Sie sind auf Seite 1von 7

y ( n ) (t ) a1 y ( n 1) (t ) ... an 1 y (1) (t ) an y (t ) b0u ( m ) (t ) b1u ( m 1) (t ) ...

bm 1u (1) (t ) bmu (t )

y[k n] a1 y[k n 1] ... an 1 y[k 1] an y[k ] b0u[k m] b1u[k m 1] ... bm 1u[k 1] bm u[k ]

Y ( z) b0 z m b1 z m 1 ... bm Y (s) b0 s m b1s m 1 ... bm


H (z) H (s)
U ( z) z n a1 z n 1 ... an U (s) s n a1s n 1 ... an

x[k 1] Ax[k ] Bu[k ] dx(t )


Ax(t ) Bu (t )
y[k ] Cx[k ] Du[k ] dt
y (t ) Cx(t ) Du (t )
Y ( z)
H (z) C ( zI A) 1 B D Y ( s)
U ( z) H ( s ) C ( sI A) 1 B D
k 0 U ( s)
H(s)
1
x(1) Ax(0) Bu (0) h(t ) L H ( s) L 1 C ( sI A) 1 B D
x(2) Ax(1) Bu (1) A2 x(0) ABu (0) Bu (1)
L 1 ( sI A) 1
e At

k 1
k j 1
x(k ) Ak x(0) A Bu ( j ) h(t ) D (t ) Ce At B1(t )
j 0

u y u y
G (s) H1 ( s ) H 2 (s)

H (s)
Y ( s)
T (s) H1 ( s ) H 2 ( s )
U ( s)
Y ( s) G (s)
T (s)
U ( s) 1 G (s) H ( s)

f f dx
A B f x, u x1 f x1 , x2 ,., u1 , u2 ,.
x x0 u x0 dt
u0 u0 x2 f x1 , x2 ,., u1 , u2 ,.
y g x, u
g g
C D x 0 x0 , u0
x x0 u x0
u0 u0

1 1
1 s 1 z 21 z
z S s s 1
1 s T T1 z
r (t ) y (t )
H (s ) sT / 2
H ZOH ( s ) e G(s)
:
A e AT T
ZOH G(s)
T
B e A Bd x Ax Bu
0
y Cx Du 1 G( s) 1 G(s)
G( z) 1 z Z 1 z Z L1
C C s s t kT
D D

G ( z ) C ( zI A) 1 B D
1
2 1 x x 1
1 2 1
tan 1
tan x 1
2 2 x 1
1 2 2 x
2 1

$ 900 , 2 $"# d e c
dB
GH j 1 Tj !
dB
% 900 , 2 $"# d e c GH j 1 Tj
% 90 ,0
2 %"#
dB
1
GH j
dec

1 j T
$ 900 , 2
dB
%"# d e c 1
GH j
1 j T
% 1800 , $&# d e c
dB
1
GH j 2
j j
1 2
n n

2 1 1 2 2
M p n
2
2 2 1

( as b s b0 s m b1s m 1 ..... bm
T s
a s s n a1s n 1 ..... an
sn a0 a2 a4 " " a1a2 a0 a3
b1
sn 1
a1 a3 a5 " " a1
sn 2
b1 b2 b3 " " a1a4 a0 a5 #%
b2 u 0
sn 3
c1 c2 c3 " " a1
Re s 0 as
" " " " " " " ! BIBO
" " " " b1a3 a1b2
c1
s2 d1 d2 b1 pi
s1 e1 b1a5 a1b3 ' Re pi 0
c2
s0 f1 b1

2
% # ) % n )H s n
s2 2# n s 2
n

$dt
2 e
$d # n d n 1 # y t 1
2
sin d t cos 1 # t%0
1 #
0 &# 1 Overshoot
y 0 tp
2
ln O.S . 1 #2 d
( 2
n
ln 2 O.S .
O.S . exp # 1 #2 exp tg'

)5* Settling Time


" +
e # nt ln 0.05 1 # 2 ln 0.05 3
0.05 ts * ts * +
1 # 2 # n # n # n

!
R(s) + E(s) G(s) Y(s)
1 -
E s R s ess lim e t lim s " E s
1 G s t , s 0

1 % 1 % 1 %
s3 s2 s
1 1 1
2
lim s " G s lim s " G s 1 lim G s
s 0 s 0 s 0

1 #
, , 1 Kp
1
, Kv
# I

1
# # II
Ka
! " RL

s z s -"p z
-p -z Gc s K K ;- . ; 0 - 1
s p s p p

s z s -"p z
( cos ' -z -p Gc s K K ;- . ;- 1
s p s p p
RL

/GH s0 2n 1 n 0, ) 1, ) 2,... K 0 K " GH s0 1


/GH s0 2n n 0, ) 1, ) 2,... K 0

)K ' R.L. % s0
' R.L. % K ' R.L. %
PM G ( jw) G ( jw) 1
1800 )GM 20 log10 G ( jw) G ( jw ) 1800
"

1 2(
PM tan * 100( 1 1 2( 2
4 2 Mr . max H j r n
1 4( 2(
2( 1 ( 2

co

% 'm 1
1
s 1
1
s
z 1 - 1 sin ' m Gc ( s ) z z
wmax sin ' m - 1 1
- 1 - 1 sin ' m 1 s 1 - s
p z
0.05 -
)0 - 1
z co )z co
10
s z s -"p z
%- Gc s K K ; -. ; - 1
s p s p p

0 2 tan ' m 1.5 0 1.7 ) BW 0 co


0 Db % co ) -3 Db % BW
j
S-Plain
Nyquist !
j,

,
$

j,
Nyquist
% Pc
Pc Po N cw
% Po
%+ % N cw

' '+
s j I '"
'GH(s)
'I II ',
% III '&

s Re j' , R , , (cw)
' : 111
2 2
1 Ts * Ts
' IV '-

( ccw )
s 2 e j' , 2 0 , ': 11 1
2 2

1 Ts * 1

%+ %
N cw ccw %+ %
1+GH(s) 1+KGH(s) %
1K
ROOT LOCUS
M
K "3 s zi
K " GH s N
i 1
R.L. %
3 s pj
j 1

max # p, # z R.L. %
pj K 0 R.L. % R.L. %
' zi K ,
', %
R.L. %
R.L. % K 0
'
' ) K 0
.
2n 2n 1
4 n 0, ) 1, ) 2,... K 0 4 n 0, ) 1, ) 2,... K 0
N N
pj zi
b0
# p #z . N # p #z .
) )
7 /5GH s0 6# s0 K 0
8 /5GH s 6# 0 s0
' s0 % GH s /5GH s0 6#
' 0 K 0

. -
' / R.L. % / '+
' '"
' R.L. % ',
R.L. %
' R.L. % "
)K '
#p 1 #z 1 d d d > 1 ;
5GH s 6 0 K 0
i 1 s pi j 1 s zj ds ds ds <= GH s 9:
'K 0 R.L. % K 0 R.L. %
j j
( – '+
K0 )1 K " GH s 0 R.H .
1 1
' % n s K0 ' s K
' n % K0 ' s j '"

)# p %# z 2
' K
# pol # pcl
pol pcl
i 1 i 1

Das könnte Ihnen auch gefallen