Beruflich Dokumente
Kultur Dokumente
CHAPTER 2
2.1.
vc
e
va CDvb
R1 R2 LD
R2
R1
Node vb:
CDva
1
CD vb 0
LD
Node vc:
1
1
1
va
v 0
R2
R2 R3 c
796
3
0
5
1
b 4
0
R 1L
T
cT 1 0
x_ 2 C x 2
GD
2.2.
y1 t
1
0
2
ut R 1LCD R 0 CD R 0 1
0
i R2 LD
i
C1 D 1
C1 D C2 D 2
10
(b) Node 1 between R1 and R2, node 2 between R2 and L, and node 3
between L and C2
1
1
1
1
v1
v2
E
Node 1:
C1 D
R1
R2
R2
R1
1
1
1
1
v1
v2
v 0
R2
R2 LD
LD 3
Node 2:
Node 3:
1
1
C2 D v3 0
v
LD 2
LD
797
2.6.
Circuit 2: (b)
2
R1 R2
6
L
x_ 6
4
1
C
3
2 3
1
1
7
7
6
L
L7
6 7
5x 4 5u
0
0
(c)
GD
D4
BD3
KD2
K2
BKa D Ka Kb K 2
x1 xa
x4 x_ 3
2
2.10.
x3 xb
u f t yt xb
0
6 K
6
A6
4 0
K2
0
0
0
K2
Kb
(a) LD Ri e
07
7
7
15
1
ki i f
2 3
0
607
6 7
c6 7
415
2 3
0
617
6 7
b6 7
405
0
xa xb
l1
l2
M2 D2 B2 D K2 xb f2
M1 D2 B1 D K1 xa
l2
f f ki i
l1 2
Let
l2
a
l1
M1
aM2 b;
a
bD2 cD dxb ki i
B1
aB2 c
a
and
K1
aK2 d
a
798
and
ue
u B1 DJD2 B2 B1 D K
x3 x2, and u T
y
1 0
0 1
y2
1
2
u JD B2 B1 D K
2.18. a
2.21.
C1 ad
C b
D y1 1 x1
a bc d
ab
CHAPTER 3
3.2.
yb t 2 2t A1 em1 t A2 em2 t
where
A1 2:01015
A2 0:01015
0
x
0
799
Therefore
yb t 2 2t 2:010105e1:071t 0:01015e15:06t
3.5.
3.7.
cT 1 0
3.13.
"
(t
2
3 16
.
3.17.
e2t 2e4t
2e2t 2e4t
e2t e4t
2e2t e4t
3
1
9 4t
2t
6 2 3e 2e 7
7
xt 6
43
9 4t 5
2t
3e e
4
4
1
9
yt x1 3e2t e4t
2
2
e2t
a xth (tx0
2e2t
1 2et 2e2t
b xt
2et
(1) (a) 1 1, 2,3 1
j2
800
CHAPTER 4
4.1.
4.2.
4.4.
12
A
B
ss 10s 1:2874s 223:71 s s 10
C
D
s 1:2874 s 223:71
where
A 4:167 103
B 0:06445 103
C 4:81 103
D 1:128 106
h F s
s s 3 s 3 j1 s 3 j1
4.5.
d F s
4.6.
4.7.
b s 2 2:8s 4X s
2s 2 4:3s 6:13
s
5
s2 25
4 11
.
801
4.12.
System (1)
a (s sIA1
s5
2
1
s2
1
1 s2
2
1
s5
s2 7s 8 s 5:62s 1:438
"
#
X1 s
1
s 2 3s 1
Xs
s 3 12s 2 35s 1
X2 s
Xs sI A1 x0 sI A1 bUs
(b) Gs CsB D
s2
1
0
1
0
Gs 01
2
s5 1
s5
s5
2
s 7s 8 s 5:62s 1:438
c Ys CXs 0
0:74836e
1 Xs X2 ! yt x2 t
1:4384t
0:37336e5:5616t 0:6250
s!1
1sX2 s 1 and
4.15.
CHAPTER 5
55
.
5.11.
Gs
60s 3:8
s 10s 2 0:15s 8:0054
(2) 2,
3,
(a) y [8 0
(b) y [4
4,
0]x
22 36
18]x
5
y1 0:6250:
802
5 12
.
a Gs
3
5
2t
3t
6 1 3e 2e 7
c xt 4 3 10
5
1 e3t
3
10
s 2s 3
CHAPTER 6
6.2.
6.3.
(c) (s 1
j1.414)(s 1
j 1.414)
CHAPTER 7
7.2.
7.4.
71.7,
33.8 ; and the imaginary-axis crossing:
j1 with K 30.
Locus crosses the
36 asymptotes.
(a) For K > 0, real-axis branches: 0 to 10; three branches; g
90 ;
s0 0; break-in point: 3.9113 (K 3.33095); breakaway point:
2.78698 (K 3.4388); and imaginary-axis crossing: none.
(b) K 0:05427
803
o
0
0.2
0.4
0.6
0.8
1.0
a, deg
a, deg
1
0.9995
0.998
0.9951
0.9903
0.9832
0
6.1
12.3
18.5
24.9
31.3
1.4
1.8
2.0
2.4
2.8
3.2
0.9586
0.9153
0.8854
0.8103
0.7202
0.6252
44.7
58.5
65.5
79.3
92.3
104.1
7.12.
Cs
1:869 107 s 3:2
Rs s 4:634s 5s 44:46s
j17:21s 33:28
j28:05
1 a A 1:44
804
CHAPTER 8
(b) (1) G j0 1 90 G j1 0 270 ox oc 2:236,
G jox 0:2223 of 0:867
(2) G j0 1 90 G j1 0 360 ox oc 9:75
G jox 0:0952 of 0:4977
8.4. (1) b G j0 1 90 G j1 0 270 ox 35:4
G jox 0:05645
8.6. (a) It must have an initial slope of 40 dB/decade
(b) The phase-angle curve approaches an angle of 180 as o ! 0
8.9. Case II:
8.1.
Gs
8.10.
8.11.
a K0 31:7 b K2 2:56 oy 2
(a) Plant 1
Gs
8.13.
8.14.
8.15.
8.16.
2337:51 0:25s
s1 5s1 0:125s1 0:05s
0:4
ss 1
j4
CHAPTER 9
9.1.
9.3.
9.5.
9.8.
9.11.
805
CHAPTER 10
10.3, 10.18.
System (1)
Dominant
roots
Other
roots
K1 s1
Tp,s
ts,s
Mo
Basic
Lag-compensated:
a 10, T 2
1.25
j 2.166
6.501
1.72
1.67
3.36
0.14
1.03
j 1.787
5.267
0.726
16.16
1.8
5.37
0.41
Lead-compensated:
a 0.1, T 0.25
2.23
j 3.86
3.123
40.42
3.13
0.916
1.78
0.10
Lag-lead-compensated:
a 10, T1 2, T2 0.25
2.08
j 3.6
0.598
2.897
40.40
30.18
0.967
4.15
0.244
Tachometer-compensated:
A 1.61, Kt 1, z 0.5
A 4.79, Kt 1, z 0.3
3.40
j 5.89
1.86
j 5.92
1.2
4.28
1.02
2.97
0.756
3.39
1.89
0.0
0.13
10.6.
10.7.
10.18.
806
10.20. See Prob.10.3 for basic system performance data. Based on the desired
performance specifications, the desired dominant poles are:
P1 2D 4
j6:928. Let Kx 1250 K1 be the gain term of G(s). By
applying method 1, the following results are obtained: K x 760.71,
Kt 0.5619, b 11.895, Mp 1.092, tp 0.725 s, ts 0.97 s, K1
2.369 s1. The other poles are: 6.296
j4.486 and 11. The plot of
c(t) has the desired simple second-order time response characteristics
due to the effect of the real root.
CHAPTER 11
11 1 a K 11935, of 3:10, g 51:16, Mp 1:161, tp 0:8654 s
ts 1:807 s K1 3:6387 s1 :
(b) 1=T 0:302 K 11935 A 7:7084 Mm 1:18
tp 1:104 s
ts 5:455 s
K1 28:05 s1 ;
Mp 1:203
of 2:53 g 51:1 :
Results for an Mm 1:16 are not as good as for Mm 1:18:
(c) T 0:25, K 213200, Mm 1:564, Mp 1:186, tp 0:3125 s
ts 1:273 s, K1 6:50 s1 ; for Mm 1:16: Kx 175800, Mp
1.076, tp 0:3372 s ts 1:105 s K1 5:36 s1 of 7:10,
g 66:46 :
(d) T1 3:311, T2 0:25, Kx 209000, Mm 1:564, Mp 1:212,
tp 0:3180 s, ts 2:857 s, K1 63:72 s1 ; for Mm 1:16: K
175800, Mp 1:104, tp 0:3442 s, ts 3:526 s K1 54:87 s1
of 7:35 g 62:71 :
1 1 Ts
B
and 0:5
11 5 a Gs
where T
8K 1 Ts
K
.
b Gc
s 10:5s 1
10s 10:05s 1
11.17. (a) K2x 2.02, ofx 2.15, Mm 1.398, Mp 1.29, tp 1.39 s, ts 3.03 s
(c) For g 50: u of T 8:6T 1:19 yields T 0.1384. From the
graphical construction, with o1 of =20 and o2 20 of 172,
obtain Kt 24.28 and A 180, thus
Cs
2907s 1s 7:225
Es s 2 s 1:108s 406:3
807
CHAPTER 12
12 2
.
Gc s
2:31s 20
s 21
2:994s 2:1
s 2:223
CHAPTER 13
(1) (a) Not observable, (b) controllable, (c)Gs 2=s 2, (d) one
observable and two controllable states, (e) unstable
(4) (a) Observable, (b) controllable, (c) Gs s 1=s 1 s 2,
(d) Two observable and two controllable states, and (e) stable
13.5. (a) Add a cascade compensator Gc s 1=s 1
b Heq s k3 s2 2k3 k2 s k1
13.3.
808
Y s
A
Rs s2 4s 13s 25
11700
s 12
j21s 20
k1 1
k2 0:091026
k3 0:003077
12t
13.12.
13.16.
(b) yt 1 1:025e
sin 21t 171:1 1:1584e20t
Mp 1:057 tp 0:215 s ts 0:273 s K1 11 s1
(a)
Y s
1:467s 1:5s 2
MT s
Rs s2 2s 2s 1:1s 2
s 1:5
A 1:467
where Gc s
s1
Y s=Rs
As 1:5s 2
4
s 7 A0:5k4 k3 k2 s 3 11 A3k4 2:5k3 3:5k2 k1 s 2
5 A2:5k4 1:5k3 3k2 3:5k1 s 3Ak1
where k1 1 k2 0:8635 k3 2:43541 k4 0:5521
c Mp 1:015 tp 3:75 s ts 2:79 s K1 0:524 s1
(a)
MT s
195s 2
s 2s 2s 1:95s 100
2
809
6 5 1
7
6
c T 4 3 2 1 5
0 2 1
d kT 42 33 6
CHAPTER 14
14.1.
m 1: (a)
For
SkT sjk15
14.6.
14.10.
s 4 7s 3 25s 2 39s
s 4 7s3 25s 2 54s 75
(b) No; need a compensator of the form
As a
s bs c
2
3
3
0
6
J xb 4 2
0:5x3 7
5
2x1 1 x
CHAPTER 15
15.5.
15.7.
15.8.
15.11.
System 2
C s G1 G2 sM s
810
C s
G1 G2 s
R s 1 G1 H s G1 G2 s
Cz
G1 G2 z
Rz 1 G1 H z G1 G2 z
CHAPTER 16
16.1.
(1)
z-domain value
16.2.
16.3.
s Plane
Eq. (16.8)
Z esT
1.5
3
20
2
j3
10
j 25
0.94176
0.8868
0.4286
0.9167
j 0.1106
0.4201
j 0.5917
0.94176
0.88692
0.44933
0.91671
j 0.11054
0.39208
j 0616063
Rs T s 2 10s 174s 10
10174 ! K 217:5
(b) For T 0.1!
j(0.6114/T )
j6.114 and (0.1)/T 1!
thus, the zero and poles of the desired control ratio do not lie in the
good Tustin region of Fig. 16.5. Thus:
0:6114
0:1
0:1
7 ! T 0:08734 and
10 ! T
0:01;
T
T
10
therefore,T 0.01.
16.5.
Dc z
Kc z 0:6703
z 0:06703
where
811
and
K1 5:1577 s1
Cs
251:2s 0:005
Rs s 0:4061
j0:4747s 0:0005s 3:183s 200
Mp 1:078 tp 6:98 s ts 10:7 s K1 4:187 and A 10
16.10.
Rz
z 0:9900
j0:01152
(b) The PCT block diagram is similar to that of Fig. 16.14 d with
Dc s 1 and Gpa s=T 200=s 200 GA s:
200Kx
K 2:34105
ss 2s 200 x
Cs
GPC s
466:21
Rs 1 GPC s s 0:99408
j1:159s 200:012
GPC s GA Gx s
Rs 1 Gx s s 1
j1:170
(c) DIGTo reduce ts by about 1/2, select Dc s As 2=s 5;
Gs Dc sGp s 1 for z 0.65: K 200AK x 2874.6;
Kx 2.368, and A 6.0705.
Cs
K
;
Rs s 2:463
j2:881s 200:1
5:982z 0:9802
Dc zTU
z 0:9512
Cz
Dc zTU Gz z
7:0359 104 z 0:9934
Rz 1 Dc zTU Gz z
z 0:9752
j0:02810
DIRFor K x 2.368 and z 0.65,
z 0:09802 where A 1865:3.
Dc(z)
Cz
Dc zGz z
0:2194z 0:9934
Rz 1 Dc zGz z z 0:4393
j0:3507
A(z 0.9802)/
812
Rs 1 Dc sGPC s
Cs
468:4s 0:01
Rs s 0:98955
j1:1595s 0:01008s 200:01
Dc zTU
0:9385315z 0:9999
z 0:99999
Cz
Dc zTU Gz z
Rz 1 Dc zTU Gz z
System
Basic (a) Continuous
and (b)
DIG
DIR
(c) Lead
DIG
(d) Lag
DIR
DIG
DIR
Domain
Zeros
of C/R
s
z
s
z
z
s
z
z
Poles of C/R
1.000
j 1.170
0.9941
j 1.159, 200.012
0.9934
0.9900
j 0.01152
2.463
j 2.881, 200.1
0.9934
0.9752
j 0.02810
0.9934
0.4393
j 0.3507
0.01
0.9895
j 1.160, 0.01008, 200.01
0.9934
0.990087
j 0.011481, 0.999899
0.9999
0.990087
j 0.001145146, 0.999899
(c) Lead
Continuous
DIG
DIR
DIG
(d) Lag
DIR
DIG
Domain
Kx
Mp
tp s
ts s
K1 s1
s
s
z
s
z
z
s
z
z
2.368
2.341
2.341
2.368
1.0682
1.0675
1.068
1.068
1.068
1.067
1.0767
1.077
1.076
2.69
2.72
2.70
1.096
1.09
0.05
2.71
2.71
2.72
3.90
3.94
3.93
1.59
1.58
0.07
4.15
4.16
4.17
1.184
1.165
1.171
2.875
2.874
2.84
11.71
11.71
11.68
DIR
16.13.
813
(a)
Gz z Gzo Gx z
Cz
2:073 107 z 3:695z 0:2653
Rz z 0:9959
j0:0047756z 0:9687
Mp 1:067 tp 6:94 s ts 9:92 s and K1 0:41604 s1
(b)
Gs GA sGx s
200Kx
ss 1s 3s 200
Cs
251:2
Rs s 0:4082
j0:4773s 3:184s 200
Mp 1:067 tp 6:94 s ts 9:90 s and K1 0:4187 s1
(c) PCT lead designDc s Ksc ss 1=s 3
Cs
1454
Rs s 0:8439
j0:9866s 4:312s 200
Mp 1:064 tp 3:47 s ts 4:88 s K1 0:808 s1 and
A = 5.7882
(d ) PCT lag designDc s A=10s 0:005=s 0:0005