˚
- È ˘È ˘ È ˘+Í ˙Í ˙ Í ˙-Î ˚ Î ˚Î ˚
È ˘Í ˙Î ˚
Appendix-B OLC.p65 4/22/08, 3:45 PM39
-
8/20/2019 Control Theory Quiz
26/28
È ˘Í ˙Í ˙Í ˙- -Î ˚
-È ˘Í ˙-Í ˙Í ˙
-Î ˚
È ˘Í ˙Í ˙Í ˙Î ˚
È ˘Í ˙Î ˚
È ˘È ˘ È ˘+Í ˙Í ˙ Í ˙- -Î ˚ Î ˚Î ˚
È ˘Í ˙Î ˚
Appendix-B OLC.p65 4/22/08, 3:45 PM40
-
8/20/2019 Control Theory Quiz
27/28
È ˘Í ˙Í ˙Í ˙- - -Î ˚
È ˘Í ˙Í ˙Í ˙Î ˚
-È ˘Í ˙-Î ˚
È ˘Í ˙Î ˚
È ˘
+Í ˙- -Î ˚
È ˘Í ˙Î ˚
-È ˘Í ˙Î ˚
Appendix-B OLC.p65 4/22/08, 3:46 PM41
-
8/20/2019 Control Theory Quiz
28/28
