[자동제어]_Chap.6_폐루프_&i

[자동제어]_Chap.6_폐루프_&i

Info iconThis preview shows pages 1–27. Sign up to view the full content.

View Full Document Right Arrow Icon

Info iconThis preview has intentionally blurred sections. Sign up to view the full version.

View Full Document Right Arrow Icon

Info iconThis preview has intentionally blurred sections. Sign up to view the full version.

View Full Document Right Arrow Icon

Info iconThis preview has intentionally blurred sections. Sign up to view the full version.

View Full Document Right Arrow Icon

Info iconThis preview has intentionally blurred sections. Sign up to view the full version.

View Full Document Right Arrow Icon

Info iconThis preview has intentionally blurred sections. Sign up to view the full version.

View Full Document Right Arrow Icon

Info iconThis preview has intentionally blurred sections. Sign up to view the full version.

View Full Document Right Arrow Icon

Info iconThis preview has intentionally blurred sections. Sign up to view the full version.

View Full Document Right Arrow Icon

Info iconThis preview has intentionally blurred sections. Sign up to view the full version.

View Full Document Right Arrow Icon

Info iconThis preview has intentionally blurred sections. Sign up to view the full version.

View Full Document Right Arrow Icon

Info iconThis preview has intentionally blurred sections. Sign up to view the full version.

View Full Document Right Arrow Icon

Info iconThis preview has intentionally blurred sections. Sign up to view the full version.

View Full Document Right Arrow Icon

Info iconThis preview has intentionally blurred sections. Sign up to view the full version.

View Full Document Right Arrow Icon

Info iconThis preview has intentionally blurred sections. Sign up to view the full version.

View Full Document Right Arrow Icon
This is the end of the preview. Sign up to access the rest of the document.

Unformatted text preview: Automatic Control System Automatic Control System 1 Automatic Control System Automatic Control System 2 · · 3 Automatic Control System Automatic Control System • • • • • · Automatic Control System Automatic Control System 4 5 Automatic Control System Automatic Control System • Æ • 6 Automatic Control System Automatic Control System • Î – – • – • ̶ ̶ Automatic Control System Automatic Control System 7 8 Automatic Control System Automatic Control System • – • · – – ) ( ) ( t f K k t f k ← < > 9 Automatic Control System Automatic Control System • – • 10 Automatic Control System Automatic Control System • • – – 11 Automatic Control System Automatic Control System 1 2 2 3 3 ) ( a s a s a s a s d + + + + = 4 4 s a 4 s 2 a a 4 a 3 a 1 a 3 s 1 3 2 4 3 1 1 a a a a a b − = X a a a a b 3 4 3 2 1 − = 2 s 2 1 1 3 1 1 1 b b a a b c − = X c b b c d 1 2 1 1 1 1 − = 1 s s 12 Automatic Control System Automatic Control System • • – • – 13 Automatic Control System Automatic Control System k s s s s s d + + + + = 5 2 3 ) ( 2 3 4 4 s 1 2 3 s 2 s 1 s s k 3 5 3 1 ) 6 5 ( 3 1 5 3 2 1 3 1 1 = − − = − = b k k X k b = − − = − = ) 3 ( 3 1 3 1 3 1 2 k k k c 9 5 ) 3 5 3 ( 3 3 1 5 3 3 1 1 1 − = − − = − = k k k k k k k d = − − − − = − − − = )) 9 5 ( ( ) 9 5 ( 1 9 5 3 1 ) 9 5 ( 1 1 14 Automatic Control System Automatic Control System • – • – – 9 5 9 5 , < < ∴ > − > k k k 15 Automatic Control System Automatic Control System ) 1 ( , 5 2 3 ) ( 2 3 4 = + + + + = k k s s s s s d-3-2.5-2-1.5-1-0.5 0.5-1.5-1-0.5 0.5 1 1.5 s-plane real imaginary 16 Automatic Control System Automatic Control System ) 2 1.5, 1, 0.5, 0, ( 5 2 3 ) ( 2 3 4 = + + + + = k k s s s s s d-3-2.5-2-1.5-1-0.5 0.5-1.5-1-0.5 0.5 1 1.5 s-plane real imaginary 17 Automatic Control System Automatic Control System 18 Automatic Control System Automatic Control System ? ) 2 ( , ) ( ) ( ) ( , ) 1 ( 1 ) ( . z K p p s z s K s C s s s G = + + = − = Kz s K s s s T s q Kz s p K s p s z s K s T + − + + = = + − + − + + = ) 2 ( ) ( ) ( ) ( ) 1 ( ) ( ) ( 2 3 2 3 2 = p z K z − > < < ∴ 1 2 & 1 19 Automatic Control System Automatic Control System Automatic Control System Automatic Control System 20 21 Automatic Control System Automatic Control System • 22 Automatic Control System Automatic Control System • – – • – – – – – – 23 Automatic Control System Automatic Control System • “ ” – • – • 24 Automatic Control System Automatic Control System • – ) ( ) ( ) ( , ) ( 1 ) ( ) ( ) ( ) ( s G s C s CG s CG s CG s R s Y s T ≡ + = = 25 Automatic Control System Automatic Control System ∏ ∏ + + = = = ) ( ) ( ) ( 1 1 k Q k N i M i p s s z s K s CG ∞ ≠ = ) ( , (0) , s CG N CG N ⎪ ⎩ ⎪ ⎨ ⎧ = ≠ ∞ = = ∏ ∏ = = → ) ( lim ) ( 1 1 N if p z K N if s CG CG k Q k i M i s 26 Automatic Control System Automatic Control System ) ( ) ( 1 1 ) ( ) ( 1 ) ( ) ( ) ( ) (...
View Full Document

{[ snackBarMessage ]}

Page1 / 91

[자동제어]_Chap.6_폐루프_&i

This preview shows document pages 1 - 27. Sign up to view the full document.

View Full Document Right Arrow Icon
Ask a homework question - tutors are online