Zbirka rijesenih zadataka - PBF - Sveučilište u Zagrebu
Zbirka rijesenih zadataka - PBF - Sveučilište u Zagrebu
Zbirka rijesenih zadataka - PBF - Sveučilište u Zagrebu
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Ž. Kurtanjek: <strong>PBF</strong> Mjerenja i automatizacija 2007/2008 48<br />
Odziv na trajni impuls je:<br />
10<br />
Y s)<br />
= ⋅<br />
45 s<br />
9 / 5⋅<br />
s 1 10<br />
⋅ = ⋅<br />
+ 13/ 5⋅<br />
s + 9 / 5 s 45 s<br />
(<br />
2<br />
2<br />
Primijenimo transformaciju iz tablica:<br />
9 / 5<br />
+ 13/ 5⋅<br />
s + 9 / 5<br />
17.<br />
s<br />
2<br />
ω<br />
n<br />
+ 2⋅ξ ⋅ω<br />
⋅ s + ω<br />
2 2<br />
n n<br />
1 −ξ<br />
⋅ω<br />
n ⋅t<br />
⋅ω<br />
⋅e<br />
⋅sin( ω ⋅ z ⋅t) z = 1−ξ<br />
2<br />
n<br />
n<br />
z<br />
ξ <<br />
y<br />
1 298<br />
−0,9689⋅1,341<br />
⋅t<br />
−1,<br />
⋅t<br />
( t) = ⋅1,341<br />
⋅ e ⋅ sin( 1,341 ⋅ 0,2475 ⋅t) = 5,418 ⋅ e ⋅ sin( 0,33 ⋅t)<br />
0,24745<br />
Rezultate analiziramo u grafičkom prikazu<br />
0.4<br />
y(t)<br />
0.3<br />
0.2<br />
bez regulatora<br />
0.1<br />
s PI regulatorom<br />
2 4 6 8 10<br />
t<br />
1.5<br />
y(t)<br />
bez regulatora<br />
1.0<br />
0.5<br />
s PI regulatorom<br />
2 4 6 8 10<br />
t
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