6 folier pr. side - NTNU
6 folier pr. side - NTNU
6 folier pr. side - NTNU
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<strong>NTNU</strong><br />
<strong>NTNU</strong><br />
<strong>NTNU</strong><br />
Slide 217<br />
Phase (deg); Magnitude (dB)<br />
To: Y(1)<br />
Slide 219<br />
Slide 221<br />
20<br />
0<br />
-20<br />
-40<br />
-60<br />
0<br />
-50<br />
-100<br />
-150<br />
Tallverdi optimering gir et moderat oversving<br />
Symmetrisk optimering<br />
M(s) ved symmetrisk optimum<br />
From: U(1)<br />
-200<br />
-2 10 10-1 100 101<br />
Simulink<br />
Frequency (rad/sec)<br />
■ Åpne sløyfes transferfunksjon<br />
h 0(s):<br />
Trondheim 2000<br />
1 1+<br />
4 ⋅ Tsum<br />
⋅ s<br />
h 0 (s) =<br />
⋅<br />
2<br />
2 ⋅ ( T s)<br />
1+<br />
Tsum<br />
⋅ s<br />
sum ⋅<br />
■ Den lukkede<br />
transferfunksjon M(s) blir:<br />
1+<br />
4Tsum<br />
⋅ s<br />
M(s) =<br />
2 2 3 3<br />
1+<br />
4 ⋅ Tsum<br />
⋅ s + 8 ⋅ Tsum<br />
⋅ s + 8 ⋅ Tsum<br />
⋅ s<br />
Aktuelle funksjonsblokker i en<br />
motorstyring<br />
Trondheim 2000<br />
Trondheim 2000<br />
<strong>NTNU</strong><br />
<strong>NTNU</strong><br />
<strong>NTNU</strong><br />
Phase (deg); Magnitude (dB)<br />
Slide 218<br />
Slide 220<br />
Slide 222<br />
To: Y(1)<br />
150<br />
100<br />
50<br />
0<br />
-50<br />
-140<br />
-150<br />
-160<br />
-170<br />
Symmetrisk optimering<br />
h 0 (s) ved symmetrisk optimum<br />
From: U(1)<br />
-180<br />
-3 10 10-2 10-1 100 101<br />
Frequency (rad/sec)<br />
■ Den åpne sløyfes transferfunksjon:<br />
1 + Ti<br />
⋅ s 1 1<br />
h 0 ( s)<br />
= K p ⋅ K s ⋅<br />
Ti<br />
⋅ s 1 + Tsum<br />
⋅ s T1<br />
⋅ s<br />
■ Tsum er sum av de minste<br />
tidskonstantene<br />
■ Kan ikke kanselere Tsum med Ti .<br />
■ Velger symmetrisk<br />
optimum.<br />
Ti<br />
= 4Tsum<br />
T1<br />
K p =<br />
2K<br />
sTsum<br />
Symmetrisk optimering gir et stort oversving<br />
Digitale regulatorer<br />
Trondheim 2000<br />
Trondheim 2000<br />
Trondheim 2000