Control Systems. Transient and Steady State Response.

Transcription

1 Corol Sym Trai a Say Sa Ro chibum@oulch.ac.kr

2 Ouli Tim Domai Aalyi orr ym Ui ro Ui ram ro Ui imul ro Chibum L -Soulch Corol Sym

3 Tim Domai Aalyi Afr h mahmaical mol of h ym i obai, aalyi of ym rformac i. Iu r Sym Ouu y Iu igal o a corol ym i ukow bu wha if o u kow iu igal A corrlaio b/w h ro characriic of a ym o a yical iu igal a h caabiliy of h ym o co wih acual iu igal Chibum L -Soulch Corol Sym 3

4 Tim Domai Aalyi Tyical iu igal S fucio Ram fucio Acclraio fucio Imul fucio Siuoial fucio Whi oi Chibum L -Soulch Corol Sym 4

5 Tim Domai Aalyi Iu Sym Ouu Tim ro y y y r Trai ro: go from IC o fial a Say a ro: h ym ouu bhav a aroach ifiiy Chibum L -Soulch Corol Sym 5

6 Orr Sym Saar form Ty y r T Y R Y R T TF of orr ym Y Y Chibum L -Soulch Corol Sym 6

7 Corol Sym Chibum L -Soulch Orr Sym S ro Ui ro w/ zro iiial coiio T T T T Y R U r, / T y 7

8 Orr Sym S ro Characriic faur of a orr ym: A =T, y y T i. h ro y i 63.% of i oal chag A =, h lo of h ro y T / T T y T : im coa Chibum L -Soulch Corol Sym 8

9 Corol Sym Chibum L -Soulch Orr Sym Ram ro Ui ram ro w/ zro iiial coiio T T T T Y, / T T T y R U r 9

10 Orr Sym Ram ro Th rror bw h rfrc & h ouu. r y y T T /T T /T = T T y Smallr T mallr Chibum L -Soulch Corol Sym

11 Corol Sym Chibum L -Soulch Orr Sym Imul ro Ui imul ro T Y, / T T y R r y y

12 Orr Sym Imul ro Ty y w/ y Comar Tim ro o a imul rfrc igal i iical o a iiial coiio ro wih zro rfrc. Ty y w/ y T Y T TY TY T TY Y T Y Y Y T T Y Chibum L -Soulch Corol Sym

13 Ouli orr ym Ui ro Ui ram ro Chibum L -Soulch Corol Sym 3

14 Orr Sym Examl: Srvo ym J B T J θ T B J B T y = Chibum L -Soulch Corol Sym 4

15 Corol Sym Chibum L -Soulch Orr Sym Clo-loo J J B J B J R Y Y = Saar form of orr ym J B J, 5

16 Orr Sym Solv h followig iffrial quaio Ca. x x x, x, x Ca. x x x, x, x Chibum L -Soulch Corol Sym 6

17 Orr Sym Dyamic bhavior of orr ym ca b crib i rm of amig raio a aural frqucy Y R Characriic quaio omiaor of TF= Pol roo of characriic quaio j, Chibum L -Soulch Corol Sym 7

18 Orr Sym Pol locaio If, If, If, If,,,,, j j Chibum L -Soulch Corol Sym 8

19 Corol Sym Chibum L -Soulch Orr Sym-S ro For uram ca, Y a whr i i co y y 9

20 Orr Sym-S ro For o am ca, Y y co y y Chibum L -Soulch Corol Sym

21 Orr Sym-S ro For criically am ca, Y y y Chibum L -Soulch Corol Sym

22 Corol Sym Chibum L -Soulch Orr Sym-S ro For ovram ca, Y y y,,

23 Orr Sym-S ro Chibum L -Soulch Corol Sym 3

24 Orr Sym-Imul ro Imul ro or Iiial coiio ro Y For y i For y y for Chibum L -Soulch Corol Sym 4

25 Ouli Highr orr ym Domia ol Chibum L -Soulch Corol Sym 5

26 Corol Sym Chibum L -Soulch Highr Orr Sym Ui ro a a a a b b b b R Y m m m m or ro or ro r q c b a a a a a a b b b b Y r k k k k k k k k j k q j j j m m m m r k k k k k k k q j j c b a a y k j k j j i co 6

27 Highr Orr Sym Ro of highr orr ym =Ro of orr ym + Ro of orr ym Domia clo-loo ol Clo-loo ol ha will omia ffc o h rai ro bhavior Clo-loo ol ar h jω axi Chibum L -Soulch Corol Sym 7

28 Examl Domia ol Ex. Y R Y R Chibum L -Soulch Corol Sym 8

29 Ouli Trai-ro cificaio Paramr lcio Roo locaio a rai ro Chibum L -Soulch Corol Sym 9

30 Trai-Ro cificaio or. y. Trai Ro Characriic o a ui iu Dlay im, : im rquir for rach 5% Ri im, r Pak im, : im rquir for ri from % o 9% or from % o % : im rquir for rach ak valu Maximum ovrhoo, M : Slig im, : im rquir for rach a ay % or 5% of fial valu y y y Chibum L -Soulch Corol Sym 3

31 Corol Sym Chibum L -Soulch Trai-Ro cificaio or. y. Ri im: r y a i co i co r r r r r r y r y i co 3

32 Corol Sym Chibum L -Soulch Trai-Ro cificaio or. y. a a For a r r??? 3

33 Corol Sym Chibum L -Soulch Trai-Ro cificaio or. y. From ym ol R Y, j a r agl a 33

34 Corol Sym Chibum L -Soulch y Trai-Ro cificaio or. y. Pak Tim,,3,, i i i co co i i co co i y y i co 34

35 Corol Sym Chibum L -Soulch y y i co Trai-Ro cificaio or. y. Maximum Ovrhoo M % %OvrhooPO i co y y y y y M 35

36 Trai-Ro cificaio or. y. Slig Tim y y co i Aroximaio com from vlo fucio 4 for % cririo 3 for 5% cririo Chibum L -Soulch Corol Sym 36

37 Corol Sym Chibum L -Soulch Trai-Ro cificaio or. y. y a whr i i co y 37

38 Paramr Slcio xaml Ex. Srvo ym wih vlociy fback Drmi a h o ha h ui ro M =., = c. Fi r,. J= kg m, B= Nm/ra/ Y Y Y R J b h b h J, J Chibum L -Soulch Corol Sym 38

39 Corol Sym Chibum L -Soulch Paramr Slcio xaml.86c 5% cririo 3.48c % cririo, 4.65 c a c.78 m,.5 N, r h h B J J J J b M 39

40 Paramr Slcio xaml Ex. Slc h gai a h aramr h rai ro o a iu PO 4.3% 4 % cririo Y R PO 4 4 y y, 4.3%.77 For xmal,, aiifi h rquirm Chibum L -Soulch Corol Sym 4

41 Corol Sym Chibum L -Soulch Roo Locaio a Trai Ro Imul/ IC ro for roo locaio a a a a b b b b R Y m m m m 4

42 Ouli Say a rror i fback ym Chibum L -Soulch Corol Sym 4

43 Corol Sym Chibum L -Soulch Say-Sa Error i Fback Sym Uiy fback ym R E R Y R E R Y c c c c y umbr : N z z z z l l N m m c 43

44 Corol Sym Chibum L -Soulch Ui iu Say-Sa Error i Fback Sym or, For, For oiio rror coa : l m c c c N z z N E 44

45 Corol Sym Chibum L -Soulch Ui ram iu Say-Sa Error i Fback Sym or, For, For or, For vlociy rror coa : l N m v v l m v l m c v v v c c c z z N z z N z z N E 45

46 Say-Sa Error i Fback Sym y y Ty ym ro o a ram iu Chibum L -Soulch Corol Sym 46

47 Corol Sym Chibum L -Soulch Ui arabolicacclraio iu Say-Sa Error i Fback Sym or 3, For, For or, For acclraio rror coa : 3 l N m a a l m a l N m c a a a c c c z z N z z N z z N E 47

48 Say-Sa Error i Fback Sym y y Ty ym ro o a arabolic iu Chibum L -Soulch Corol Sym 48

49 Say-Sa Error i Fback Sym Chibum L -Soulch Corol Sym 49