[자동제어]_Chap.6_폐루프_&i

[자동제어]_Chap.6_폐루프_&i

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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 ) ( ) ( ) ( ) (...
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This note was uploaded on 10/16/2011 for the course MECHATRONI 111 taught by Professor Jung during the Spring '11 term at Hanyang University.

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[자동제어]_Chap.6_폐루프_&i

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