Beruflich Dokumente
Kultur Dokumente
ing tliat 11 rel~t.i~ if "The Ho i g is a di;scll$SiaJ,L of Jinearilyiand ~Iuse many recln'lljn .' g items are non .. llneat~ "~
make pprorimation for a Roo-linear ileq(.
9.1.
,)(
where Cd, is a -co' t alliEd th-e disclrar: ~ ~ A the cross~Qqal 'aGa, at' the e~. p the: fluid d_ty~. {PI '- Jtl) .tlre- 'P~e diftet;e~ For a C~t ~~ ana,and density tire equ.ati~fl GIll 1k 'Writt¢.n as
o
~ I ~
f;.b ~ /PI ~fr'lt;
. . r1i A ~ (p I - Pl.) Ga~~ then we Wwe.'1d~.
~ he . 1;iOjI wheft eliher er bbth tbest~ vatiab,'~" thr bll~ equn '. ., dI : gsj1f. ~ ~
, ~Jl$e ofihe QnnCjp:~e: . ~~ , ~'n W&~'~rtir
::: these vanablfill C_AA in<1Ie~!:Itly IIMtI\ell ~ tb! ' . . 'uitS tG Obtain th~ tq~1;ID lqr Wh'i/il bmh cbange~ i)lij~.
:;,: 31!ilUt ll1e IIp§ftting ;pIlll)t the IiIDPIIS' of "iii gmph lit,
~A~!l~
m~=f=t"JPD,-&r
and iliU$1Ji} -= ~.L A4" ~ mtbSCTi~'o is~,~ ,1& indkafe "il~~~ Me ~ pGlnt FeE a graph ofq agaInst f;h - pjJ
dq Cil,d
tliJ, ~ d\,pl -41'1) .... ·2.JPrA--'1Jr/I.,
and tho tlq =. ~ A(pl< .- ~). "lJle llneanSQi ~OJl Wh$ bd! VMiab1es Qn c~ is. tItus
iJ.q ... mi. M + :mt ~rp. - Pi)
With m" ami .m1.i'wb'tnz tM" valueS,. inm~ted ~~1't-
Liaeartsat Jnq~Ud.£! 1tWd~1~ are U&1d treca,use ~0~. ~.rmtediniq~1¥,-BJ ~aw-i &l~ ere ~d 9fl. ~re' bcill~ !tnf!J w]aliQuhips :fhttht ,elptae~Qf m~fi. ~~t.e,m~. Als~ beau.®~ control ~S: are ~nfaitji,l1t, au tJ\f!Put e4~. Js1 ~ reierent»~~ ~. vMiations,..f'lOm thIs v.al"IJ~ tend lp., tIe -
~~l~' $Q ~ lineariSed m.bde~ :is pt1;f.ectly~at"p~te" fur
TlI iI~e. ~k gb<wo" t:j:imIi;ltr ~ ~ll~ ~i~~tI!i~
tempera~m~renre~ ilf Do C9q~l ~~. Tho 'rrLafm"~ k1ween the Tefis:an~ ~ ¢' lhethenn1'Stnr and lts-~ livoo by
R~k~
~"tan U~setl\is' ~!jtiIlfibnut an. 0pe.tating p<l>inriil' t: ~ ~ In of a ~h uf R ~nst :r at il1W tJp¢rafini. pol~t
, airren. by dR;rfIT. ~
Tfie'l;e' 4Ce 1Qany m~habi'Srtis whit'h lnvQh;~ the ~rt"'etS10n Of "~nal rswuen clo ~W ~Qdl ~ vice \'~tSa F~7 ~"1e, there ar:e ~~ana~ini~ shafts ",,1m 1 ead §T is. puI1~ t\fid oable~~~.
1CQ iUn&tnt:e bDw ~\ £YStm.&ow. be ~tal)~,·co~.::a rd~ aodr'PinitJlI ~ (Fi:g. ~.4h. The rQtatWn:al m0U.oQn. ;pfum pi,:Ult~ is- ~~ in\e 'ttanY~doual )lh~t:i~n !!tt the ~k_ Co Mid~~fiju (he,1"jID~tL"ek~\1. The llet ~~ actin, ~ ll, 1S (~ - r~, tn~ ~Si~ng lhe- mmnell{ 1jf blarth dement. ane. ~Ili n¢::g.UWb~da~n~
"il", -7, !!:!l~
ii"'ifL . ~ iit.
wh~ l~u ~ 'lfl.0m~nl .9f ille(Ja afut} ~iniqA 'and 01~ an~w ~~. T~ rDtati.(m pf,Uk: p~nipn will fe5-ui~ In a ~la~doa! veJqt:l'~ "'! of ~ .f~- If the ~~ bai" a -fad AS ~ then ~ - rw. Henue 'We ca~ wtim
~1~
R~"'~ ~
'!;~' r~
r
~. 9'" 'fi~l· .. nrcH'irr~
..
!t3 '!JWctmrn~chafl;ical' ·:Systems
- . _. ..... " -.:
: ....... , 'f":: •. _ .• ~ •
. t·. ..' "
... of., .... r
. . \. . (.; ...• ..
~IJ' -
b.11l A ~{'Iot ~ au input at r(ltation [lof a,shall
~~PUl of i,ptUGIttiai di&fuene~ ~,:j, In
9. 3~ 1 p-ateri.ti ame"te r
The r:(Jfury_ pfitm.liNlffftf {11ig, 9 . ..f) ~s a Pf)ttmtiaJ, dfWdar
lhus" '. ~
"_'{t _ __p__ 11 - /)mu.
where It IS the potetrtial ~-e~ £I:~ ~ ~J I~ngth 'Of IfI:t F¢'M!m.une:er wck aoo tJ~ lS. r:be total wle ~I OO! bJ ~ shder in belUg rot3~~ ~m one ~d of tlw Uaolt to the ~~. lb GUCPUl is v~ for the Ulptll (}'o
9 .. 3.2 D .. C~ meter
Tile «".t mo~ r is ~ to' een .. :en an el C(!t'rie:ru i:n:put ~ Jrit0-a lJl~liaitieAl C()U~l ~i~aJy .i ~t ~~' t&_!: ~fu;reJ@J the tO~ ~ng HI j:). sbafi: j::Jetf.lg rhlate11 _:_3.D'd h~~l~ ,:Qrakd ~ig, :tit The motor basieall Y Q)nsisn of a ~l. ~ a:rma.tnre eoil, v. hich j.i fi;ee1g_J~,te. ,(m._s O@il tt~~:t[l_1M m.B.yreti~ .tIetd provi4ed. by· it: t.tuTe:M. thrcJU~fl: fitJ4 ·CQi!$ 'W; 4 ~rn-mne t ~l. \VJ!~~ ruru;nt J,~~.JhrnU$l1 tilt.aooa1J& roil tile-a because it is ina magnetic liefd~ forces A1::t en the,:oJl .and cause It to rotate (Fig. ~.7). 7116 force if atti. on a ~ ~ing a current i ... and of length L 11'1 a 1na$ile1k _.fict~ Mflu; density 13. at right aTIglts;.to· -ate Wire ~ls gfvep by F -:_.~~ .. ind 'with N wires is F ~ ~~"lhiJ;.. The fQ1ces OR the ~ratlJi_tl ~ ~1[l! re$ulr in a t~[que T., where r~ F1J~ ~irh.b bei'R~ t:h~1~~t3utl"~ ooil Thus
lhe ~uIling f.O!.qlle 1& thus p rnportian:aIoo (S.i 3)! the oUlei ra~ aU ~lJig CQ:n~_ ijel1~ we ca~ "W'rife
s,-~['I\,ra.oae~ 2'51
~l' 111 ~,~ ~r ~hio:h. 1t$ ~ ~1w€ ~nd fitlcl ,GtlitS =It(y &1~ (we Fig. 7-11{d~ ~ ~~ dl~n)
B.eld ~ ~-cal~ ~~"(Mmfff}.118a moIr;»- th~ liel~ (.;1IEnl h !$. V1'.. ~ ~ ~ ~,I c'ortrwff&l 'OY" MUt1StT~ t1k~.{"un . m'ltge 11:.., A e6r1~.t lleld ~t ·m~'S « PDI1J.~m u&agne®
flUX.deri~tty H i{jr M~ an~ ~~, "I;nl$ . .
.~ = IhBIlJ1 = ~
,.",.1ilre· ~ is J C0~l Tse ~~ cirafii~ QW be" ~8r~tia {iJ ~ 4 ~bi~ 14 in serielS.Mm ~ 1ndu~~ 4 tf'l 9:&} ll-1f?'6 ~theM)'It4fge~aWlied lu the ~e.~~ t'hen;"Sinc-c u'f$l't is ~ ~k e_~m-f.;'lclfl'b" ~ have
.. 't ~ :A, \!~ - Vb: -"\La ~ + .K:liJ<:i,
We ein trunk 'Qf ~ ~tipn, in tetrQS of $:. ~hx~ 1jJa~ 1;li~ ttL fiJ, 9" .. JOO~
di
..... _ ~ = LlI4if of'- RJI r "'~~.
~ .a. ,ArITl8~ufe
XlOil
J
wbete k4 is .a .t;Qnst.anl. This torque then M . .
l(lad' """'" < • OOI1l@<tIi@ 1ll"'."
s;~m. 1 us;. tret mrq_ue. aCtiIl~ ~p the ),aq nilJ be t'~ W h.
Net torq'ae ~ T - dtinpi ng ':torque
The dampJn~ [Orqll~ is c~~ where If is a .cOns", .' _, : effects clue 10 till: IO[Oional sptingj ness o{ t~ Sh: . Hell&. if aD]
. Me l.legl~~
Nerlhrqlfe -- ~;] ~:em
9.4 H'~'drauUcrn~¢l1anJtal' systems
Tfl:e ~ C9i.fh~tJt~n$ OO'~ .for a fmkl.~{l-mrollerl moW are thus
~bed 1)) t:ij~ ~~'~Qfu; .
. fdi
\tf~ w+ t£ 1f ~ 1 t---- ksi f - (Q!J
W~ ean l6ps ~ .n ~!i0Il ,ma'bng tl¢C(~~i tiJ·~ith the input Ye~the 'Fstem ~y 4timillating.it gee 'ilie~uct clis~ron Gf tlij; Uftace 1Ml\sfOJ1l1itr ~J "I O~ JOMMt in tfi,e A1>pcnru~, tor
~hOW WS mighlw i~ne.
-Adilitlg tUlvlq~ua.~n.\ ~ves lq{t: ~m~:t'''~~~i ~:<l¥J2~
q ;;;; \P1s(1~ ..... JiI1g(~1 - ~-
W~~ '7.mJ"b.
Fr(J~ t;.e. ~1hI&t the '~"" in l'lIe.$'lJJnJe oftluid ~~ ~ ld~harn1 ~~ ~~ ~~, O<r 1eaYifil( ~ rightTb* ~~ W~ ihe pl~ ·~~a'ijj~ ~ j~x<~ ~tA \~ ~ ~U~ ~~~e§~p. thUS'lhelnlte~t whr?h ~ Ve)lJJlW is.< ~~ jd:C~~, ~ r~llrwhi~h fllli~ I. ~i~u.tt* ~tf·~" ~ 11k ~TI.J~4'. 'Ho~~t) $.mctM¢f~ OOrrf.!. teika ;agc:IlQW.d~~MJom ane ~~.~~ ~~tL ~ the,:n!~
tJ;;;;J ~-+..qli.,
.where flt)~ t)t1~~M r~te· SUO~,g ~ fl, A¥~
"~ ~1 - tJiFtl ~.~ i' + ~
The we of l~alW d~' ~~}s~ rtlQW ~gh 1al onfS~; ~ ~ ~. 1.95 P~ll. ani't ~ ~~.: 'ThiS> 1s. of ~ eross~ an~ ~ a ~ ~~. tAlli ~ tSjji). H~ taSing. 'he liik.alfseci .~~, 'fqriu\11 a .tlpW~
~~~ m~r¥I'" L¥i
"Thtl~ ~t11 t:M'S- $;Jlta~j~H4tt S\lbSli~W.1 rA
dx' ;f . 1$p:1J
,rit~- mi~L - ~J =~ dt~ ~m;\tl¥t .~ ,
~
mri'(J - ~p, +'mv~ -~! ~~ ilf
" . . . trion re:mltS in .l. ('CIrce ooid,g
, . '. ":rlrJl''II'1':L'~J~ce ~~~ t1i~ _'!l:"''''l.''''.. . ;: . .,.._ _ ~Jl"£\.J There
The pre~.I1?'(!.:,l;,( ~ . ._"m.d4~JM (~ up~.-
~"';P1'rM ~m~r tll,e,1&ia,;, ifte ~rre ~.. . ~ 'MeU~ Of !l'n1illlus. ~L -'lkrti'inini::r @1fI~itrQn~ \ .. ~. "'J:..}~";'\
~~ hO~~~ iO-~ ~ .. :.~ the vetdy of }he ~ i~e, {W:~ WI'
~, • 'N'~""DrllOrua m ..
··~I~ ~L.~~":""=~':"~JttU'1f(;,~Qn ~ 'l~i~Uf.}fS
~«luwfl"'~·l!l~ln.,S! ~.
d~l)<
ott f~ :!!: (~I -~ - ~Jt
r" .' ure k~*ti 00
. ~ thg; mast t~ aOOt:lerne. "
_ Th~s ~t, t~.rt:~ ~j ee
belng;(d1~) l=J¢,O .
~ ill ~ ... t~ -~}lI-l" "ol"
The .rate'eiflow otflwd 10 and rrpm. {be ~ depegd&,orHtr
. ..1i~hi~ A..k • ;' t ......,.~."" i\... ~
extent m "~I;.:U IJn;: mlltl. ;LU~~ J.Ult~;t;W . .J.~~
tI~ ~"'.;; $rtlid'''~' .em·er or- leat;"e .thB ~~l v.!hi ror~_ ~l. l'~~ ...... --r.--- ~,~""~,, • -tH"naI ut
j~ .m~Bte~eJlt ~ ~) ro~· ~b'l th~ ~l vaJt*,ffll~1.lf.S Illid ij mov~t6 tbt right~gaM ~nti or tl~ Jt:iifIl;der~' 8:a'~~:in~ ~.etlt1iftW piston ·m, the 0ri f.nder W'lllle te.ft.
TIte rate ()f floor of ~tlid. q flrd.~ lln~8i w~tw ii Vt~rtlt ~.r1& ill me r~] val~ iN. l!i .a n9(l~~Mt xejafi~p Jut ~;ctiOIl ~~.1J 'dep¢Dcting on lli.e· press~~ -dfffc~ae ~ m &b~sro.es qf tfte orlfi,ae ana its- erd'~~ifu~ ~$r.ea,~", RQ:~:f1t~ ~verswn w~ ~n ean ~,;u~. ~'ti{)n.~JJ fur lts d~~6~~)
·64 ;;: mtJ\A ~~~A(Pnt:$®rq. tiffdr~l
\l.~r.e m I 'M(l. #2 J$l't. ~t.1n1.S ~t -the ~per:afj dg point F~ r!t Hind elUe'~.5&: tJu.: ~UJtl P~>!iu4itl.lf~oe i~~,-:?'i.arc: ~ ~,~t ~ - Prl)~' lf~ ~;r;ating poW aMuf ,~~ ~
~ is l~l'I i~ ~i"I1m bI; dWJ)oont at w\IIQh ~-;: botl! cll!; ~lIll.!1 ~ PI:Ia~, ~I'u,ecd~ Jl I~ ~,~ae A'~
. ~ thin :oUIli§~8~1} gJi<~ IWd84~_ ¥'1I!d P:fopam~ td'l:$c if ~ 1:S ~-M f,rwn tlii~ reli~ ~li~ll;
~baa,ge:. in p~ ,,; tf)g inla' &ide ~ the piWi\iS -:
. ~ ro pJ. m.~ ... btl. t1Ib eYJit since ~"~ to pq. Th l.iS. ft.t
i1ll¢t pon Ute ffilii,iJ-i:n.1l ~~ ~"'-. '1~1J
-~"t~NI 'l-Q;w. ~ YI'.,1. j ",~. ~
'~m~ *mrt- ~~ 4t.d ~ tl\eCxjt ~
This ~l.lalJon C:aIJ be simplified b~ introducing, two c(tnslalUs ~ and t, tl Latter ClJnSla.nE ~l~ g ealled the Li,me G'OIIl:SMmt (~ Cb3prer J 0). H~nC"t
Thus tbe relati0 nshi p bet ween i:n IIDI and 0 u'lpU E is described ~' ~ sewod-orrk: r rutferellt..iaJ eq ua tl On
l The r~Ia.1J onsfup between Lhfl 'futt::e F used to St:n"etcil a ~[JOj ilnd j IS e.xteMion x is give n by
when: k Is-a COnstanL Linearise this equaaon tor an opel1tL~ Jxnm oi-4.
The relatiol15bip belween the; e. :m.f. E ge nerated by a tbe~ COUple and the te:m;pet;}lUte T i,5, gi"en by
E=::. oTT st:
2
wbe.rt a Fllld bare COl IlSru'L rs L mearise It is eq LllIUOrL f~r an cpeu.tmg poinl 'Of temperature III, .' k The rclatiqpship bet~.'ec:n T.J\C torque r applied 1Q .a s...m~ P=bdu1um and the: angular dcfleC1.um (FIg 9, [ l ~ is S~,'!:I1 by
T I1JkL Stn f)
S te m:O~li 231 where rn ~'fj • h.e mass u[ lht: p!;otJ ulum bob, I: I he len gth of the lX:~ulIU'll. ill"Id :g ~ J.Ccr!1~ r • .ilIQtl dllC 10 tnrvLt) Lm.eilJUe lfus ,~ua't1~1i for the t.quilibti um ~ngl t 0 lilt oa
Den lie a 'rih:trcl~nti3] equatiO'n r(:httl og. ll.~ lnput "'T,dtagc. l.O 2 eLI.:, sel'V~ motor and the outp u ~ IUigulat .. ~llld t). aswmang ~ Ilut Il'Iot1)f ,~ ::umiitun: ~nh'uBIOd and the cqu .... ah:n( ~rn.."lU f'Qr I.he mllt'Of bas an annatu ~ with Just ~~ Ui mdu,tance being rn!g~eclcti..
5- Derive differentlcl eqUdUOllS fur :a d..1:i. ~t1V:r.tI01' Tbe ~De.fI1lor may be: assumed ~Q, i~\'1!. a l!!Q1n~.!:ml ~\; f~ TI'L£ iYIlnatlIXe Cl'rlru~l has the: a.nn..ltUl'ti crill haring. botb resistance and indm:Umre, in series \Ii., l.ll the: !ootL As::s:ume that the load has both resistance 'a!ld intbJc1J\ntt
6 Denve dUIe.rchual Equalim~ fet :3 pc rmartf!U~ magntl d.c motor.
7 Constdt ~ a S(j le'Cl~~d aeruator U1 w hldl ~ ~UJTtll~ ~g
Ihtuugh the !!iol~ooid resutts ~n m~l\e-mem of a roo actnator into Or o-nl of l.bt StJh:noid Jvopo~ m£ldd.s rOt lh~ arnn.gc:"1£ n\ whitll ,t:OlJld lll"e.n hi: u..~ tD dcvt:l-D-P 'D d.1fitRnual equal ion rdaLin g llle input of ~m:ltL til Uw= ouqrut m di spl~Ctitln~nl ,
10
1", 1 Modell fng dy n'amic systems
Dynamic rasponses of systems
The mQst i mporbfnf fundlo$·~ amOdcdl devised :fet !'tIea~'1 nr (©nnru ~ sre~s ~s lQ""OO' stile to p~t whatth~ OU'g:fUI jl,1I11i fOr p parti'lillar iJWlfL We ~ not ju~t ~@nC®led: ~th r~ situation. i eo that after some time wileR lh~ SliUi~ ~~~ reached :an ·@utg;m( '~.X' eorrespcnds to ~ il1;p~t pf 1,.- We ~l; C!QbSWer hew the ~tpUt will ehailge '\\itb time "\\I~~IL them iSJ cfuin~ tJf inFut er "When tire mpnl cbanges~th ~, Fc( ~;8mple; liow 'will the tem~e of a tempemtul'~-arntNll~ ijt"St_~ cl'umgf' l\itn tim,e '\I\'het[l the ;~~ 1$ ~t. w a cb ~mpef'.nure? Feu ~ cgntr-tlil .1J'~etn1' bQ_w ~111 ffie DJ-Itput'ocOl'th system chfmge Vr1tb tim~ WMl1 ~ ~-et 'V~~ is set to ~new ;-aI~ or je bSp;; iaVCiSed ··at a '~Y late?
t]bapbU~ 'Sa gnu '9 ~re OOfLOO~ \Vim· mUi]el:s .. Qf '-1fem! • th~ inpots 'Varied wirh time, \Vilh me ~ 'bemg ~,iu lemtS.0f ditterentiaJ tquailoru.. nlis clmpmr is .about bow ~~ use web ~ to ~ ~tdj€ti~ about bow cOu:tlll1li1! Mfi ~. ~ tmte· when me inpff! ehangrtS wi th; l'itue•
10.1.1 Differenti - eq.u~fiDnS
To ~~ ilie TClOOonship ~~ ·input fg. a ~s.rett] ruld j~ ontpm 'We most :desori,oo tlie re1.alionsm p ~!l f~lS' aDd~ ~tp~tt which ate :000. ~ssibl:g ful1ttJ ens ~f time. We thUt ~,,'
furm ~ ~tilm which. Will inlliicme hIDLtItIl-~~~ ~Wlth~~l.nlm!-i~, $n!-litb~ ~1iIIm" '1i1r .~, ~ t: by tm: u~ at' atjjffor~tl:rJl ,~!Wti"", ~uch ~ ~
udes den\'a'tive;s. with ,w~.Grt t,O" tinfe ;and~ 00 gi~~ utl'o.f JI7t
~l .... "'O:'~~""t..~ , - • -If'',!<-o ~ ~ ...i:d",'J
., IQ'IUW u:~ ~nsc 'Of" I'll .f'(~"""'" ...:;,.,.,.... '" & tJ.t1w, &..uF:H"" P-
&:Idt ~_,. , ~ ,~J ~~D\~ ~I,,",? "_"'1i~, !?'.. -,de~ft
d~dP ~ tOOnw.;~t-Wbi.eb,» Y$~ lrith-"Lfjtl~, .. 113
Slates. bow dxt~· vari~ with n' ........ ~ DiIftr~ntJ}.d ~d ~fI.
can be cl " .. u~ - <I: if- --+1·~
~ .. rC... JSSed as JihgJ-('JF(k,;: ....n",.f:mJ~l'~r'. Im.- rrd~r,~1 - F J;;".
~""-lllilt ,t .... oIi-"b.... v " ,"''''' ~, . -"...- ., §t..Mu!lIl .... ·
~ }-Y ~ h.ijti~st- Qrder 0:£ the' deri¥3~ in tn(t'7~ .
Cr~,iOnal .?mai3 ,A
Flg. 1!1l. 'l W$r ~pg ciJI: ofa-ta_n1.I;
fig. :10.2:. WaAA!J: t1tlV1'i~ -out
-9r 'a{ta-flk--wlth f~~.t=:I, ~I1Put
1U.1 ~ NatuMt .a;Ad fDn~ed reSPQ·[fs.es
An ¥~pleld' a~~~mJ§._~hi~~(mtJnatank:. (Fig,. W.l1. I;i{ Jiih~~'l'~ hllve
Itl - ff; ~ 1<q.
~ -_
where Rv the~, ~~ &i p~ - ~ .... tfj'n, wlwre P l~ (he 4emi(y of Ure·~~~ -and q is the .rate arwbiclt ~ l~ tlu: ~11:k alld ~ i_:s. -~V!CU wiTh VbMUS the, volume 6f ~1rler 1n 'tht ~ q~ ~ bfi~ ~Jl- T~~ iI ,=~,..;dfIJ~)1dt ~jrAtlhldt. l'hu$ the: a~e tfliugtiqu ~ be\tn~~:
dk hf!g;=--M di
_-
~
fit.. 'It.3 T ..... iCw·!5OidIf... ~dl~
"j
I
Rcf+TrF'Tl.
Suc.b aa",-rendal eq_uuoll Jus a 1Dtt.jtlg· rnput iJf. rio
10 .. 1.3 Transient and steady -s t.te reSpont~.
The wtaJ ~.JC of a control ~te.m I or ~t of a ~ can be ~~ IQ 00: m1td~ up cOt two .tSpeett lb~~~' rdpO~ and the mmslen~ mspol~~ T~, tl.rm.$lnt !t£ .' ~ W4t pa4 :uP a system respQlwr ~'hioh .~ \\'~b J:~ ~ !jw'J# in iijpnt and wllj'(;h d:i~ away 3fie.r -a ~n- ~: ~ tiq, ne 8i8J).tiy:-,sfaJg("rJlSJK)lJ~ lS"~ lht;. t:~ thaL~.lfu~ aU tI1Wskm ~ ~ ~ed dovm, I
To gi;¥e a ~le illuimui en ()f this. tbn$i~ a: "W~ suspended spring [;FiI':"> .1tJ~) ~rl Wb1it ~app.e-,n'&. whe~ a ~; SIldden1y'~I1ded from 11 L Tpe d~ettioo ?i the ~tio(~~ Increases and ~eD may well osc~llate un ti l after $~ ~ 1< settles dawn to a. ~1eady value. TIlt mead)' 'Value1s'1he ~""W response gf 'the ~ng: srgte~ the oscillafi~ lffat ~ ~ hi 'liri$.;~ is. the t:ransient ~sptJllSt.
Thc.jn~t to the SPri~system; llie .weipt. 11 4 <P.Jintiry-~ varies Wi1h ~me, Up to SOITI(: pmticuJar time Were is DO * ~~ i.e. ne inrHtt;. tlren afte:r thar 'urne lhe~ is'an inpulD1Wl remaitls eorcttm1 fat the rest. fif Ule tlme, Thi~ ~ cfirlf.M I ~1I as a st~lJ i~t aad has a JItaph of the fLlni1 sYa~ ~_ F~10,4,
The 1n.pw slgaal ro ~enw ean tM~ 9ther ~:rns~ e;g. impt4 qtrnp~ and Siil~ si~s.An impwseJs a. vezy shDd~ input ~iI' 1 Q-. ~.; a,amp iSca steadily incr~~, mpot ~& 10~) and can be ~)fecl:by an equation oftJre fo;mycm kt, wbere~~ a oonstanl and a QnusoidaJ wptt tail ~ des~l~~fby.vreq~~D ~ the fonn y :::l k sin 6wt~ w1{..l\ ~ ~'n~ the. ~ed ~
fi:eque:ncy ~ ~nal W 2'Pf ":.here ji<g, tlre fre.qtl~J1"\ . . . . . ~ the ~ut ~d !be !QUl'PUl are functions bf time~ Oill1~-al ~ting this iji tQ wrlte them in the 'form Alj, whete l15 ~ ~ and (t) imueab that its val-u~ dtp._e:n41· on t~ t. ~ for ~ Wd~~ W b~rrut ~ fbe~rillgl ~stem Vie oomd. -mitt i914
~ ~ the dellecl:ion it output d(~, 3(1;) is cDDlroomy used lti ill lliWt.and 1\1) f.fJr an outpUt
w~~ f0"9p(;r1~ 0' s~ 241 wn.«e 4:~'rPo Udtb~ are ~~ ..
. '1'- mm.1iiIllW we- ,<Jat! h~1) ~~ aJilit-rud~r ~.~ ~~ ett~ whiQh ~ ticlietl~ .:n~ the uirtput "':anes '.¥ith ~ ~~~~, I~gniuon ~ ~ type ~f wlufi~ tl\at \l~n14 n(~·~~~ equatitn and U.:en. ~in& l4lt Ulti 'a S(tl nli em ts vtlid.
lli~}(q- can.lake mm~tr~~ CcfiS'kIei' firn lht.si~ when the '~$ 0; ~tlterf i-s HG input m ~ ~-we
lIiave 00 ~ ~lnt1b; ~SU;m ~ ~ lfL ~f way ~ ~.iu MtUnd ~ Mth,110 input t~.~nttnl ~~ ,is tib"!H
.Let • jy ~ .w.)I,1~ of ~ t~nn ~ !;I A ~. 'W~ ~ and 'S'm .~ta. W~ ~ ~~tdt "f' &4 ~ and w.wben these ~ ·at(\$\I~tnmd ifN.th~di~~al tq~ ~ Qtrtalll
~~4-~·;::;O
,'(l rf -h. aqtl ;=0
Olld .1WO fH£fefe~ e~u,tttiofi'S.~ 0Ue ()f.lM~b ~ , l'iIlictill(!'$id ~ 'WIIu:h 111 JU5t. tllie ~ N$pQlli6 ~.~ ~! ~U3W:n Ul JUst ttfe mtuW ~PIl ~~ we ~~oti, m m thiS. secudQ ~d so. ~j ittve a tQ:1vt;lQl'l m' ~ rol'Ill ~ ~
:rhe ~tlfet'dtai~aI eq~MI:). wntal!l£ the foz::emg'1ir~ ~ (Of this.dilfem'liill'~IlIIfiQ~ ~. f@rm 1Jf~t!~ ~ Jl')' ~ OR the fbtm at. vm. '~ iM101: s~ JK fQp a ~~ l!lliput ~E~.
>< T- .... -, .... lil' .. ~~~ , . t ~ th~ f"i 1'0;' ··~jt
ean:st$t! wI ~~ U~U~ 'irQ er u ~I Vt lr~ ~ ~ k; ~M 11\"
soJutWn l! ;;;; ~.~ wbire.it is-a O~ll'9'ta,Qtc .If we ~~e '3r. iTIP'w, ufthe fu,1lIl r ::;:: Q- + Dct +,. ,cr.; ~ ;t •• ~ wJA~re ~~ P~(.l t~$e~_
whi~.~.oo~t\, ~ \ve ~lltrr~ SP-I~ti~ ~l;Li9h t[\lfthe}!m ." .:;: A ..,.. .'!It, +. ifJr! + -< •• ~pr. ~ S1JlgSOI'cta~ S'1~ft31 ~ tJj!?uu solUtrQrt &f We fom r :;;:: A !Z0'i wt + B sm (pjJ.,1{J
~'(} illustrate rhis~ a5mm.l@ th~e,is a 1tta1 input a:.ratlJll~ gft~~ with the ¥~ the step' ~ng.1i. Tht11 ~e 1,y'4 solutitmJlftlt form v :::; A .. D~~~ll.p·g '&-:.(oo~t. .~Ye.s ~Ot; thiU'; wheRl ttl( iOl~n is ailighuled: hno Ute diRiretfti~l ~u:atie~ ~~taill ~
-;;;:. h;c and so ~w ~ t.Wit1J)k~ ,
. .
The full ~uQ@,~llk; gt V~9. .~ Y = u + ~Jl.nd &q wiU~
We call ~bt. ~ vBlll~e g:f The ;Ol1sti'i tll A: gI'\Ten somd~ ~lY') ~~tiQns. Thus if' 1M. :el)t~ry b ~ :lj.l: be;t'3\ t 5 ~ -1fi.~
O~A +~t
'fbus: A~ ~~rJa- 'IL ,~- <I,,' • ..,. ~.&)op...." .,.
. ~' -.JJI!'. t i~ ~.il1trQJJ ~beu ~\# fj~
:r :;;: -kk(l -e~~1 f
D-O;I!( . ~ ---~ ...... ~ r- - -- --~~
1b
i
~ iSr1h~~}utKm ~ tlfe.: ~ere~~~ t~J, ~J.w,t 'is the ~~~rthe;::~ ~ti tL6W ~ ~~'wl~ lim~ _ _ ~lij~a~. ~ .1i'e~11~ eg~~bOT1 ~1lli 'tbt; eqilaMU. lQ~~.f,arl[er; ~h ~JU~, ~ =' 1~ ~\(J 0;;0 1" "Ph~ ~~uU'tln ~or~ fQfrt'f:
o
~~
~~. 1» {at ~~,
.i~:;:I)' ".
~~) iesritITfflJ ~at;~
2A'st~-+A ~~= a
n.U$s..!!!:-~~.~Qt~~4tr~, ,.
for til$' ~ ~~ 'b~ereJrJ~l f.q"latiOn. ~ . ng~t-haOO sid~!Or~. m~.1f ~S.4{ w~~ ttXl, ~Jlll gw w~arlif .. A + Bt. 'Uttllg t'1ti$"'a1;t;U~ glves'21l'",~ t B -~
:rhUs D~ 1il.t1$r'have B ~ 4 ~d&. ~ ,~' ~. -f. ~=t1f, ~Q1I'is ~~= ~~4t. T~Ulg the tidi $GlutJ,0n 1i 1tr
¥ ~ VJt +·v~ A j-"F1. .._ 6- i'.?!l
Si~v~ OwMo'l~' I) ~r ~.lm?t,~ ";;!! ~t1fcnat; )I~I#-·- S ~ 1-
3- Co~ 3 mowr w.bea the. m1~hip he'h\I~~ ~ (]~ !W~ Yd~ If ,dd"Xh'! 1nP~ vphi~ l1""'fdT ~m~t gi~llby
.llLW +~,=. Lv k~~l"_ dr "'? ~f
'\Vhlil will ~ t$ ~~~le. '\'3100. a'f the ~~~' ~.hoo t1W iatnlt lS a 'step- of size 1 V?
tAMnparing tnt tlilftnnli~l ~itatiop wilth IIi·~. ltalved Wllef.tn:en at .:::; lIRikb- a.tt ~ 1. ~'hfJ>'~ llkr. ~.
~~~tq 1tt}tne; (or a~:ri ltbP\iL IS @uJ;S l.b.kJ~~# ~ .]1&1,.
10.1J1 The tim~eofl:.lnt
Ito, {t ~ ~.t\~.Ill subjoot te a ~_p fg:p_ ef s!ie·1i :we 1tal~ an ,w~t f. wmlh vanes \ltth~tf~ t a~CDtrl.:iit~ !Q
lib
Xc =;r.;q.l ~~;uat) o
~ ~ swaay~e~l11e IiJtl ~~#w; J'
Wh¢n. . .' .the. time., t~· ('fJlJ(kjl. tJi'en the R~n""~f.f:n.! oo.nn '!ttas.~.~
e_-1 ~ O.l1 Mtt . '). . .... ',~"" .... ~ ...... M
mynarn{e r&S~~_of ~st$"f.M 1.4$ 'TIl a time Gf ~(ar}l;lD) -:.;. 11' tbe ~~l'I~nllaJ .reml ~Q;~ e~ Bi:
~i4 and-~ F-
r;;;'·~-state~lbe x n ~(Lr4'
rn "this. time" th'e W4mt haS rt~· fo 0_%6 ot its ~~y",,~ ~ ~tl a,.,stmi:la.tf way~ val~;~_'be'>"~tQlla.t~ fQ! Ilk gutpul after"1r~ iii,' '~'Ij ~\ Tabl: '1 G:i~' me ~'tG~pf s~~~. qkw~ Wl'Cl tF~ id'.M) the gm~b. etbtNr the o~t .\r~ ~th nme~t a umt~ inptit
1t~t
ti· 0
11 !l~~
l$ a~~6
;~ "0.'.5
4"t Q,'~
.~'t £>:-99
.-1 •
T" dt -+-(£ ~ 0$,
"iti~ ktr. mrs ~attJfh W~ ~e'
'l1. dVd ~;. ~, {!I 14 of' 'I':'~" ~ ~10j
10.1~econd4>t,cNr' systems
~~ ~n&~~r sysh~~ c'alf be ·CO:n1fl\1~rW;lt h~ ~$.iU:t JUSt a:, strer~e(!~Hng lIWllh "'\ nm~s and, t~e ~rLS ~~j~ 41nfgi~i. Fi~ tf) J~ 8'~pw(lh~ If.!LSls- o~nib: ~ ~$4m, ~~ ~ ":.a_s~pazysed ill ,S~t1.lt ~.:Vl~ ~fie eq,thU~tl(de~rlIrm~t1Jt reJatwnBWp ~tween the uij9u:t cQf ~ D and. the mf~gI 4lf t displ'~rrtJ: is
T~ ~1O~13 ~~~
~ ~ u; ~ &lisp.l~enl ail< ljm~ 1. A tl'L<: ~t1~ or ~ oseftl~twn" an~,,~ th% 3n~i! fWid~nq ~ tlt.t ~~ 4lt&Clllaoo~ 1J~a.Un.g'tlii'l gW'El;S
.~
t ~;®~ ~qa.:.t,
Dt1fCrmttiath~:(i~mt ~w.,,~
d~Z, .
"~ ~~~~~t~t~~~
BUl,for ,a. ~ ~ ott-a iPrihg Q! s;fi]f~j.::,w~ have a ~~Mg te~ Qf"l}" aMnr~
tmt!!!!~~ TIm: c:m:bi ",~~'al
I
~'lIm't4 &!;~.oryses .0,: ~'it~'. 249
tfyi4iitt
1II ~ + {~ t-kr .. ;0:'0 .tJ;.e:a M m~ .hay~:
~Z~+'\r1' ~ +.bt ~ m (Jtl ' ...... F
'T"Q ~l\"'e die "(nU1Sield ~. 1011 \1'f- am tl;Y II. SQhHiOJ!!!fih. f<mi ~ "';;1 (": TIti.> gives ~fU ~ .~:rll!"~" I.fr.!W" '" AJI t" 'llu.t !lIlbstituting these ~ rn th1t (h.f&re.ntr~] «f1+a~ lP.Vel', .
~r~ + 2AJ &'+ k4 ~;; cr
It ro!Y ~:thi~ tit{ oo1mlQR WI thl~c_ str~,,~ ht~ ~,A ,,; tilt, wJQ (Q~"-e t,~tlikd 'Jmd 5D. ~ ~'Q.·~~il"i$.~ ~fiirm.r. Qiiiffl.'Qry ~eMentmi BqUQtijj~ b1 W. BtUbtll (um~ ~4)
fat ~~..;, ... .-u • . td' ... t. ~ &.
- -" ~~i..U.IS;t"
With , < 1 mere 'alt. tw.-q ~eN; r~l$ '''ue the tOOtS" 'bmh inXb~t11ae~re ,il;Qf ~'(;-{).
~~''OOn:±W~if.!/- T ~~~D~~D!i".Jl-Cl
~-fcs+k;::G
Thus XII m A ~ qin only ~.i sol]J tinn Fro\,~ ded the a~ ttt_ quals 0 "Thi:s:i~OO1icr.. k caUed. the Q~a'o/7JquatiGn. n.e.~ o£the ~uaWJ1 can ~~mjlred ~vmclOODg GVr usitlgtlt¢ ~
.ti); ~ ~ of.-a qUidrot!etquaUGR Thus ~
JQl~ $tt \\tltiq jf01' R,. s "t- -~~.± JOO.8 [1- f:2
IfwtJef;· ()J=4·~R
~ .~ ..s..~.d = J... .. io. ~;':f~ """flja.w llit tWal'00tS:"are ~ we~! wu~.,..s -''='~' w!:¥w
Cyml'i~8 wI ~U that: is :.I! ~p lrrpu.l \ U \io,\C ~ llw:! ~'Ul ~d -mrdt:r (ill!c tl!!fUi:tl tq~I~Ul
a-~~ (!~ ~ a~ b~
then tl~ n.llnml I!gul~r 'fr~enc:y I 'lEn bv
(.f)1 - _l_, ~ l
Ii - LC ~ '2 0 )( 2U x \fJ"Z
ilLl.d so ~ ;;;; 1]8 Hz Carn~wn wlIID Ilr:: --""" D~" equlit10n nl$ll gL'IP es
t /1 ._ .. -:--
,
fqr the aitiwlr damped system r- V4t+B)e~~ +f
Taus C = U, ~ 6, s.mik.t : Hii. less llllIUl 1 undf;r·-daIJ1pe.d The d.1.rn~d f)lt111 tmn r~y~
by
tv :.. (,r)oJJ ~~ I '"= ~ "', s& .. I , - {} Lti.. ~ 156 Hi
~ the sym.m 15 itm:le-r....dJ.ulpOO lh~ MhULGfi \\111 ~ the sai'J'l!. rann as.
;;;;;:e--{iP#('«lS w~ - Q 5' rl oj() .... i
WlIen I - ¢!l the above three equatiens all j ead ttl the §()]Ull 0 s: :;;- FIIi. This; ~i 1hc Sleady-stnc con.dition,
111m: a ~ml"-L1rder different,iru equanon in the farm
and
}
1
TInts Q !(tJ I )
P 0) ruJ
L
R
1
v
1~ ~~~
Fig, l.CI~ 111 T(!I
2
1'1* :I;Hti, !;Orq1W is I OfJ:lJ~, ~et';'c£'
j d'lQr:; ~ ~ ",.j" . ~'~ 1',~, at -~
dt .'
rJi~~? +c ti89 +1lf:J T
l!r dll ciJ . F 22
Th: .oon~t:i:Q;tI litr e'titiQ1l GmupiAg is, '&i\1>&n ~1bOl & ~p!Irg ra~o , ~.~ QGrnpanl}8 ~e .~¥e; diife~ equation ~ Ore ~$l ~mt Qf 1ibe ~'lf!j~
~di1fefe!1tiJJ Mild 00 a, tll~
~ '~r (:1;
l;; ;;:4~1 tYa ... 41f
~Wl fttraiUaJ darnph1g~miijt b.~~~~ VO:X1-
10.4 PerlQrmanG~ measures ;for ncond-dtdet systel1\$
•
I
I I
1 j
J ~
I
I
11 ~,1'2 ~ +->$
~1f~'i ~.~d'-an ~"pe~,1,s~j)
Dtl'l~it r~ppnsi:&~en%s 2m
TIle Q'f£I5~( is ~e: ~1\'I'LUt\C '-~nl'~ "P!b:i~ the ~ ~fSh9fJtw tlw~~val~l.f [5 & l~ amp1i1Y4e ~ tile 'fit$l.~~ lh~ ~£h~l i~ ~ ~{tt;L.~'~'~ ~nw ~ ~ ~~"Y; ~1~ F~ tlje,·~r~d.·'are1;~1'i$ ofa ~
~"~wtlP; ,
;t -~~!~l·~iQJ~'*Q,$in~f} + ~41tat'l! ~
S_ l' ';II ~ -w~~ ,1 = tt~ 9 = 1{P +" 61 .... ~ a:r~ so ff,~ -Jtt. ~ ~~~.Q.Atl.}l\wt = 1J;~~~qs
!t~ '"@.~~ ~,~,+-x~
"I'hemv~rgfu;J.r5t w' the 1iYf~~ llet~1V lhe Q1,l~1 at 'thAt ~ amt~:~.~~~~
~et5I'f1)at~~~W"~
'~f!J ~'~i (l~~) thtn.w~~
~~=x .. e~{~~~# J
=s« ss ,e~ (,I~~~ 1
~~~~~9$~\¢~~
~ 1 -$'1i -J "1100% ~~,~mh~f ~ ~~\Jf ~Jl
;... - Co '(iftm~re~lt 9vens.h®t1b'f~81
fkhre lti~"'Q'lW~'~ > •
dafupinl~'
~-:..l"''':;'''' .. ~~~~
~~Q.r2 ~~~iI;l1!l:S ~ .
~
S2-;'7
7-~.4 9,,~ l.~
Md9.0
. • • .. !I:I. steQna D¥!::!;;t\OOt .:;;;- ex; ( - 2{?f )
Subsutmce rdlio first ov=rsl'lO'ot . p Jl.- Ci
1"hc: S8~/1i1l8 h,PS: I, liS 'II.I~d 1l$, U ITICISIlIC of the llim.~ ~ r~ dretGsCiU~!JOM 00 (he away. It 1£ the lime:: taken fOr the r~r.:.! full MUd RI and. il:lllit1JiI warthm some spec L ~ed J1C rce.nw~ 19..1~ o'{ tile :neady·S"ta.tc vaJlle (see; Ffg. 10.15) This mea:ih t.h2! ampUrude of the osciIJano1l1 should be less rllan 2% of
ha'Ve'
and, as dtrived. CM.t1 er, P ;;; -J:'~I Til a nil'll J tude of the ~ill _ is (iii - ~!l) when :!lC is' a n)a..riOllJ m \'.B11l e J Il m<:J.Xj 1I11U[1 v~ ac:rur WfleD WI is some ~11ull iplc cJ ~ and I bus ,ft! lw\,,= ens all' ! and 1dn wt 111 O. For iJm 2% seUlui,g rime, the seJrJing umc rill whin 11.~ lIllL"<:i.lllUlID am~ll.ll1dc ~iS 2% or .X'~.; I,I:. Q o:t.ns. T.kl!.5
o _Ohu:; e-{te'li ~(xs.'S ~ I + 0)
tlking iogariUtms gwc~ In OJJ2 = ~Wn[ ... and since In (1 O~ = ~j,i or appllJ-Xii::nalcljl 4 Ih~n
The ~'l: is LIiC! 'Value Of !.he :5e!lllmg time it lh~ ~ Pl;Tteu1a:~ is 2!i., IT lJ\ pera:.~tage j,S 5~ the ;qMUo n "dOfIi~
tL;;; --L.
{(JJ~
Since Ihc: IIDle laken 1(J compl.ete ~ I!. ~cle, l.e tlw PZfl~
tllM,. is Jlr ~ . ... ..., tlltlJ ~
. "J. r 1W' llit h~q U~J'lCY. lind Sl nee GO - 2~ . cllt
time .0 ccmp'~le On!: CYCle \s l7df, In 0 S;L: nl i.ng i] nlt' {If l~ nUJlllbcr or 0SC'11L1lu:rru; IbBl CttUf ~s
ld thus wr a Si:1.1.h • ~~ me II td fi f.
~;;uuc:.
To ilhl5U'a~ w~ balr:. ~~ld r
Imt DfilUrul 3l1gu!W &~~
U'!X(Ucnlj Qr t. S HL Si, faeto.r 15. tp\"C1\ ~
~ - Ih-en the I
r I
1 II
to.5 $ystem . fd&ntificat~on
J. j.¥ .f..1'¢"' 5~
q. de {(
p; Wtd'ei~ped ~(u:'fd~ltkr sYtq~ wi11 );j~ ~ I~~ ~ s-ltl ~ppt «~th~f01lfl ~ itt·tf~re"< lO,to,. f"" ~~ can '!lIe ddum1n~ .tram ~I:tterrt~:m of ~ll~ firsl aw.1 ~ tJ.\~iljhG0l.S. wrt:b the ranD: ortJw~ c\'-tGS_bQOts~0.[.t. k~'i;l ~ ~\I}tiJ me da:~t mg t9if~(), Tlu~ n.g,t.~al 6:eq.ue'ney ~ it ~~1:ntW fl.0nt itL-e><'9U:1t 'bLff~-en ~uocessj~ overshoets, w~ ea ~ tl$t1 tilS vaiues. 1Q ;tt~ i~e. the ~ in!): ~~r~ dii!~~e~~I. ~ati0~l
PrQble~
1 A li'6i~ $:f%lt!t:n ~. a t1~ ~~lll'ot 4 ~; a!J(J a@.\ ~ ~~ tunGTI~.n M ~" \~l'hat Is- fi\'o' t~fm aT tAt
_Wtl(,ti ~uatiQ1l ~,mi~&tem1' .
1 t:-" ro.elt4rr~inLgI1lS~ fht'mli0!m~er'mt$:-!5 time; cQn~~C"~ liI.i; It l' lB Sll~~tlkm1 mm~ "beki~ at ~O~CtUH:l ~fn.ll~ ~. hot 'W81~~at·~-t tvhal Will ~·th~~pe~e.~~
~~eret~er'm.Jl@ s..@t.()) fit' ; ,,~
l It, Utle11ll ~~*6(~ ~1Pr' ~ .iJ.~ricS .'ifh tLf in~}
~h SlIbJetl 1.9 'a ¢e.I 'tnPJI'f ~~e; V ~t t.i me I ~ Q 11t
Wifrt1Mltiat'.~~~.n fP't ~~ltC1'Oi~!i ..
~*~~. E
c;tr .. ~1 ~ r
~t iJ<.~.a2~he~~~1 .(Qf ~ nur~t~l tqlJW~p, ~,~ !11ne ~nSta~ (oJ tih~d}'.~a l;:un:enl n . 'S141 A ,?eWtt:re U(e ~'t(fth~ ;B"Utpu~ ",af.jation w11ti~med!3r~,~
m~ut~9l ~ ~[l~Qr't~r sy]tb:n \Vitb ~ ~f.npifi;g ~ \
l" O!; ~ ~>.~~ (~ l.~ f~tl . .j,
.!l A 'D1- fo '"' , . ':< • f'Y';tJJ
~.~ O~~k!nn~ l Qfi~.nl.·; which ;).iQrtc-S ffilh ~j EiL~
~~:A Ste:p 'f~t,b! V@f4-s dc:~r~ ~
~-+ 1O~ .. Uil !::: 14J.,{
Dy"r-a~~~ What i~ {aJ ,tl·~ ~ fr~ut~l. f~ l
(~)~~UOQ;1~~,~\ k~~ .,
Ci \Ii Uta J "'" (t'
;6 l\~.m \"tas ~ ~~:t:t ..... '~~h \Janes ¥o l1.1.. u su~'t (Q ~_~ mpt.U.qf.) np.1 rs ~Wi .
ci~ A',;.'
dii .;, lC}-,& ... 2~ ~ SU)r
~1tat -is i.» ~. mm~ ~m.1'J. {b.~ thrl :d.'UU~~" ..
(~ tbe~tu'tio.n tI) ~. eqW¥tOf! If)· G ,~bt.1'L ~ Q
~ -1: ~iW~n 1= t ¥Ltl thm: "5l ~P.lliI ~ ~'f ':;'i ~ ~:<
I' }Ui_~fQ~~J.2Z'I i[l4tru w.~l=I ~ ff!f ~:EUh:rJ, a ,Lef ~
~ • ~'!ffi~ $~t rftQ~n~ or l~ H£ ~;d • ~~nt :fal.1.ar 4f ~J) Wha~ ""iiU ~ 4 e t.bt ~ .. rum ~nla~m~ ~ (b) IlW ~l~ trn~ l'1)eU ~ MI sw:1~ ~ttl in a~e~t1tknq
8 ~t l'!ilt ~ {~ lh~ tihJart\p&I @$Ulilt (mt~\~ I t1~} \ttc 'rtwur;~ifi..ij: ~0l, (q the darl1f1't.~ ;.tt)~hr ~~ft-~. t~~ I nse tm~~ (~~ We ~~U't§~ mLL>..lrrnn·a o~ 0011 t.f' l~ .P,2:% ~& tL1D.~ [(Ir .a $)~It'ro \~r[£b" t~\'t" [ht ~1'llWW.
diiewnt±a.l. ~~tKm· ~~r u ~.,I,tp i np~t ~ ~
u
11
11
11. 1 The t~$fer function
System tra Flafar functions
P:or ~l1;A1t1'p~'er ~ It is CbStQ~ to talk Qf1tR~~?l-Qf~ antPrifW!'. Trus ~s bo"\~ mBOh_ bigger fhe"~1}l ~ mil\ ~il.el.l 0,J~p;t¢d ~~ il~ mput ~.lgmU, tt enablfi'tl:ie' ~~b~ d~nCJllm fOT ~c m~ ..• T~ far e~l~~~ ~ ~ili l '\"cl~ ~ I? ~ve$ foc ~ t~.puf~ltnelQfllil~. ~,0mp~.JJ OJ :ro m V:' W illili¢ inputfis- 1 V '~I'l'~ntIlu.t elf F~ V. t~ gam stites t.h: ~lUat1ca" fe1atior~io. ~e~ dxe.,o* ~ L~j. ~ ;f~r (be block.
, , .,...
lJ.am;~r fun~~ ~ bp;pl~ tra~r~!;Qu'tt:!! ~~lrj;ee~"t1'ii.IJsf{h;-ur j)r;j n~'f..
W.ith ali the i'nil~al ~i:t~ bciTtg; IetCif. .e, 1A~ ~m.e 7${f. Q\I .• ijt w.hen ~ blput, u)'t!~'mte (If c:haag~'Ijf' -t:I,,~put \%0 l1~ ~ E.,uo. ~ta'~ ~ t~~ ~f input whh 'tim~ Thm'~ oo~t ~r:m 18 t(~) ;;;; ~(~)JfJf)~ .,~. ~ p;m~oot Qf ~ inpu,t
tran'SfQon ~IDeU~'~f!ntio~ ll~''t'f;pr~l"@:~ 'b1' a 1}lMk ~~grarn 'tr{~ i~ .1t ttre>'Q4N/j is l~ fu:n~E iTh Ow ~ ~~ ~i an inputd~\'n'(4 ~tl~al:\~ '~~, W ~ O~ljmi'(ltXlgl
Ttlfs c~fm- ~l!n iRO~~1'J. ~r )law ~)hl9i' ~",~ iJe';'1!IM fu relad~ifti;l tlw: ~eJ ~Ieti~~ of Wl~\ 'Pb ~f 'Q'~}s tlle ooaTI~ 1 s d'~qid ~ Ap~~h: A· ~r l!J.lpl(J€~ mid ~~JQWJ_s~: W~ E'U[~n ~rrg~'" l.p~J~~ t:.f tlte ~t1l~m~!ts f(jr&~se.n~
G
~itii)1J~ 2.\H'9lif'lli$ha~ fl;je,~CfW:I ,9f'"
iJ t
unit ~ a1teKd.fme'has '~_~~;'jl·H s
€I '1 ·t
~j'["IItnf~at,1~tras ~ ~"rirm of,l1 ~
...
"" , ~.
1 ,
!lrfarep:~iture.kSlne ~ ~ ''!he ~"$,fi!lm o/'a:!I{~/;; +,..~~)
,~., '1 '"
?J 1 i:¢~'" coo~ r..
~m~~f'}. QOSlne ~ ~$ ithe<~F~ ~f .'j~(~1t ~:Zl
j;f:ft~14:' U~fM~~Wt ~~$'
'i Tbe ~Waee translQ.'AD Qf 11Irsi"~Ali"lefut a~trl~i ~ .
~ '~-"'~"'~IS
1'~ fJf r~fttl}= iP{s} ~»~
4: !b~ Uplaoo~Qn1il fO'Ji: m~~oo(mdJ!eriv:~~ Dta..t~~
IS
~un .df {$ j(.r) J ~s~ Ftjl) - ~O} -'frAlll \1:-" ~GVdt U ~ ~t£tj V:lI~Y'Ui lirSt ~d¥ali~e,~ wOOn' lW ha~ t - .0.-. HO\'Vtlv$ir)i wmoo we are ~inS iWfu a
tltijis{er ':funG;tiqm \¥eJaawe: aU lni1:iaI etmdtti>Lll\i zerg. .
5 Ih~ ~~:tm~onllQ(jf a!lJl\~al gfa 'iyim«(tGn ls ~om;M{r~f:J~}~ ;frJj·
~ in obtami~& the ~,f"ffi$.r ot: di1fe~~,tial or ~ eqJIati49fit'l¥h~ air tt.'e inlti~ ~dfttqru al'~ 'zef~ ~:
RePlace ~~til1R qlame fro ~!,ECSh
nwta:rte a firsJ .ae,lfmtJt?:t t[((jfdllJJf·~@.)~ Nplaet: a..s(!bOIr{1 ~:t1tiv£ ~l«ff4fj1~~ PF.(J)' r,ep!lifJe (Jri;11d~'f1(Ql r 'f(f) iJt.1ry lWJJt~
. ~ ~mi~ manfpulaliQQ.S ~¥e 1l~2ttill ~~~ "Ntnrnnrn,,, tb:~~ l)U~q.~ \:ie ~Ds(9ni~ btltJ!-·tQ ilw t.ml~.i~mMn/ID· Uia~ the HWle ~ft:rq~s fn de: in.vet~e ~t~ ~ rite bme::d~ ~n~:ll Whi~f) fitg, the '3'4dGmaiu.; rostri ~ Ihe ~ '~"tQ ~ f'tarra'Ugetf1:a k~t- trJ.tb '~:WlfID glllU jn ~a- tt~_ 'ne;:roiA~~M~e Ul;ne 1lsef9] ~GJj im~I~.fl:r~ far ~ l~rs~ iCe th~!table &l\ttR.in App.ln~i:tX~
LPp/4£e Imn~nf} Func«oJ1:(I/j"flme
I: ~
,of +"~ ~~
~ .-.: l
2' _""
4(~~ ci) (1 ~.eNf)
j , ~ 7G -..!... ("~~-= ~ .. ~ I
{$4dj(s~~)
4 --t
(S +aJ~ ~~ ~~.e~~
S a
~+;Y SY,t.i{!rrt ~nsfrei iu~ 26-1 The. fuUowing ~iruts ilhitui~e 'ibe ~~li¢~ti0!fL of the ~""t. ro fi:rst~rd.m' aut:i ~W~.m.cr $Y'M.e:r[La.
C?ru1"UkJ ,~~s~ ~R me rdaltofilShi p ~1l Ole inp.t1t 4»1u ~~t i: in ~ 'fDrm ~r a r~tGh()r..ae.n$if:Eet@tL'tilllliqw;uilijil. ~ ~tljl "d\~!rt ~ -a;"t1;rm-oJde,r ~:stem Irs.Qf U ... e·J{'1JrUL
~~~JJ"" a~ bl;l'_~'OO~ y is llie mpllifad]l; the llU!tfur~ ~ 1Jeita; fmLctio~. ti.~. Tie h&p~ truns-farm d utis, 'lMln all hritia} ronffitiQns ~. 1ft
'Y'l~} +~~sli~ QG1l'\hl
uJ1:,.oo ~'~ vrrJl' ij1e1tJn~eJ mn~~io:~, G{SJ as
Ol~ ]
V 130 ~ li1...of1 (I = , - Ie It) ill
2
1l!.FI1JUlrl.;u.upl ,Judl h.:n.s : unn.sfe.r fUn~1t
Ulq iii WjIUt OJJ ~u I '·;md [,;;:1UP ra turf: mpu t Cl
~ £On!i I df: r an I ru pul;s:: mpul 01 ize 1 nO!lC i Ii: ih~ m~
ccnple IS !Ubj e-ct to ~ m.orn nUny ie rrtt:er:atu re lm:lcl!.l: of 1 O~C DC1e.rmme hQW the \ (I l. age ~f lhl: 111If'fllloca~p~c ." ants \l.-1[b ume and hence the '\ ohage after :2 $.
n tc im pulse has a transform of 1 00 riCQC~
DdcnmDC ~ response o:~ the m mbJ~ to a SiqJ
taplII: -sue I and' I ~1I;:e me II ne tsken to reach ~Nri
-.arad't -wal
~ the tm rrn of 11
die I. nd tl
to Ute pmducr ~ We uqn.JL, thdl
Heuce r :;;l J x 10-.11 C II \' ,-\fle-r ~ s the: w~rrnflCOUple voltage T -;;; l.~ ~ 10 ~ \
JOput s}
~ mpuL of size 1 J C~ r.e tll_ tt.mpenlliltl; ()f me
6Ia~ C l Ibropu: n n~ b] 1 C. l~ 1 001 s: -nnj
11.3 Seconcl-order systems
I 1
-.'i- =
Tht fixtion C1.etneflt lS Ilf the form 01 ~l.~ ,.t) and SO LhD
lI'\*eIIIt IIaniiQrffi 1S
]I!! 30 x 10 ~ 1 t 1 V
1'1Ie a...t. ~~ e the steady ... smre value, is Vi hen! Q:) ~d .... thI: t,q:,ouenual term J~ zero. 11u:: final "'n.l1)l:~~:i .... .&..::..._M!I, ...... 30 x J(r' V. Thus the ume lal.~ LO n~~ch ~1 9 ••• ,dSi~~
M 10 .... ~ 0 X U'I--.II: (l - e-ll1jl
3.[H 1lld 1n 0,05 :::. --Q U. The 'U rne lS UuJ.§
The above are tbc geoe:nd forms taken by the transfer' ftinttlQ,Q
a ;stCOod~r S)'Sl~m." "ra
~ a SltQOmf4i~r ~J".§tan JS 5ub:~ecl to a Uhi1 ~fep illpul Lt f(s);;;: s, then lhc CrI:atjl'U l II8 nsfbrrn .LS
!t.= [j ;
\\"0\ , , J;=I! [I-~~
1
Wnh I > I the square reor term JS: re;1~ .. llld the ~!;le_m is ~ 'l!r" damped To find Lk~ rnverse trarrsfarm \\ ~ can either hlSi' ]UJ11tl frncthHlS 'sec App;ndix ;1\,) to break rhe expression dw;n.\11 1:JliO 3 number of Slmpl~ ihl,Cuons or use ueru 14 In the Lab1r L'II translGmu: lit ApJ);!lldl A the resun in elthar C'flse J~.
t b VJ.if . " J
-pr 1
WUh ~ U Ll" ......: In .I~
r t f rm I ,(~r nrl "u PI P
~ Ie n 1 • , d Ifl ~ 11L1.; 11 N l L II
III ~ II 1'i ,4 iystems in sef-W.s
11 ~S Systems ItRfh 1-eedbaCk 'pops
H~r~ ta~ i-"¥~j~l§fbJ1'p' is: 'I == WKl-}K ~ ~~'+'; K! e -~~
If ~ ~s¢nl ~h~# ta: tU!~(. .~~~sten5i ih ~~ .
Eif;lm,: 1.!& cl'jIIl, tbl!'>franW~pn G(>:h>f tll!: ~"gl..:o1:j~~~ ~ .~.
JIrl »~(~) ~X ~ . ~~ ·GU) ~ lttJ _' ~i§J :¥ ~!Xg~.JF2af
;;;; (j 1 CjJ'~G1JJiJft,(:jj~~'
~ tI~#·:t:;.Q~ t.t the ~~;I$ a l\1lllJe_,ij: UJ~> ~uel af %. W~ ~. ~ ~ ~les :~~ .. 'Ifu:. fttl~ ~~ l~~~ OO~ It has> beun ~ t:Imt. ~...Jl'1lJ~
!ijSfj!JIIf:are. IJlikcI i~er 111mb.:! i~~ll!ldb?~r~ ~~'tI:e fj~ »,IIiG I W/i1uld mill t 'il. 6'11jj O1J;e5'_ ~It 1n~1f lmllSii:to~.
g~. w!t~.QlectH:ca1 ~iGni~ ~ iCai;l ij~ P@t~5. WhTL!lU~~h1 tirtrWt: jl}~r,a:l;td .f~d-AAc.h ~rl\~~
l What win iI.! t1it b'ans'titf fu;:l~dn.fur.a ~~~1sr.t!tl1l
t~ .eleinen·rs I.B;} ~~, l~$ tm:aSi.er i)iMtmil$ ~'Ifu
*m~~ ~n$ i~~ Jt-?1,c~d 4J(;re+- l)?
U$int Me' ~f~1'2 d~~cl~~~a~ov€
GtrJ~tO:x ~~--1-,.~mr ;f+4 .){$'.~ J'
'l ~ flekj~Il~!I~~C-J'~ e.l)rtsi~ .q'i' Il;t~ ~*JI~ iii ~d~, t~ ~ll;lt'rfuu~'t. ~)e ~tuJ'~ ~ii m:rd .!.he"~~. Bj.J~ ],LJ 'ilh:l!$~r~e"arrangalU~14119 IM~,;r~.~¢
the $G~*~~_ ~~IDerm~14~lll~ u~"er-ttll y-~tl~ fuqoli.Sb:
TI\~' ~(t~n l-rn~r fJ:mctiGl) is .~h~ ~(~~~'¢r tiftll~ ~ ~funCI~Q1l&<.:}I tim ~ ~1~!-l1t"ttfS, Thni
~~~ 1:yJ~fef ~flcii-o#S M
:I,
~"r !l\I: P!l!lJ bAv~ 4 1m.,. f\,"~""t:(» ;'" tb'li~ <mol; $~Ild<'fj!M fur I!J!l. ~ ~".& f~.). llie.<:rui .... ne!'" "' ~ kJ.~ ~ rlq.mu4tfiip~t{gmJj
. F.:i~·~ -~ ~llI!.1ll'41l!lll, l~ itPI<' ,~ 'bii~b\]S!tnJ ~"g lIle l'6~-1>O!h tr_'*r ~" ()l{t) it t~.f} Il'liIilI$ llie f~ ~~ ~ ~~k 1~k'{s l; tr~OO'tt ~ M ~J {lD<l·~)lf ~ ~1lI. X($J, 11111) ~ ~~ .' ;., H(!fWlo). Tb ... -tli~~~~ ~."'" hl)mt 0# i'~ _ ~{') aiI~ ~ll~~Jt't§jo~d ~
Le.
fig. ict,3 A"macur~t+~ ~~
Tbe ffiedbad, p~ih b£i5.)i tl;artqt'ex f1.nctkrn ~! k_ ~
c,w;eIhl1 traRsft'¢ fiIDctjon is ~
_
tS~wtider a: £rst¢der ~~iein w~l$,.a tr,p:,~$ t4(t,GU® Qf,I1{, .. ]~ W11i ~~ioot 10 iID irtp{t't of 1% 11 rn. t i:rrt'PlJh~. n1h"~~JH ~~ = [l/{s * 1 n 2=: 1 and {hill ~ ;;;y' e-io_ As the 'lnne t \~~~ ~ ~ OJ,ltput d~ a\\~y "i;0"4We1U\lnlly' be~e', -teF~, ~~ "W~~ wUl impul~ jnplJ'L lp a 'W~e,tn wi{b fhe b1J.(L~tel fun~H~ 'I rrs - n ~ eutput i& tJt'e~!t ~ ~_ ,As l inCFe~ s,Q, t~l\l]~n.mi~ ~ti1 titn~. 'l'hu ~ m~nwrY ~'tlto~~l'S~ W ·die ~m ttf{ ff$rl~ in an ~~ mcreasing Qu:~~uL tl~~~~~~Jl \~1h tl~l~t,~~t \~ un~}J,~ 'I'i:ws, iD gei~er.a11 :f~f a fuS'E-~1fi€T ~stem ~iEh· l!afuftl fun:.cPfJD U{s + p}, the syMenl is ]:;fdbt$ if' \w ha~"e' (~ .... p)" kf~l~ ~e t~ negatilre, inld u~&bl{; if 1¥e h~vc ~.t; - p)O(, i.::~ tht :~I) l*O~~u{e (Fi! .. 11.7,},.
A .sysJ~ is tIGqlf; ijtfJ£ reaJ {NIht ()l;alJjl~fr ~t)W., ;4 ~w:t.em i-s l~l1flqbk if !he- i"e&f ppJ'!1 c;f (lh" @! tt, poNs .If f!O;.tl1ivt_
11~P Ef.fact of pole lo.catioo on transient resp6nse
l
F:fg a ~d-oi'der SySA.tm with "l:r,a1l~f m:uct1,,~n ~) ..:l ~--- P,QWi_
;:. I ..___
_9~171t4k.s·+ ~
heJ~
W .~~J<~ttl'll t'l:mtt~mpu~jnput:
n<j j :;. ~ q~~
}+pl,)(;-"~
wtt:re'!?J ~lJrl f~~.&ilie tJJO~l?tUle :f"lf~k)!fl~
~~~ ~n ~ val~ 0f tReJht~l'1l~ ,fatlor so me term; W1dtI .~. ~t~ mot. ~l cf.a'e bt. ~i c; l:rt;1igJTtH'~ ~Vh~~ ~~ ir an !m~~ lerrtt: l'fu.e Oij.tput 1.}:I;'g.i~s; 'wft ~ttill3~~. ~r r.:_"i~i.:mpl~ ~W$~ wf#, ~ ~ ~t0~fI.Q,-o~r ~;s.te IN 'jk I\~l tr::OWi()F fu~'iifJon
j.e. f.t :;;. .,,-%±:j L "'Wb'eH<jo>Y'PJtCl t~ ;i1llr;riI 'mDlil~~ l:rrplI~ thwffi.cnPltl T~ e;_1.r>M1l t, The~:Im~ltm*~lhe QSeiH8110~, ~ e, e-211 d,e3 :a-way:& L1m U;t1H: jncttir~ ~fL~ so d$t )'"~em of th~ lmpl l~ ~ ~ ~,W(I1~ d:~1~U.~1±~UfJ .[F1l- ~ 1 :sts)). The ~·s~~ l~J;fHbre.
~D"p~ jJ~-#:t~'Vfl:l:t ~;e ba~"e ll~m ~ frll·~~~ f\1f1&0;n
tD~
fiQ. """ ~~rlirld~ ~~ht$
~.E:l~norw.~;r js4h~ ~l +;s'" K. Tihis ~1!avlLfu~r~ -l± JT-4!_
S='--- 2
a~·
(l.
11,,7 MAT~B'and SlMtJLfH~
CorojNtrei" dware can J>e. used .nf aid. co~puta.tiqn a~ ~~ oJ sysrems~ aprQ~. that ~s ~off~ 1J~ J;S)U~ ~ f(.1liawing is a b'rid m1tedtietHm 14 ~A~AB ~~~ ~tM of. th;e ~wctrks Iac.) VC1S1t)n 4.1) OJ' .. f{(
.addl4,onhl .i11l~roOOi()il )'@:~ are rtf~ttred to tl1e' ll€eF ~ [t ti:xtboob SJJGh ~ The. 44 T~ 8 lf~w4!;diJk ~r EVa l@.rt."B~. Ande3'8jf)berg~ Eo Melin- apd :P,crnijlfj .~Si;;i ~ (~i§on"W~
1!9?} arm U~ .. ~ TL4.1J to Antl~V2'f ~ 'Dfi.$i$il €M~ i~Wt'ifi£' 21%d ed Hian , by fhlttmJ Eltricjj L:eonaril.and W'llUam &! heVin£ (AddisOu- We~ 1$9-5)
~& -at~eatere;l.by ll"pjng J;tJaID in. after (be :prqmpt iQt then prtssiPS the enter af rClum 'k~~ \ n ~~ that ·the ~ t:an 'N eXecuted, In the dis{;"tiss~OOi M. ~! ~Ulnal(~ ~ U1Iim, this pressi~ ttr We ent~T or r®lm g~~ wjJl not be~~ bjn aobould be assYm~ In aU G:tl~ To "stan ~0Th~ 131 \"wl~ OT the: ~fnc~laiLl systeb1S, eii€'k en the, .t-..rA,,1[.A.S ioolt ~~~ type 1'Mthb;. Tbt, S¢~i:I 'Will ttr~n ~~t¢e th;e hI1.ATh:AB';Pf~n, ~>. 'FQqull MA"cTL4B ~w.q\lit-br ~~l~ ~!fie ~romJ1. ~ tdATLAB e a~ Wl&itiv.e, rO\vet~ kfteB J~lU 1re ~ :'thrrn,l'ghetut fQ.r eormnaads.
Typmg mtp after; ~ :r~~ Of sW~ ~ l\tl~:from ~. ~ "bar ~ the totl of t.l~ M..A1l...A$ \\~inlioWJ dr~la-y$" !~.~ MAn.AB b~'d hMS ~i"~ Ttl get'~ ~1\ ,a ~'~cu1MltfWf~ ,,~ !i~ .~.~~~ :t~neLlli;al.$~. type, 'help expo yypjnr iO~.f ,1: .};Rtne ~ '\1\11 mstrvzt.. A "fLAB ftl SeMen for ll'lf,Qr-Gll .
~ t~ic, ~1i~ loo~r {'n~ ~I~¢~y a. lUlmber rJJ~:Co~
which coo14 bf €CMKit\r~u for i1'jt~p.non- ~. .' ~ .1n.g,~RI., w~ QpcfaltDE$:3r~ ~n~~mtet·~, m l1le ~ Way: ,as ~of;$' 'woWj, be ~rlttE:n,en ptl.pmi;F'o{~~
>'> n~~.
.~~ ~"iQ 1Pi(~
. :d.g1:\l~)~~
~x1 si"rt(*)
~x} ~~J ~jllt,cJ
~~~) :awl(.~,
C:lC~>~~
. .. .~r 1.11 •
. '.:rJ,. \~. .
i-: . 'IP". -. '''1'
" L' r' I _'
T.· I. •
CI h·~ L leo-os -~ Git_cs ! han ..}-
e ~ fuuecion }~~t4n(~) ~hich}~ t h~.file ~. to dtt~iJlf ~ vaJ.~ I.:,ty g;t ven b, tOta.u x, Su~ u ~"file ¥~ be ea,fied up in ~ MA1L~ ~~ of oolnrt¥l.qds by V.l1 tlJ~ -tbe Jti3(&!bUcW,rA b~ the ufpfn.. !;'.,.g. (.'1'J~m~(:(), IJ 1& to {fi"St ahetl.e.;;,t inr!~"~ HI ~1A. TL.AB and is u...~ whsn lh$ ei;;t.-1.n~cut 0fi ~ IS ~t~ However, Ui:{; tilt GOUld h8¥~ bed~ u:$.er 'l'ritt~~, A 1tmtb.;m llia has !lnu.[tiple. t~pjJ.l$ 'ShQ1,1k~. list ~]l d llwm in the ~ smrumem, Llke\ i~ ~. func~&ol1 tbai. l$ \1) return mote thai. one~ 'ltJalu.e shout4 hst ail. we outpp~:;:,
Lines that start l1rlTth '"i~ are- "IQ(ml11'1Je:nt U8~: they llre tLftl i]l.rerp:ret~d b) MA TIA_B as t~IRma!ldS. For ~m.pl~ ~~~ Vi? Wnr( a prngra.."ll tc cl~tennirH~ the rD~i:..-tne$ll .. ~u¥e values: &' 3 SIi1&h:: c,olurn:1'ttJf4ata pojnt..~, the p1'j)g~;:un lJ!H-ght *oo4Jlke:
function y=ur~.x)
~I' rms R~':!Ii metm ~uafc
"ij) rr~u{Xj ~j ves t·l1e' root. ~~ ft Sl:lm~ re YPlJt!~ :pt ~ ~e" % dwne-1U$ fbf 'Cell] mn t ~tuj: x,
~-x("2_
"s=-~ ltIt ':J
" -~rt!SfJm1" :rr;.nFs)
11 .. 1.1 Plottift.,
''I\~tbdH:!l;ef~km".:ll 11 n~r l1i~ls Qa.n."l 1¥ pooclu~~ ~~' 1..186"1 go 11l.e_ J'!jj0t(~,1t'~ :m1l1~" .... h~(filiMl Lf~ ""''l!~WiS -if~ 1l~'<4 j"f Fer ~awp*;
"""e "tiu g.l~!" h~ve:
~~tO 1 J 3: 4 !it ~~IO l 4; ~ 16 1$1~ pi~~~Y.}
r~ (i(5J~4~s-ht8)1' ~~'Jtj'''J~)
n.utl =-4 *l a iOJ~ .
d&n:w=.oom:tH .5J. fl 15 D;_ priGtsy~(OtilJl..defi. :s·)
TJw. oo¥un~tnd n~ ij ~~ "W il'ldJ~t~ tilO littfrnera~l CJf ~et ;functW.n. m ~Iltilrt~ ptr\wrs 'Qt.s, The: eoE"QJfiatl~ .. ~ • ,,.&I to i._"'l.d1cab:: the d¢J1ClJ;llinata.r in ~~lJdiDg .~t;'rs Aij ~
~ ..... ~ , '...:J.:... '. of a-;t... dcih of, the w.'O po!yn01Il1i::Us. m b~e ~~oon1JJ\a:r,qt. Th~ !;t'mm,..~
conV' Illultiplits·'fWCr pG"'Ylb~nlllaJ5, In. ~$ C$e tlt~y -an. (s;·;~ ~~ + 1St The pi) ~tsys OQnlloo_!l-4 d.tsPla~~ the tra&~srer ~l ~ witll ~ num~rtHOr and d~fiC.n1.mato.r ~6d a:rij 'Wtii{tn ~
~o-1'tl3ln, .
SomeflllleS We U13Y be trre$Jlfoo.,,~ a rnmde .. tt:1nvtkm :a!
ratio of two polrnmnliiIs wW needto find the P2)~~ ~~ ~ dUs we mn use'
% Fbadmgpoles and zeros- f~r tk~ U'·ar\.S~r filneti4iM1 % G($r{5s·~2 .j...3s +- ~)~ + 2sJ\;2. ~ 4s: t 7)
num=t534].
dm=[l147l,
rz;,plk~~tfb;p(num,aen)
r2:.Jl.kj=tflzp{nllm .. d:f'~} is the cOw~'rI:ind to de'tennine aor:tc!~ ~ zeJQS {z). poles- (p) and g.1in {l{}·of the Zkro-pol~~gai~ ~ fun.etion entered,
MATLAB can be used to gJ.ve_gr-aplts s.howingthe r~Se·Qf:~ system to ditf~r-C"n[ inpuES~ Fer e.tamp]~. ttre tbllo'Wirl( 'f~ Ml1 give the ~nse .of the ~~m to, a uUi.i step Iflt@1Jt ~(o. witJl' j spccwai"tr}Jl:'tSfer funt"tJon:
% Di;SJtIay ,or ~~ lil a sttp·in:pat:for a ~!tm "1tJr ~ ~numfien G{s) ~ 5cf(,gf2 .4. 3s.;;. J 2)
nurn~S~
~=[l s 12t
~'firnn den)
. 11.7.3 Block diagrams
~lltml ~ns llte. Often r~rewnttd as a series of ~~rCOnmctei:l b~" eaeh bfoek ltaying $.~~ ~'"OO. ~n.Ml -aDows ~rns .. ~o be. Q,uHt 1)1) frGfll fdtereo~~ b10cksL l'lW'O:unma.nds. USed are ~lo0J) when a block 'W11h. 4 ~f~ ~-laop t:rnlf,ife,rfurtcti(m has urtity ~aek. tf the ~d:A oot unity th£ oo~ feedback i-S'llsed-, e,g. WJtH F'~ U. ~ 1jS.~ ~tbepr~:
,$,.-b ~ ~ fced,baclf..; l~np ~nl}·
dP$m '(fJ 31li 41)~
._ M
""JI!'
L.....__
Grspn
s+1
,.........- ..... + ...
r .... lis .. S'~ '" 2 s.:3:
~ ..
r-II -
~
_,~ Slim lrriegJ:alor Transrar F" 00
V~
,~ I 'Nhat .l.f-e [he t..rin$!~T functions fur ~'5[f:m..~ g1nn;g ,.he f.ullov.'r iDg illplJilrmtpUI re 1a.t1ol:lshi pSI?'
Ca) A bydmtrlic sy~nem has an input q and an ouip lJ lh ~~ hfh
""' - .. db. + PI!
.., -."':Ii dJ R
(b) A S'p ring'- da51tP9.~ -mass system Wi (h an inpul F ;llllllD ()utpul.:c, where
dZ M
rn dr1 +e dt 'll"'h::::: F-
Ce) A;n R.LC citcuil wn.h an iDP ut \II and output Vc where
:; ¥l'I1ll ts Ihe OUlllUl II IJ 5/(.~ JJf In.d ~bjecl it):;rJ; nu S!l'!!p 1 10.11 t ~
6 Wbal I,) the QUl'j)'Ul Df "5Y::fI!m j" ng e
= 2fi (I' + l)(:l ~ lJ ~ sub~ett ~ u_ l '''-'-I.c..;.o.J'''_
, \Vbat we n.llf. o\'tml1 l4L~~ fJ,llti'\1..l:EB n\;~u\~ rtrobutk ~}'5tem .
F~f1rrJ paJJt (a) (;{;~j"'= ~.f 1~' " :i:+ ,
l ~ - 1
."
(b) ;(t' - sI
(c)
(d) 1\\ 0 Srm~ len n I "II r:i s) '5 21ft + j) and G..l.lI~ UJ~
11) 1 j
I]
, ...
,.;-. ~. f
·1 '
13
13 .. 1 Continuous and discrete- procitl$sas
etosed-lee controllers
~n-Loop Qoril:r61 IS ~irutv JLus~ a ~tc.b o~@. ~:fum, ~I epflltb.t. e.g, en .g1oot.ri~ flre i~ .e~ switcfied, on ~L«jn brd.ei t~ keat. a [(10m, Wit!t c.losm-I~p "C-enttol ~ste~ a COJllr~~~ FS Met( to· GOmpare the Ofi.qnu .M ~ sr'*m v.dth the ~ conmtioll ·and e .. ~n:ve;ft the error i.nte a 'Qollt01 acUQII d~trl ~ :reQU@ 'file errQr, The emu mighr ill"is"e'Mia t~·f: Of.:sQIDe ~ 1m tn¢ cDndJti~ns beu~g. wartbUed or be~'use 'the ~t "abre ij
. cbangccl "t\g. there dS a ~p in]~Ur W~ '!he systml, ttl ohanM tM set value !D a ~w vWut£ ln this cQapter we ~ OOD.Qe"rnCU Mth.~ 'Waf$ iJl liVhi~h. wnuc;ille1:s can teacl.. fQ error ~·sr Le, " ~of{tfql modes .as t~ ate. wn;nWf" wftiQh ~Pll 'With wnt1mrOlti. ~. Such eolltrpUeq;. .4 fOr ~p}e.: be. ~blnUrlt systems or il~mitmaI rutlplffier S1st~ ~u; ~ sys~\'JU.& a:u r;_ap'ilHy 'te~cilI~ many MQlee~ Tb~.;(el1lt f1fhrl ItgiftJ! ({1lPtrvl i:s: usedw!\en, the t:OJUpuftf is In the ~kbp l'ad e~~rCjsj.~ tdntrGJ in (His way~ ThIs chap1er ~m, aBow c~~ l\()o,.~ coatr,ol(
~ pr~:s:s&1 not only i:n~~lw Q0:n~Uing, snm~ vatl.alW; ~'l temptLatw'c_ to a ~rOO vallie bat also Wtvoive the .5A];t]~
Of ~tiens_ A w~tl£ washi~ lnaChmfi <!~ &ecnM ]A.J) \1'~g're . a Ililmhet :(){ aJ;tiiQus heave Ill> be cam.cd "fl'JI' 1l1. ~
.... ;L"'~ • ;::., "tro tfut
l}l\"~le~m~' ~\jen~ iTs' an. ~pl'e. A1tgther ~~p1e. j~ .
manufacture: Of ft f)1·6dij_c~ whith hwolves fIre,. .as~mt ~ u nultllieit ,or diWfele padS in a s~m 1reqAlmoe by some OO!lfrtill~ ~lenJ" rh~ saquenr;~ (if Qperatiems 'iniPft. ~ "t!Jac{{::'!J~ II e.v'eru-~·GGW or a ~QjllaHoll of. r.bt ~rb. ~iji a a!~it~~ ~'l<:m !lIe ~IlJlS are Qlrried Oil. ;;r( ~c li"Dl"t.t ... 11k ~ ~~~~, sy~reIll the aeti(l.n~ ~ c,amed Gut .. wb,c~ ~ II f~ba~lIla !~ate that a Pa"):ticular event bat·IX~· ((It a si 1l,e kl!ln Pf'ilgM!n1n'abk 1~tJ;, ?&11hOU"" Q'LC)!S _. ~'
~ . 11G1IbQlI.ef liast'4 on 11 fl"UefQl?roo~mF 3lld tjPWO~t ~~1I11 the. ~~t signals IYonl ~rs anl1 ~ml ,(lut .. ~I' Jl!b11ctibns wbieb have been progatnm~ into in me 1110 ry.
1311~1 Lag
In'~Y C!lJn~1 S)1t$m tht.re are lags: n~us, rot ~wnpte~ a t_h~ m t:he ~ruliti'(m i;1(mg qtmuee. does nbt ~ld)' produt-e ;! ~n&~~:frGm fue.comrQl syrttm This l.s ~ tiut(! is "Mult~ h:r tfle, system te -make: m~ :rrecessa..-y reJ~~, f1.Ol' €'~pL~, in tlw~m!i01 <Of t.tro ltmperarutt in, a. room~'" means oJ a 'Central heart1\t ~£tem~ .a la:g ,,",iII ~T ~u UY.: room ter.nper:a[ure . Mllnt W9w t~ij -req~tr~ *mpc.RfUR and WL; Gulllrol Mstem re.¢I6~i"g an.d ~Wllch1ng ~ the Dt"dtef, ThJ~ tS not the 001;' lag, Even when we: rootrdl ~stem !1~ ~"101ld.;'d
~ 'M" 1~ ......... -t fifo ""'·~ml;. as. imf ":JS taktn
titer-a lS $ lag tn t:.l.'11:= to01fi ... , •. , FI ~'.nlJ~"" ... "'jJi .......... ~ ' ..... --Ii"
fur the heart ·to trmtsfer from'. tlJ..e l)~r to u.e- air tn lb~100m_
.€p. __ ~~B(.{}" ~~s'
Tn Hjustmte·ilie a.b:ov;,. CQ1)Sid~[ a lUdt~ {ecdbt~l;:Syst~.~ eor,;'lrd-pM}l ~ function ofk1(~ + l} and ~~em t'a:~ ~ inpUt Qf If.t.
• if'li:f v\ f'· [ 1 i ] ~
6$ ;: !9.r~~J ~ ~ $: I +kJ(u"+l) S ~ 17-,1;
T~ is t:b(lS,~ stfS(Iy~~~~r~4:be;,ontpllt :&Pin the ~ISf~m-wln ~-er rutrin lhe ~~ value.··lSy iaereasiag-the g;ain t ~!f~ ~'s~ then the "Steady·;maieJ!IT'Or CCli~ "be lSduced.
Ha~efer. i( the 'wthy ... feed;ba£t. 'IY~~rn, ~, .a t~d-pa1l transfer ~ht.m df ltJ$;~~ + .1) and "INt' ~bj£dt to .a 'step m,pu~ dim t:he'st~S;!ll; er;ror WCtwd,oo
- I,~ _.r:'( - l' [ i J J ~ 0' If~ ~ ~ ~.\.&l- lW $ 1 * k}:s.(1:ts""T:- TfSi -
13 2 Cqnlrpt modes
There Wt wqibet Ofw30/s by whlih "3 oo;rttto] trrul: ean mL\lJ1!f .P Cr'f6f signal aad mB1cy D' ~~..foE tp~hng elttfl~ti.
I l)e lw~skJ) "fhw In~ w}libll 1h$ 'Wntro]~ is ~~aJly ~ ~ iw.ittk w~h -is: ~t4v~'~1h~~ s.i§U81 ~ ~~~ Just an fJD-atf-eo~ng sgna] r
2 'l"h\:' ~JffUNtfil m<>li$ {P)wllk ~Cili II ,qoliOO1 ~ ~ ,18'1 P~e~ to. tim errer, The ~wQ:eeUN:;~ . i .~'ll1e8 ~i~ t1fu btgg~r tlfu: m"t9'r. ~'«5 ~~!!re:. ~ncen the ~ or $O:B«tibn is~&d ~
CQn~W6-. . ,
...,.,., ..... ~6~J{((eSS ~.(lWS ®wn.
;3 'l1!'I::. - A._.- ~"''I11JIat
. }I~ 'U~lf!~J~mq.. \D) ww&b ~q.ce~Q eon~a~ . t
~ffi~ tti the tate __ wlli~ ~ 1e#dr 16 ~~~ the¢. lj1 a sudden clWil,e:' m tile ~1 SJ,gnf fs l' ~bGU'lr &rv~ a tar~ Mn;eeting ~ ~~ r : w~ ~rc~~ ~ Change only. ''2 &l'llall ~~n~ .sigcmI Hi p~
.- ............
13·.3 TWQ.-tstep mode
01'11.1,--------
e~ret Temperature~hl»int:.
5 CbmbinatiQl.r~ (Df ~:. pl'4lpQrua:nrii lj.:tl~ ...ar 1 ~ ~O)~ ~rti(mir Vlus. Ull;egtal ~$ (~1), pr pnr n;
j ft~gnq l1ttlS -dmvatiyt 'ITt. <E'-illJ,. Th~ ~ or,: e~~ roo' ip i'S li~ for pm oonW:U.
'Ib.e5$ 5w l1iC&..~ of eenrrot w.r~ rJ.istuss;(1',d l~ the i ] ~~
Sbttil.'}1lS ofthebliapti:f' TheH)~lIOU03f can~... ~trmd bl
:.}'i-eaIfS Jpf~~ drCllbs, ~n.Mogue e..~lm~~ ct I .
m'V.P~'ViBg Qpet"@tioI1ial &Q,p.1ifie..ts er by t.~ ~ In t. IUiiCl"op~ ot etfmp.uter
~ s
•• I •
I~
I I
__L_- ___
,~
\ I T~r4ure r;c,.nl~er
SO' ~~ Pl'W'Js
F .13A ~ep~~';,~
~ W11r Ji~ ~wt.:ch PQ ..ts.
- ..__
Q:
emx
Ffg.. 13.& P~~~ .. ~d
~.rr ",'n..!! l-"..;..t tlwrt time liIO"bile the heater' .-. L
h..e~:U~ ~ f"-'".~ _,,"-L , : ..., ~ and' .
~lM the .~ the f(,:IOrD :iiffmpetaMe. goes Oey:Otm U~. fl.~
value 1M ~:lIH is ~h..~ rllff room ~~Nil:tru<e- ~I~~ and bclmv ~ ~red tmll~ratlJtf.} ~~g, 1 ~ :3) ~~
wBth the ilinWe tw£ys:tt:p 5YSte..~ dtst!~ ~ve: ~8 ~r.fm mat when tit&":ootn tem~Iit1ft&~ ~Int.abo~~~ 14 \alu: rh' thermostat ffil_gh~ be ~:1;mOb1.. 1J000t.m~ly ~~~
.... J1I · .. "t:r!.nf1 '0 Vtll s1i,altJ: (>hang~i rn t-$lXIperatn;re. ~'!. .. W
~. • 1-1- ~",C:P. _ J.·~U~ ~ b(
vJJi~ f - m5~d o~ just J ~~~le' w.~tu,re "'aJue at w~ t con U:oU{:'( svdtM% lh~¢ ll~tcr ~n t; r 0ff. ~ \ia:.tues JU't ll.Sft.d ~
lhi' h-tt~ IS ~ltthcii o,p. ~l: a -lewer i·~~atur~~aq ~.on~iIf ~.bicb ~I is ~'Wl~C~ off(£.~, LJ_.~:t. Th .... ~ ~M li,Qrnti~ ll..~ er Ute "- a~~~ hr-!l!i~ the on alH~ ;Off v.$'Ucs. .4. 1~ d~ ~
~$U1ti 111 wge t1m;.['tt.&~s of ate _ten'lpemtu~ abGut Om' ~ tcU!(ltf~HUf-e; 3 8~ deatl ~ ~1I resuTt I~ ,an inn~~ .frettikm~ of ,5l$llthl!1g. ~ buPlcrauu~ :!~~ t S~'Wll in F'l@;ID! 7.49 has a PCl11l;;trumt ril~:gnet for. SVo'looh OQ~~ tN~ haqJ: etf~ of pr,pdudr.g a dM~ ha na,
'f"'V,-SlC'p Q:mtroI atiliO'i:I V:;I'ds m be 'used wllerc ~ge:r'ah [iliJlg rml;;~' very "SloWly i eo with III prr..t;~ lflth 'a' b.f~ ~~ ,Htce;, Thfu:~ .. n me bse {.1f ~ti.fig a room, the effect of _~
~ ntafu on L'}'" oif on the room ~el~rW:tlr¢ is mn1 ~-Sl0il0' C'-ha~hc The reUlt of this is fill o.se:tHadnu wiUl a hm'g ~~
n(fre_ T"'~ control is thus not \;'(;..,-. P~ipef e1J1 iHt~'11fi'tl1re simpie Qe\rfre.s and is ltms fairly e"treap. Cn.--O.il1 OOnlrot i~ RC\ resuictal TO mechamdl S'Witoi't'tS sudl ~ bitb~·~ Qf relays; rapid w..-itclring can be ..aeID~tQ- with th~ me of lhyti5tor c:ttr.:'llil,q (ree ,Seaion ~~1~2~), ~l:cb ~ cj~i[ migN be 1:£Sf:d h eo.m r(;Jl!~i i.ht;, ~ of ~ 0lQ1.@ r ~ .tilld o_p:erQiri~ ~un-pltfi.eU,
W~th th~ two-Step m~he4 0 f eontrol. tlle ronkP}]er. -OUlP~1 ~ ~Hh"'r ~1 .. on or an ()f.f ~ignh.l, tegiirdle~ 9f lh¢ ma~utde 'fJt ~ etrnr. With UW proporJ.JQni;1 m{Jtf~ l:lt$ $i~ of ~ (jolt~W ompUl I$> ~r~poro'QTIa! to mt: stze rJf ~ error, Thf~. ~ ~ t:Urn;i;dlOn el~l1t Of rh'e conir() 1 gy.~ e .. g. a \',al~ ~ Il ~~'¢ a ;ligna! w.M~h is pr~rLim~J 10 dw si'ze .of. the ro.r1~LJil
~ljlr.ed.. -
~'tgure j 1. s s;huW"$ 1'Lp-\\' the O1H PIH crl Stlcll a (;oott-{)ikr• \~ ~1tl1 the size and S'igtl of the. errer, The liaaat relanoP~ betlV~l) COntroHer n-tJtPUl and error i."t."1ldS 1b -~:»'T'~1 only ffr~ i Ct11Rm (~nge 01" Crt~ ilils mnge bemg vJI~ the p'epa!{~1t~ ~qtJti. Wtlhin t1~~ Pl.OVOfUOl'5al ban'd t1t~ ~ua.n:an -'If lh~ -Slr31~
lirw; C3Jl oo-repf.eSenwd hi' .
C-:nange in c::om . .raUeF-output :f':rGnl$t ~fl:t -= f(~
w~re~ is the ~nor at.d i{.p -a mnE:f3ru. 'Kp Jt; thus U.~ .~en[,ctf tile strlugJ:H 111.i~ In .F.i:m:. re 1~.:5.
tw~ed-.~~ !,;oFLtro1 ~'t 39 _
l.~ ~~rl.)llef S'l!Itp'lf"'l~ g~ta1i~~:oC~ at a ~P-'.olagc. ru ~li'~ 'full J)~ <If Jl!)~t "~41~ls "-'i.1Ill1L the <>1<JjIo(tji)IiaI "" cl ,.~ o-~pm. ean ffitTI ~r~.J loP, 'by. i§. ~'fletti{'l.il ~~\\ i~~g f«nn flll.l~ Ckp~ ~. 'ful:lj .(':i.. ~m)jath'. Lh~ error is ~:tP.~t'etl... as a ~ ,of 1h12: tul~ .... (-,mge:. va1~:J.e~ i .e, \~ ~'m':r ~~ eap~i.r~ w ~ '1 to· ~~ C_ootl'Q!\~ outrut, Tb~~
0/f.3. G~ in CQQ,lml:l.ef o"lllufll'1lm :)Cl P?)t.nt ... Kr '-;r & ciumgc III error
~); Siacf m~A ~r.)"lltrt'U-er J)~ut co~~ '0 aa err-at 1Jero~ ~~.~ 'fu'f,f pl~~'r.rM ~-rd
!;p._ _ l~ _
. . - ,pr~pi)ffi"oiIW ~llUQ
\\Jc,~ .tewJ.it-c themt~·~
charcg~ ~Gu,t~it = '1!1J1 r'" 1~ -=. ftri€
ff:i<t:l'C if} ts th~ cb1l1n:i\reT ~ulJJut .~r,ce~~'it ~ ~'ci. s; ~: ~ULP'][ ~~e at ~~c etfO$ l 1hm OOjM up
~sf~~
C.hmg~<ln ou~~ (s) ~. KiEb)
Qff'iOO1
• _.....:r •
• I I I I I I I I
tl1t pfQPOll1.Q~ WwJ f~ thus Il~l~_ i~o~e ll\a( if we wmt~jlL ~Ilmge.s m~ ~ CQnuolter~ we must ~'iID: ~~[¥* the errer Tb}S value of pr~ ~ Viill thus. ~Ii 1.ransftt fu(tctitliJ. K» oJ r !00tJ~)i{11.lF/tr) =":8,. 9.
~s aa ilwmratnih M' o&et ~,. OO~j@r a pt6~1 C$[ltrGl1er 1.\1Ucb h.w::3 ~cr 11.lJl¢tlM ~ 1$. snd a SU ~.1H' 50% G&4WJL I~ ~tPu~ t{) a'¥alve whlch at the: set ~i;nt.ab~~*" ffu"y ~2;OO nels, The. valve ti~ irs tmffpu~ by 4"'1tf/~fut ~ per cent c~~ ib trn:ltr011er O1JtPtlt. ~·t ~1 ~llit .tmi~eMet ~l !lid the?' o1IirX errnr whtl the flOw his W He o:b~'W 240 m¥t? l'ha 'n~. ~t)n~ ~iun.g~ ~ a ~f~1\tag~ itt< a. M "Cllange frtlllJ ~ ~;i4n m1J§ j S, ·4W4 - 1. {tG~ cbaft~ hfurL >~D Uf 6fJo/.~ Fl~..$
-
..
~ 1upQl~ tJw; ~ifL&'M'l~ ,tlU~p. <~ is 1he ~eft3 en:w~jt~~ !It, l,~ M1e set·~hre:, anti "fue.i1.ivt1t t1utru~b_Rl illbc ~ ~~~_ Wt~liefl ~ fu:edmtk te41t.'M nr- R~~t1tcn. tJl:r
~~~-
Jl1
V .;:::;._-" W"ii.'~ u~:
o;<iIl.' ~,t'" -...-
- ~ .
Ttils '¥in na .... 'e-a :finite vahllrand SD~theJ:e is ;tl~_J~ ~Qk, error, UJw values. M If., give 1~ ~-sts:te ¢h1l'h bnt:sWhl,e' re9p(l~. lligh '~lies ~ Kp.gf\~ ~maitef stead):'-,sMt~ err~ )ta greater ~~ t.Q irut3;biU~,.
~iththe derivative IJlJii:h! of ,c~llttQl l1R:: d"~ 'a f\lnh:O~ler mttpm f:m~ the set pcrifl,r ~lue 1a ~rqpomonai to the ~t¢~ / dtimF ~ llm~fthe ~f .$l~. 11us~,tari be f~'P~ ~ the :eqliatioia
'" ,de
!~ ~ It:::!: Kr:: dr
where I'd is t4.e: s..et:~~ni obtfW.t vaI'ne. /~ the oW'O~~bl'me<t;Mt ~1Jj {)Ccu~'i'Whelt tilt ~iI~r S is chliLllging ,at. the ~(e ?ifildt~ 11 i~l1S~ j{J elI1pl~ tI1l1se .. QJlllmller ()\:i!l.ll:lis IIg :t WC>ID:mge Vf tile ~1lJ ,..~ 0f O~t 'IDld the errer at a pe,~,~ ~'tu:J I ~" !CD J~ ,
~nstant of~prQpGrti~a1~, .' . ' '
The tran&fe:rfuitCflon j:s~\ain~d 'bv ,takiT'lO l' ~~i~~ kall~
&a . ~~
r:r~ ~ 1~ 1(8) ~ ~'Ef.:iJ
lI~Qi~~~tune.tibnisK.~~ " .
~ ~' ... -.::., ..... ~ , '~.Q'l: ~,o:1I11S W'
' l.4.P;!'I<l'~ ve ~{)l~ as $Gol~ a$ tha error S~q-w-L ~~. • is
-~ i;helc eMf be .qml# ~~I~ IlWIlt'OfllU" IlD~ ~tv.~f,~ ~~crtllia i&"'~~ ~ _ u.:'t '" YMu~. ~Pld iNt1r{J reSJo~~ 16 ~ 8l~S 'fbtiS,\ Q(~ttt, fi~ ,
,f;? ~::::O--
r
i
! ..----__.~___o
______.-~ .......... .-------- .---<
I Pf~hlf131
_ ~ ~ __ ~ _ ~l11"Ifr:d
G-erNattve , e.lemem iI...........!-~-n.------f .........
Fig. 1:3.12 P() ~
s: ~'ir ~ f-l~
}~ ::!5" ft~ ~ hC '(I:t
"we ifi) is th.6 QP~ at ~ ~~ point I~~ fh~~~,m.
€fiQr J~,F, J(:r is ~~ p~PfI';~on~l~~~n~t ~ n~ the ~~~ oo~.nt jjet~ 1$ til£' ~t.tx C~&~~ .eltPt. ~ .~~~ tran~ :fi(Doooh ~~ ttY - ~ a
~~
i¥Jpt - d9 '!::: J tJ:l~ tit:
1~ ~'t~ ~Dttohe:r oo~Fqt. ~ zeJtj ~e~~ :i8"m~~ at limtc~.
TIlt tr~ fimetJeh i~ Q~ 1iy ~ng ~ J_..ap~ ttmrsfor.m. ~
(l~L -iglOO • KJtE(J) t K~~
~mre the ~ fun'Cwn:Js N + ~_ This ~(itit'CD·lftitt:e'fi.as,~
~ fitnCUoo =;: .K:Q(~ + tI})
ana'~Q
T~ frm.tllun·~ ~~
.',., oS .
where To = It,r.JK:!! ;3lnO jsv~e; ?iU~'w#'i¥e tJme>fJWiStfil'firt.
F.~ 1) ~ ~~~ ho"w ~e CQntm11« tMlltpUt ~~:r 'W~ Olere ~'S. a oonsfap tl~ chan~~lag error. TJl~ $ ~ rnmaJ: 1tflkt change: In oontrolle:r <Ontpnl ~e iff Lbe ~'VItti\'i€ ~ fat-U0WQi· 'by ~e gradbaJ al~ ~1ie W. p{DpgitiQmO ACti~. :nli 'fijntl of eoneel ~ thus deiI 1ft1lli ~ process cn~,~~~
~ 'dlsrrge in ~ value wj;Jt Muire an ~ ~~ (~~ aiSClwloo' ~tpmpo1tionaJ~mntrol) _
_ "to Ulustrate tbeJl-aoov~ ~f w~ the ~ntr~]~0'U~tWij]' be tbra propol1i~ ptfls am~v!) ¢oalml1er (1J1~rtmaJjYmrl.~) 't s -after the 'dl'T~OOitDS f:ir ~h.ange ~m th&,mRk~ ~"flte,=!$' pi i~:2~. :rhe;oonf.M}iler h~ IX set"].."m11U ~ j~/~ 11p -'~~o= ·6_.4 & DsTn~ -the, equatfoa.giv~)t ~e
II;jjil;:;~ +KD'~ ~1~
btilla1iJ tbat~ f1 ~s £~. HeDce~ iniuallf Wkeii llre.-UroI be!tij 'to~e
i~ ~ Q + ,0.,4 ?) 1."2 ~ 5D ~'5-G'.(~%
~u~ ~the .~ Qf ~ts, c~ after 2 s the errol'iWl ha,YC ~ 1.4:~. H¢G~ then
ffYJI. ~ 4. X':1~'4 + U" 4 x 1. ~.~ '§Q ~ S9.J~~
...
. ... .'~ ..
, ~"'_
. ,.
,'.- ':'
. .'.1: ~ •• :. I
, ...
Rcllb) ~~i =.?~
l&t. =-, \)._,W >t::,iff::< 1 + :m '-= 44~
Fis~ ~~J4. S!WW:;~t;lellll; rtf lh~cifC~til:~~ .. lftu
w~l rontr~r. n e9ns~~ Ot' ..an ,O~~na! ~, . ~~' ~cctM as ill Ulte~pr and fu;~,~ uy aQ0t\er ' ~_~
arnpHfreF ~'led as.a SW1J~er (~..add ~ int~~~t.1l tJla1 ofttl,c iJOntrotier output at zere 11ftl.!:. }t, lS 11l$:lC'. ' !]Ot 10
13~6. 1 Propomona. plus integral control
1116 integral m~ Dr ~nko I i'tf !JOt u~ y ~ ill:ont b' ,t I~ !ruquerttly yse~!tlil oooJu:ncOOh 'wi;th the p.mpottl~ mctdk. ~D
~graJ amWn i.s ..added to a pmpdnronru €Onttpl ~ ru cCfnITOllet '~lll}Jut]')Li! is 'given4l),"
J~Uf ;;:: ~ +- KJ J I!;Jllo+ If}
where ~ is the -proportibfiill ~tr()l ~ Kt ll}t; l.n~ ~ ClJnWl OOnstmlt;; Lw, rue 'mltfl\l t -when tb~~s _ e1;fm; e ae~ ft ~ ()~ut a:t the S,e(' mf nt' when tme error is ~. The tmn'-
function i~kth~ ,
~f <fi'm<;:IiOD z Kj + ¥ = ~p. & + A)
13.1 PIQ ~O"trDner
I
.. -~~
~/~~..L
a TJrQl: {s}
Fit. '3. 17 EJWt SI9~
WMJ1! ]tIa~ Lr,; the O,RJlPIU .rrt.l~ the .coilt,mner wl1en tJr.efr!j , .
~ wmctJ 1$ Q;l}angl.ilg 'W.J tb. tzme t, jfA 1$ tbl: ~1 JlQi [~ LS ~ ~ rliJere .. s 00 error, KIt is the prOp6nir'lQJ1ii)' cuJl.Stant rOU~ ~r cammnl and An ihe""dmvativc OODSHm~ One Wat' ~tl th~ ~m~gnti "'I.~rnode £QnJ:i'Q1Jer 1$ as.a proportJ{)nai CO[U:nlfte~.~nmg~ lfilCgtal w,nt.rol [0 eJil'uina[e the offset C[f(Yt M.d den r "Whit:1 ~
to .re-d~ ruut!~ 1 akIDg. me Laplace ~rm gj~~~GiC~lJl
I
and.!;Q.
T(1..Il.der fuQcL4ln ';!!!I K.pe...,j s'K". + sK D ;: K r 1 + ~ \
,,~ TU9 + T!?J,S)
To illustrate .tlie .above con$ider what "ill be tte ~ output of;t lMee~mode cor.t;roLler aa:vilng Kp as 4: .K Mtr6 [mlkt a~ 0 5 ~ II ~! pOilU O!I~ m j!}'!'. Ii11Cc subj~t fa ~ e:n~ ~ s£.Qwn rn Fl~ 13 ~ 11, (a) i.."lUl100.iat·cly e C.e S~ttloo.iur and (b") .2 5 after U Slar'"'t&. Using the ~tiGn liv~ above ~.1~
l~:;; j."p(! + l(, J edl-+ Ko ~ +10
we hru,l: for (a) e ~ .0. .. d.8idt = 1 f.s, and le di ~ P. ThUi lCl!Jt ~ 0 ;.. n + 0 5- x 1 + 50 ~ SO-.5~
Fn i lb) we hav£"~ ;at 2 s, ~ ;: 1 ~ [e cit = J. S s si'noo ihe~J 1~ the 3!aa . d -1
C . un er liie error~time g:ntph up 1:0 q s, and :d~/dt :!!! O. l1m£
1Si:.r. = 4i ~ 1 + 0.6! 1. 5 + G + 50 = 54.,9%
.I'lJ"l!i~ ~ ~k
~I __ ~~~~ ~~~~_ A~~
r--- ............... ~
~~ I!~
~
.~ ~eihl
u '-'-~ ------;;f,Ir---.- __ .:!..--.....__"
t.~
Tfnie
Sarr1pt~
~","l
EI"1Vt~!,
13.ll.1 1m plertualitlng p~titrm mQdes
1If ,opk.r 10' prcOduG¢ a djgi~1 ro~ 1\r~ ~rili gll,,'t' ~ Moae~f CMtro1 .it 1$ -neqe~p1y ~ pr~ a ~~'e pn~ "frlr tOp ~~n~ ~ "fIfe JP4!ra:ru h$$10 in~n~te,~ the ffigitW ~ "Sj~ m ~ .p.:itrUehlar 'I ~il fs:' io be' p~ itj ~rd.et 10 §tfi1)_e at the r~!.l.1J;et OU{put fGI UU~ fo.llb~ng ~ elemenr.. Th:e: pr~tn:s Qm in\"(fj~ t..1te ~Dt i~f 'W.g~ with P@Q'us inl?ULS ~.Jitl ptaliou~ OiI~~ilt~. nl~ ~grarn 15 mlH :a~g.g tll.t eorttt'oner: to ~al~ @Ut a mi;tJf;~ntd ~L)tIi (~ &c[~nn: 1. J O},
111.¢ ~HSfut fu~Cri~l f6~ a PID ~~1~~ ~Awtkr-is.
TnlnlSkr function ;:.: ~ 4- -tKr T .rXm,
MultiJiGcat~n bf ~ i! QQl.I uva1cn:b ~ ~rtrlt\atfull. '\'I/f; ~n. ~~~V~f, C01lS~E' tht~.~Jlrof~ t~;m;.e r~$~~fur tlft~ S3~1 -at the present h,u;lmit rsf titpe as ~ng (laws}.~ ~rtlli: :ertor'~r. ~")~·thel l~~ ~rnf:'l~df,ne ~,t%_dle~mpij.Dg..1ll((~ ~} {ffg. LJ.~G}, 11iVistOrt by J1: i.Sc ~~qw~enr to inlegmtroll ~i1 ~ ~~ GQI"~hier tile lPJtt,fp;gJ cl ttfe 'eFror at t'~ ~D(l.N a sanwlJ;~t OOioo. 8$ being the al'£tF un~e'r tht G:;(fOrrnms ~ ~~t1h'~di~ tm 1ial)j;pJ~la g J;Jl~hl ~h'ts the ~tro of the ~,~ ~6;'~~1\ ~~:B p.revtQU'S :s.-unpl5 .H Ill..p.m). It the ~pl~ ~ K ~hon relatl. ~ .to ~e- times ii'Iv611~ ~ ijt¢'~:rea; d~ th$
f~, ~mpUrrg: imervM is ~'RPl1'Jr~i matW.y ~(t~ '+ ~Jl~ ~~ ~~tlG:1il t it) fbf all Pther a'Q-il,ru~'lul.i9l'1 Iill~, M l~ . ~~~jP1ari~'). TKlW \fe tin ~ fur't.lw ct1IlUJilltW I~gt~,'t~ ~ a; ~Ufar lcl1sb.ul tile' eq~~~ N llitn.re.nsre~gll ~-
~ ~ K.:ie: ,.. y rfli. .of; e'~ ~lt!l. I 1 ',tlI" 6'1J -:_el'r.L
. '1 "'..._~~ :2 ' __ "r rttl'rGVj ·r.fio,1) T'FO
1~.9 C'ontrQt sys"tem 'Performan ce_
.s~ * Jul~e tif.~f~_:S1 wldth,_i~ii~ ~. ~th.<a ~ti(MI tlf ur~ + l~ when: l' I~ th~ tlIl1~, ~~ ~ ~nal liQ11u-ol~ ~d., u1l11 f~db~,el! the IrauVm ~ " _ W~~
w.e :oof!ltfli sfstt,111 ~rnes ~ 't'J
K.i!!(Jj$ + 1) ~ ./9:1!
rJ(s} :;::;" T'ii.x P.I(ts + 11). ;if + 1 + G
The<fJJntto1 S;S~ ~~, a if~WiQW Sl~UJL Thl'~l ~nrw! has bad ijte ,,~et1i Of Jusl e~~~g the form ~,
.fim~cf ~ns€ P[ - ~~s, WJ;~t'~ QJwllf~ncr m ~se to .,j.'eftij ~ lnput \\!'a'S {see Ifr.cUGll 11~1.:t ,~
,,:!!::.l";~~
~ '1'.21 .~ WfJtJ
~f~
¥~ flip (1 - trr\~l~)J
The ~~t th-L} ~ftjfJnal amtrtal ~. t<r lidln .:to: ~ ~ ~CQ~t;ftfup '1J ki.'·p~~lt+ Kp),
\Vith ~~ZtUOJ WIS. l.Kl2) WG have a ~~ transfer. 'iillndtioo Of K.lG';!'~S ami ~ tl:Jc€ ~ ·lttulsfe.r ~ is
n(l'$~W iT' 'WeAkt~·a ~rcEe;ss wbi~"1 lIS tim order wi,h a ~t1 ~n 6.f Il(ts + n w.ttU p~~(j;rtal ooutr~1 ~d b'E:it~ rhe-~1fSfer :ftmofioll 6f ute co~tml ~m ~rnh
(; \ K:;fi{4:3 + il
"(3~ s+Klj(r~+l~
_~." K1 Xl.
- ~t7rs + ij '+ '" ~ ;rs~ .pWRI
AI con:lfOner tuning 13.1'41'
K" T.
CQf.l~[ mode
PitL ~ " I
11 Q4PWL
PI 12P 1. L (\ J.
pm ~-
~ !
fi M~~ - ~-~ - - -~r-
.2' - I
I
9- ~ •
tli
f. •
I
i • I
, t
~ L ~
G 'ifimc.
~
L 1:
Fig, tl.U P~fMdk;rI
et~ --~-~-~------~----~
f~ 11!.a Ultimate',wCte rriBthQiI
Mtll tfu.s-',~ m~ptl ~~d~~ KtiODK.1fe fim' ~ ttttlreit ~ ",ra.Jue§. Thtr'P11~$ruta1 ~ K-r.l~ ~ rp.'
..,
~ tkn ~tmiiS. ~q. TitG $ ow S$Ullc ~~~t'tlut,~
:tr.(}* '~ f~ ~ ~,~rf "wl\lle @m&~ ~aU ~~~~ Q~~ ~ktnt ~~tt, ;nus if; -qonllDMl &ftil COiiUfiutms, e~ua1i6Q~ ~c(. ~0 ~ t~ llf lb: lU·~~ ~~ J?~ ~t whlOkt ,;t'Ns ~ i~ rlott4 ~ ltt *tiMita:tiIrte of me -Qaij~os;~ JI;~ 'T~b~ 1~.1 ~~ l.oWiht ~~ef 'and ~icheli reGOmmillMd, ,~~ fi# ~dd :Sfltio@;s, aJ~~ tn this ·~~cf~- "fhe.~ ~ b:a.dd i&,tOO1g~,
~~J' ~ P[~I;;I m Qmtr~Ull\t iliI:: roo, OJ; I ) IMaHS ~ ~ miU!I'}r. &:.l\t$e till! ~m ~ i.ll Hkfk 5 ~ ~~~itJx~r. ~I"1;mIW :r;~i1lml ~111 l~ ~ t~ ~'sstm ~p" • tal1q.g.,t.lrn-e.~tI ~l the ~~~~~ 'Jr.' _ ih!tt.iL ~
a '~~t ta .~ ~'~ru vtJ ~r ~Jtatt fm a 'Wh!.l~ a.bt'!t! , ~ td"ut, lWe ~l th~be Wml;! fw 'W ~ ~ 0 ~.\_{1 ~~ H"lp:Ut sf~ A trigiwr ~ 01,rtspong: Wll.tt r~\\'~ ~th't~. ~ 1;1 i)b1)iliq;l-t',f ~ rn ~ef: ..rum J~ P ce'ht:ful TIieN 'i~ ~~, &1 ~tt~H cl ad\1~w 1bc , .~ hdtbis ii {if Ih¢ use of a ~Jd i~ ~ ,vblcl1 ~ -a ~ Iti&ed 1lJ Iht. filte: rJl 'i\iUCh -m; di l£"Ill ,NUigt~ 1his'ff 1.eIIn't.d vf"WPly _f~al'X: rip- 111' ~rt ~Iltll :t !i}'slem~ ~'''''d¢lt)' f~ 1l"'B1~t lll'r-ohce ~ I.l$C M t~~(ij' ~vf~ a ~1~ pro-pDrtW:r@: w-t5e ~ ~ Ql" Ute m.DlOl~3ft am1thfDee ili': i'",.l{~ at~ litrh the '~~~!'}~ IS cA1mg:J.ilB1j..\Ld~_~m.eM rm~hl.l'll!m\)n.iH~ ll't~.I~
potentij}nte.tet.
F~Dlwbge pm~1 !ospeed
~
poIaf1I~etari .eiIlIE!r rotates ~ screw
F~tiJvoftage ~1!.Qpq~"
v-
F~or sp!I!(Il fOfabjllSlrtg f~k
F~C!r~ion! nD1itorir,g 'r~~
1 tt\in edillQi ml
'2 &e1f.hmln I
1 MDdd·1'I ~~ ~ 11
t J~ 11.' G:aln--sc:hedul d control
13, 12,,8 MQde'l~rererJeaee adapti'le syswms
Wid; the wotfel~rife~cr?~le..m 3}l~e {I)~ of ttre'$)'mtD is developed TIW: ~ 'v:aJ~ it. thJM>tijjed as an input to hOtli ~
Jl~ tfi4 iliw ~ ~01S: ~ we- mifere~ betWeen ~ ,atI~ ~ :and :the, ·~t ~ tp-e ~] e<r~M Th: ~~~ia)(h~se~signa1~ ~ tR:e1! lJ~4J0. .. ,a~luGt ~~ers of tOO~ CQt}trQJfet to mirutb.i~ tbe"~~L ~~ 11.1~ jn~ lh~~«th'e,~,
19
19 1 Programm,able logic controllers
fiU;
~ ~~ __ ~ G~
fRm to dsVrces
~
Fil.11.1 ~.
Program abJe logic con rollers
A ptogrtrmf11hhtt IlJgtc ~-Qn1roli£" (pLC) is a cUglW ol~c de~ (F\g. t9,l) t1:iar uses a p~1a~memo'Q'_ro.n.o1t lnstmctiQll-s.~ _jm~~or~m~. ~ as !~€~ ~nenC1pg. Ulrullii~ oounJ.U:l.& and anUmledc an ~ 1'0 coiltml machines and pmcessCs and has hem spediioilly ~, to :make prog:-ammidg easr- The U7Jll fiJgic is ust;1 beca~ rM pntgramm.ing is primanly concerned v.itb impleJnellting IDgi~ and switching ~ti-ons_ Inputs devi~ e:.S"- 'S'Iritt"~ and 0U!pUt ~ e.g.. 1IlOW~ being OOD:trottOO are:CQ~ 00 1ltePVO and then m'e GOntrolkr IiIlOmtors the ·~u.,an~ ~ acoord:ilJg<ill'the. program slbred in the fLa bjt tIf~a~ ~ so oonttols the .In3ctUne. or p~ Original]! they ~ ~ as ~ replacement _fur har.d-~ relay (e. g. Fig. ,. .2) MC. ~ lope control sysrems_ PLCs have the gmd ~, tbm_iL'is ~'b.1;. tctmodtfy. , ,comrol ~m Wi~uk~_f._~e.the ro~-ons to the input ,and Mq:n~l~. the ~ req~nt bemg that ~ has. to ket- m.a dif[e~Qt set o1..iJl$roorioi& ~ they are much ~ than rehlY;-oper4led systems- J~~~t 1$ a n~bJe Sj"st.;.rn w!' ~ cb ~ be U:Sed. to control ~ .. ~wb1~h ~my ~wi~ in thmr-MtlU\~~ and eompJetdty. Sooh ~ ~ ~dely ~ for the unpiemetl'Mtion ~ ]ogi.t control funtti.aJI5 ~ lh~ are easy to use and progt:alJiL.
Plc.s ate sunilar:~'" ...,....,.. ~' L..:_ 'L";' • .£..." ":¥p,,,~""i.
. '~....;..mp .... l:ei'S um ,1~ve ~ ~~hirt-S ~>JW~
.3rt ~fic to fheit use M eontJ'OlJen. These: are:
l They are rugged .and designed. to ~.t. lim!~!l$,
~~~. humi~~ ana noise.'- ,
i "fb.e mteIfad~g for i.~\lR-~ o.u.t:J)uts is j~c: tftl~ g).;a.roUs;r. lky ,3m ~Jr P[ogrnmmed. aDd bave an easily UDfl~
:O~ ~~'. P~lJung is R,riroariIy G0~ ~ and Wt1f.ehjng ~tiOD&
(
19..2 BaSic strug;ture
Fi~ 19.2. ~ The bUtc llltdillal ~ of a PLC . It ~lSts,,~tb.11,~ Of·11 ·ttJl.tii8l ~ uniJ. {CPU), lnCmt.1Iy. rmdmpwa1JbN.t~lfy.~~~I~~al1the 6-Pf:~ml$ Wl~D GitPOC. .it' ~i ~liw. Willi a dook· with I. lt~~ '0f ~y ~ l and f! _.~ Tm~ ~ne.1lqi det~ the ~thrg ~ ~ Ulf PlC ana ~ 1be
lim.ing and synchnmislltimL for ;aU t~ in the $'jsttm- A bm r;stem. ~ mforuJation ~ tIa4a m and ~ the; cPU, ~ pd _V~ umti_ There am &e\o.c:w ~
~)$'_ ~ ~stem ROM·. toO give ~t ~F fpr the 'O~ng 'SJ~1l[) at1d frxe4 aa~ ~ w. tl1e ~ s pmwam; 3l)Q te~ buller mresfet the ~u.t~
JIlC ~uprer S~I ~
.........., .............. ~,·cpu
~fJi--".......,,"'...... I
1·9.2 .. 1 ~nputJ()utpl.1t
..
The tnpt.1ioutput wri~ proYick:s the inte1f.ace ~~p _ th~ ~n rum_ the {lutsj_dg' worM . .e,ogrruhs are epft;ei"l ffito the ia}ltiU®jput lIDl.t.Jl:om a, P d_ whiCh ~_~ fi~ln ~~ ~tIS \\ith liquid ervSl3l disph)"S 1.0 Wt'1SJ: using a v.isuai ~1ay unit (VlJtb. witb D:'btJ;rfiJ and sc~ di~ay - ftJreromj erl)' tOO 'pr(}~ qn be entered inlo w s,Y.st:m by rneans of a U,fik 40 g ~nal computer tpC) ~!Wch rs ~o.aded v.j'tft an t~ptiate $Ob~'f3;nt packag~
Tnt inputJrutptlt cbs.Iiacls ~ide rugnji cOnlbLt1~ an~ \SO,latmn' .fu..ilwbn~ so ~ L sensors and. 'aaooOl':S can be :ge('l~y
"'-
dUect1; Cbnr.hCQ;ed to them l\'lthcut lb;e. need fur 'vriher dirolitzy.
}?1gtir; I Q.J shO't\;:; the basic form of an j..nplit cLb:tu'h:~l. Ctrmm0Jl mpn( velli~~ are f; V and 24 V,
CGmmo:n QUtpllt Oltagr;s are 3.4 V tbf4 ?~.Q. v. Ouqm~ &lW ~J.¢d as being 01 u1ay t)~~ t.mn$isttOr t)W Ql triac 1}pC. With the retay ~ {:Pig i g_ :t)1 the Si g:pa! fr6rn We PLC-J)~WU' i s uSfd· to Qpel'3!e a ~~al ana so is ... able lP ~-Iteh eum~ts Of the order o-f a ft_\lI amJICres in an cxttmal cirow,t Tha relay iwla~ r.h~ fL,C hom ~ epe;truil $!\rrU~l and can be used for ""th d.:¢ • .and .,"C, .~it¢twlgF ~tays .~, oow~~~ I&ati\"cly slow' to ~tf-, Tile transistor ty;p¢l of QUI:pUl (f'l,g, 19.~) uses ;l uansistor t~ switch "Cl1rtem tfl~h th~~·-cit¢1Jjt. Tru~' gives a"fa;uer $WitCbUig actJ.i;). h~ Plgm-t 19 ,~{a)~ o~ the oonitenticllal cuprent ~ dt.recu~.ro QS fil:mn. ~ittve t,o negatilte).flll 'O'ktput deviee recet~ cnrrent fl'{m tlie ~nt mt1d"We and . s tefen·oo tJ as 8bikfttg"; 13} rlg'Qre 19. ~1)} the 'c~ej)t flows: £rQm Cb.e output mOOUI¢ 'ql an Glltpnt l~ ttfld. is ~£d tv UimUl"Qm~ .Gpt~jsol,~~ ~ ~Ih l~~lO'r ~t.(:~ tCl1)mY.ide isolatlOI'l be~~el1 me ~ Cl,~.u, arL~ ~ PLC. The- l,{ansi~.oJ Ol1tptr( $ OQI1 JOt a:c. ~~, T;6~ i)U~ts ean bt! used E"€! CdnU'dJ c£tcemaJ lo)&,
f.gr2;;~ E~am~1~ PLC TbafQ~~~~-~M''a ~~ ~n.~ a ~ts:ubt.sbi ~:2OMl~ES.
111t-l~15"JMO"-~Vi:c., ~n'g~p~~f~O Hr
• > .....
La*l~t
l~.·~
_~ la1\guage Rm~.g ca~j:)' ~'speOO'
lt~~
tJattety baCh-Q TIm~
fI~3 tnputIQU~ proce&'sing
1 ScaJl the ~ ~jatbi1 with one ~~ Ot thJ lalJ!ler
p~ ~-
l Salve Ib£j kiic c-.pcil!lion i.nwl ing ~ mpi.U~-
3 ~( t:be &O~WS .fur lhal I1lDg.
4. ~te 1)11 W ~ ~n rung :md ~f ti1m$ J~ 11,), :'; Mn\l~ on It die next rung GRd repcM op!mtioDs 1.:. 1. 3, 5" Malo'll~' ro ~ ne~ rung md ~t pperati~ t 2,~~l
And ~ 00. nntil tile e,nd 0! the ,rogmm
Eacb rung of t1~ JaddCrr pro~'ll i.i tt us ~ .. 1\ tern,
Then: ire IWO methods Uw eon be; ~ IQr tnpullOutput ~
[ Colt! i'ni:!1w vpJaikg
This m\ uh es th~ CPu S¢amliDg ~ input rilijmur:ls 9 r1Wj occur in we ptoVQJn insL-uctjQll.5~ &cll in~ point l:ft~nid lndWlduallr .and m sTtld on dn.e ,~ dci:~, ~ v-'ill ~ a bOin~m deliLy;c rtypJ~y ~~
~ ~ ead1 input is -e~oro in crder • emattt'~~t ~ vatid illpw, ~1~:m: rtad ~ t.ht rrU¢r~f. Jfhjs delay ~]ts the mic:ropr~r t.J =aVoid counting, an input sip rwi~ Or 1l1Grt: fITqUCJitly, If l.bttt ~~ ~~ a mv.it::h. A r.u,m'Oiei of inputs rna}" have \{) be scaruiM ~ \l'lrn :a ) ms delay, bi!fo:te til" progn1m bas tOO i:risirn.ObQn [1)1 a. Opi:nm.UTl to be ~«i:m.d a'.Ii ontpJU to oorur. N a~ltpat£, are 1$1d.beci_ So. tilat t11~ retain l.bCir'ilains udtil me ~up4BtirI~
2 Mass inpfJJJC'Nt~t CVP..f'~g
~~, Uqt~ eQnlinjleu5 ~ng. t.he:7e ~ to ~ ~ 3 ~ 4cla}' On eadb inp~ the l.iro.e taken to ~ne sel"irlil hundred ittpt,i~put ~lJlts C;;iIl became ~~d, I~g, '?'l ~~ a fnoTt m~~ ,~~»tion of a progtam;"" l~pepi~i::~ .g a~:Q ~)L~ ~jl~_£lDre~eeo ~OO1flf(~l lGglJ
Mel ~ iD~ff~ unit ~h, m.pUiJO»~1Jt has 41ft. ~ in this me1W:J fJt , At th$ §(an QI $On p~ ~Je' ,tb~
smas an 1hfj inpttts' ami" co~~ ~' ~M mttr ~
inpo.Uml put 'a~ in R4M. As the p-.m ~ ~lt\i the mf't-d input data i~.~ J.iI itq~ tmtn RAM .indc, the
R~.~J~ ~,tM ~2Qil~ di~~,.'l1lve\ ~~ta ~ u;t,._ ~ ~ 'm'Iir~.e ~ '~~ ~ laddti ~: 00td~ m ~ v~ liet W~g~JM ~\fe£,qjhL C1rPJ,llti ~ oo'~ ai~ ~ i,e, lire ~ of ~JaM!r, ~~ tW(f'\'fj~_ Ft~ ~9 -~_slit'(:Wi the; ~~ ~" ~l$lhtt aN ~ ,lJlCI an ~e,j_ twl~iD a~r ~n.
.~ 4Ta~ lb1! eircult iIDt furi L'W!& ~ts mun~ ~ ti~ ~l;S)fid tbe[t _ bg it least ~ ~ OO'~b li~ ~"ti rutg mUSt _ l\~ <1lD input Ql-a Si;"!ri~s:()f ihfl~' and @d~iUJ.an~
'Fh~ 'inputs and' ~b ~ n~ ~.~, Pd ~g O;a.'l'fue N.C ~1$T. ~g, ~. ~~18l:ti F ~ @f PL.Cs p~ input ~ent! '* ~L){, ant! (OOtpL411~M$ b:t
'"8 ~ and~usulhe fcttI~ll~
K4~401, 41a.,..'n
~5fjii '~1Q.~1'S: l14 pam1i1e'~)
y.~n ,~1)-m
(:it}
Fig. ".. T~l¢ut~
~~
po oa;_l~
fa}
~H~
pte ~v Y430
t---._...-
J<400
19.4.1 Lxlgi,c funrmons
~~ IQgi~_ ~ $n be bbrdined by mmbinatidns ef~tches. .{see SectIon t Z:1} ~ Ow ooJlowjng ~ws runv ~. Cffllwnte:
htdder -ni'n.o."\-M...i;,.;- A'r m........ ~ -. ;-::
......... tl!'l a.ul~ J.y ...... ..". .. 11. oomvJ.nati01ils.
1 AND
F~ 19'~~1~ slhl:at:iDtl Wb~ oorl ~. nm elle$seU u~· tw~~ ~ ~pel\ ~li~ ~ ~th rlori. SWitch A ~ ;ml44-Jf'ha¥e ~ tf;l ~ €t~ ~ruch thlJ~ Wvt1f an
~
F'9-~9.11 A NOR s~
~I ~~I.ft ANAND.~m
tf.;1) lagk.- . "~\OtIIt.~ ...
llllltllll'Ci fuv..r ~~~ ~ ~ ~ ~
labeUed I~, t. ~ h'1l£b A. ar.d an. aa _
Wnrll~ Witt,. '0 to ~~ W.i~ B "The hAt
~t1m~ ~ ~.~ ~ IG;9C)
2 Oft
Fimure 19, lQ(!J s~ .
mror~ tmru . . .. a ~ wbrtt a mil \S gO(
cl~. The J\~'''''~ lXmtsIlj _ open, S'Mic.D A Ij[ a \s st.ans Wi . Illi1dU~ IS ~ OR~c_, lbt ~ ~
~ 1 ~ labcl~ lImut t, \D ~ SWitdt A arA lD ~~ei with n.1 ~J~U.e~Unpot 2, If ~ SWlkbJ B. ~
. ne ~ tenru"ttt Wltn 0 W ~t the F'
19.11}()) S~ll the line. ~. t.prt
5: NOR
FiAUIt 19_1] ~ how we cCID represent lhe laddtr Pt-ognm lin~ for a N0l-~. ~,~ has to. be -:rn {IQ~I w.ten ~ A!I{)l B. ha'i-e an iopu and \1r lw:f!. there ls an input UJ. A Of El Ibe- OOtput ~~~ ~ 1~ ~1\l'D~.M sbOWs fnfIfIt 1 in p8talle1 'Witi! Input t ","ith 00tli bllmg. ~k4 ~ n~Hy ,1tJ;s!d, r»n~
"Ple
~~ 0tJ~1
~p\tt6 ~
T~s Output
A B c
Q "Q o ~
0 j} l 0
0 I 0 Q
(l 1 1 e
1 il 9 6
1 tl 1 ]
J 1 6 1
1 1 I 1 For th4 k«idtr ~~ W;«~ .tfu}, ~~ _diagam "With I L J~Dij_ led~. I, to rep~!WIle A- 'l1Iis. lS m series 'With·~o 11 if} patalJallabeJk:d ~Put 1 and Input 2~ fur., ~tcjes E and e. ~ tine then tern;ti$lte$ wjflt 0 to ~ the oUfR~ ~ ~jL FiJlHJ 19-.,14{b.) sb«wsiIw linc.
As ~a sim~ exam~ ofLil.pro..vam lJSj£i( lqgic ~ Cb.osit;lg( the reqwremem. fur ~ tQ be an ooqmr. to tlie .rolellc~id COn.tiolTing the valve: thaI, will ~~ ~hop dbor when the sh ~ has tiosed a: switdl-1o .PPm s~' and a G~tom§I ~A"Qa~,h~s the. door ~ is, detected by a senspr which th,e,tl ~vt$ a bigh ~grW. 'l"he tnnh bb.}e fur- ~s> ~ is d\us:
Shep CJ:peJl; ,sv.itc:h
sensor output
Oft' tJfr
On Off
0iI llff
'On On. This tnl ~k j~ 'tlfgt f;'Jt an AND. gate: and .th~the program reI a FLC oenttQJJ.ing tbedoor is MshO'WninB~ 19.15.
f ... 4.2 Latching
There. are ~ s.~~ w~ ·~t il' It~ t.9 ~ra a ~
~rgJ~ ~ \!rben thO fllput~ whtth energised it ~ ~ term 1'dtJ: ~it is y~d for the~ircait ~ to GaW oat s:u.dt -iO:
P~~on ". It l! a, 'Sefr-~ning circuU in tha:4 after ~ ·en¢TgL~ It lNtint\ing chat'Sta~ ltntU~ i1fputkreocive41 It
~eDlbers its fasf~c. "
An ~iIE~ d l~ Clrcldt is SOOlMl j1\ Figu,re 19.1'. Wfien lnp\It _I is ~~[gj'~)l)d w~ tkem i~ alfOutpOt. 1f.m~, ~~ t)ett 18 an ~ttwT.J «et of Q)lL~ associated :with tlltot f,)1.ttP1~ IS. ;energised and dQ:§es_ TII~ oontaet.s OR the, Input 1 COI:'l~·
PLC
{i)S3fe'~
Fig. (S.41 Moror IatcWtm
acUY.at'un
I I ~pi~
RgUdt ~~
19.5 Mnemonic;s.
~i·~
1.0 OUT AND
eao.h Jrorizoatal ru.n.g on Ute lad.(l& in at: ~t p~ tept0Seftts 11 Ij re'-Jrr die .,rogpun anD ~t"~re ~e:r .gives the w~~ ~m in ~laqaeT l~J.e;. ~ p~~ c;:w ~~prQ.~iIU~~;m..~ U$iuga~& With the ~c
~~It: f~ ~ .~.~~? or Us"in&1J ~(scrd:rra(l a InQUe\tfa JoG Eft ~ubQ1~ am! Ui.e pmgnlm PQ1lel o-r .oom~_ b:aJl!~a.wS these synibQ.ItS i~ iJl'itehibe ~&~8¢ tha~ dm be: Sfa* iff t1Ieil?Le<memo~
The~tS4Vl aLl~ ~ of e;ln~.3 p~ ;Um I:ffal. is ro ttaMla(e' 1m 1_3iid'tr 'pm~ bri:o mpqmun~¥~ ~L cOOe oon'espoiIdtllt:to a lan1fer ~errie;~~ lind :t11~ dr ~ iDJO lbe .PtQ~~ ~J ~ ~mAA1erJ Tlieoo ~~ the..."l ~l~ted iruo ~ ];Jl1'~~. Th~ ~Qn~ used by ditremnt PLC Dla~~ _t Eor tile l\.tioobislii F series FLC$; ,the mtie.bl0nic$ used at'e stunvn qppa'si~~ In ~p1. ~d In th~$$Iof &i~~~ w.h$~geiltral ~pDons me lIPf:~ the Mi~sbi ~CJ WiIl··b4 8Sed_ .HQweVer 1fiose ~~bY @!her manmacrurm ~ 'dot <filfer ~#Jf ft~ fue~ dJld ~ priq~ inwi~ ll\~r ~,antThe same.
11fd f0UbWillJ <$"btmrf bow m~mdw1 ~ on a laftDf *it em enij. , 'tf$i~< lb.~~~b.Lfki mneml1Rl~· thb A8D pte sfKt~ -in 'i~ 19 ,lg ~ be"'entered ~
HTi~ Step Irfmuetltm
0 LD :t40S"
1 ANO X40,
z O\}Y Y"4~ J
.. J
¥<i&l ~ 1'i'I&'~
---
-
e- to
X4tto -
1 QR
2: 0tJT ~~1
y~ '+
0" LOI X~OO
1 ANI x·~,
2 Om y~ The "'NAND o;I~ ~ -. ~
_. ~. 'IIi. to r.1~)911wool~be'f~aS
'-' l~ru~O:n
Ull
001:
Step Irr~ri
0 LD >t~OO
1 WI X.4f1t
'2 Lot X4Qll
;; ANn ~4~n
A ORS
5 out Y4&O ""~Ti~~ inte'mar rdays ahd co un Q rs
.!...:.. .
. $4' :':~_:
.. .. --
be . am uSid tl 'fi.J:n~tiOIlS V.at:ie;s froill one
~mrL'!r to anolli'r_ Fer the &f:iEsub shi P &e1ies, tN!
uumoots ~ are'
450~ ~57. 8 :pqUllS. detay-on ~tiod O~ 1- 9fi9 s
T 0- ~j '1 ~ . in~ d~~·.o;()ll period (J, 1- ~9 s
rs 100-107.] 70- J 1,. 200-2071 210-j'n~
zs poinrs
300-]07. 370- ~.1', b8ttelo/ baiked. 64 points
Co '" ers 460- 4'67! 8 po~ 1 to 999
C 560~ 561 8 poln 116m
15 used for a data point so L, II Limms~ marker
e er coUlflttr el em. S. 4h~ G pohtf$ tbr tim:ers
~- ...... ,. thaI th re are 16 ~n ci10d . The: term ~~.uds Used
o ~ -. thar tOO I)pe of timer ~ts fur <' fured dflay P=ried
Wore rurning OJ] (?Ig. 19 25). In tile dat$ Ii n 3btJ.vt~ this is a ~n whieh can be SCIt 0_1 gnd 999 ~ in steps of ,0.1 s, ()[Ile b e dela) ~ an~ HeP.- are possibJ - .
9. 1
rs
A umer l;jrcw is specified. by st.a1ifig rua intenral to b; tim~~ the XlrnHtions or events i:ha( are to stu..... ~dl6r s.tQp the 1ifh~. 1\ey e cornmmU) .regarded as .. - ays wilh 'coils whiclt, w])en en,erg;ised re..or;uft in l.he clQS' ng or opening df input oonUiUS ,a&t SOme urn ..... FIgure ! 9.26 sJj,o~ pan qf a program 1nvoivmr a delay ~n tune. \\'beil ihe.e is an mput., the timer is energised and starts • R After some preset tulle the contacts ~a:tC.d 'With th .' er doQS.C and the e tput accUlS.
Timen tan l' nkM lQgether, tne term is c.asc:adM, m give
latter o(".4w lfn"Le~ ~'l IS' po.Wble 'virith ja_cn one timet. Figure ] 9 17 ~'S 6nclJ an arrangem:enl. When the input corrtaclSt~ tim~r ] is started. A:tlcr its' ti~ deray~ ~ contacts elese ·:tinier
2. i r i time deiay. its oorrtacts:~ cIa. and Lbtfe ls an outp
FtIDUt 1 "'8 sJlQ\VS a pragram that can be 1_ to can5¢: ~ OOijrul 0 go ('I for os s~ tllen. off fQr O.j s, then on for U.S!: th~ 9ft fur OS s, and so en, ~ the mpY l oonmcts alosc,. Timer 1 ~ SUtrt.ed, and crunes '00 after 0.5 s, t..ms bcl"ng the time tor whlc.h u ~'B, P~L After this ~mc me' iraer I conwis dose and ~ TImer 2.. :It comes On ~r Q.S s, 11$ preset timt?1 aru:i opel'S 1ts ~n~. results in 'mer being switehed Qf[ 'PhlS ~~!t.5 m HS contact o:petuttg twtI ~ . g off Timer 1. Thi s tlle;n ~~ its ootIla<:t and Slam.lhe entire oyoie iIg<Un. The 1'I'5111t B <hOI: timlT ctmt~ -fur Ta~l 1 at~ s-whChed On 1m' 0:.:5 ~~tben off fQ {} j s, on fur GIS .~ and ·00'9n. Thus the Qutp'Pt- tS rrwik'b.td Gt1 f''e'r D.5 IS, tMl\mrforO.~ s, C)n.for tt5 s.1U1d $0 ~ •
('~I
r~
Ii r
.. ~(lydir' r
step tllstIutt:i~f'I
~ M100 .0 LD XIlI{lO
'OR X4&-'
,
OUT M10P
+ X4t12
3 L.9
:ANO )<403
4 M101
~lIT
,5 M100
e LD M10
7 DR Y4JJJ
.8 QUT Ir;p.t
r~ fUD An O\.ttpt.rt:e"Of'lrtrdled
tftt inpUt arraiig,::m~
~~ 1t.l1 All ~ Ql)lJtrClll1'd
bJ ~ iI'I~ ~rra~t$
{a)
Fig. 19.3 ~'$lQ~.
"uan ~~-th¥ ~ ot use Qt Utten13!l re~ ~~ the problem J:dc'tc'lstq, a ladder PJ;Ogtaln to oontrol a Pn;tUltatit systeJn aith doub~.so1eboh:1 con~ v~~1md ~ ~ij,~ A and B iI rwur switehfi;~ 11*, ~ and b+ att,ll$td ~ det:ct 'tli;e limits .00 Dlowment 'Of the pistgn rod IIlOYetQenIS jn ~ cv~ Wi •. 19.il{a)) and tie ~ue.n~ -req~ is;fpt the,~istofl mil in A to ft1,ell.d. lollGw'fd by the ~oa ,rod m II XhW"m~ then the pj$IDI in B ~g' and ~Y the ~M tfoi. ~leted by di pisoon .in A ~ tUl emal reJq can ~ ~ to ~il0h. ~ groot* of'. ootdUrsoo Ii\':e die farm of tontroI fur ~~:fl~'Y~~b is-'telniQ1 ~ GM'iTfJI (~.~~ 5_ t . Ffgutf £9 _l1J.9) ~s 3i possible. JillJgrnJn. \Vhen ~ statt
"tcn is closed, the inWmalrej:ay is ~- This enet~ .oot4llQi4 A+ with the @SUn-,that tOO pi$tOD in C}Wnder A ~ When $ltemted~t dastS limit switch 3+:aad th~sWn in qtliiKkr H e.xteOOs. When 'this is·-e\.1tnded .it clost$ the l.imil ..ttch Pt. 'Itti! adjl-ratert1re' rela,. As '3. R1ml~ the B- s:c1~ js en~ md.1tne pisma in 13 ~sJ' \Vhe'n tips ~o~ limit. swiieh ~} :IDIeooifi -A- ts eJlftE1.:itd and Ute p~'ifi cylin~ A. r.e.1mc .
'Start lR
..
An.oJJfer :<ample ~f the use of ~mletmi1 rcla~ ;$ ~g a 1a~h. fi~ 19.34 shows me laq,der di~,gra.JrL ~ lbe COlita~~ of npnt L me mom~nnu-u pte:s~ \.he.n tht ~ IS
~gl~. TM contacts fA:the outp~ Me th'¢'tt closed ud so utcl1 the 01.Up i.e .. .kelPS it on t:gelll when the 'CJ):IlfJjtts pi tht. LIlptU ~ ne l~ ~lOStd The, ~u.tpllt ean 00 uni iltChed by th;e irttc·.mloll ~10.1' O:J'Vltact.s ~Il.& TW s \YilJ O¢Cllr if.l;IJput 1 is ~lo~-4 ;J1!rl c.oergt'sret tft£ Q&\l ot fbI: ~(It~nm relB.) ••
(
IR out.put
11'
RESET
~ESf:T C46Q 1(10
open as: :I ~c lIltenlaI fuilur:e._
s
1
ift registers
Fi 19 7
A m.anber cit lDiel'lW rclay!o? can be grouped to~t t~ fortn 3 :regisrtf whitn cav. ,rovi~ it Storage ;ilea for a ae~· ~ .of mdivl;dWd bits Thus a 4...o1t reSister Vr'01.lJ4 be·~mte4 by mlng rout il'Ue ~tets5 an 8.::tait using eight: The tenn 81IJ]I ~g[.)tlu is used beanrs.e tlle bjts ~ be shlft:ed alog by one bit w!leo there is . suitable input 10 t regjster_ Fa: exarn.pJe, .-wi!th -an -b'1 rgisrer :we migbl in "liaHy
mlh the bSUll tltat ail t1u; bits shift alo.ng Ornt place -ani· Ole last bit m-erfi.ow£.
11le grouping Wgr:ther of a number Of auxiliary regi~10fS to ~ a sKill.. register is done auromabcaJly· b} a fiLe when the sliiit regi,ster f'umUOlil is selecttd at the conu:oi panel. With the h1itsubisn PLC~ thi$ is done by m;i~ the pr,()~ng:. fuaotien SIT (sbift:) against the auxi lacy retay hu~r that is to be flk first in the regi~f army~ ntis t1u(m.~ the ~!ook of fel~ ~ng frO"tti trurt rrtitiaJ Dumb«,. to ~ re~::t,l lor ~. ~ 11tgistet. 'I1iuS, If «'e $e4*l Ml40 10 be me 'fust relay tnen lhe shift register will cdnsist ofM140, M141T M142, MJ43~ ~1l44> M14 Ml46 and ~U4 7.
Slrif( Isters have three lDpUts: one to 103.d ·data. isto the ·unt e1etrumt l)f tb Icgidar rolJl.)! one • r1te $hilt ~~d {SFJ? and one for resetting {RST). Wiih OUT, II Jngj.t lCllel 0 or 1 ~ lr.'adM int6 the fim eleme~{ m the sbift Jt~t~r., Witb 'Sf"!!J ~ plli$e 'ino1-Ie.~ the eo,Ul:3nts of'tne· r~:fter along orre bit a; 8, tune~
·'Step I t\sb\Jctk.l~
~ ID ~OO
·1 OUT ~"4D
.::2 La X4Q,
:3 ~FT M1~
'~ tI) X"'~2
-s RST Y1c4P
($ lD M140
1 OUT 1430
,8 LO M141
~ OUf Y4'$1
{Q LD M142
11 'OUT ·V412 rl
eta,
20 LD
21 0
~1. kit ., ... ,,111 w:.~1r;m_~ ~&. ~.fts)stars·CiVl ULUS-~ ~ ~_"-T
19~ Ma$tQ, and jun1p c.ot\trQb&
inptU to l.opii!~ ~ master ~ MC2 is activated .iD1d til:! ."
.coE;trol~ Izy" rba,l ~~ relw follOVl'. If tbtre ate ~ ~~ ~ber Input 1 Of lapm 2 ttten llhe nmS ·ffiat fult&ws in th! ~ is that fur lnJl;nt .9 ~lltmnea ~t Out Q, It js tlms b18DC'~ ,pro,pm in_ diat if 'tla~f.e is, mput 1, tlnm. h~ a
f.olJov the MGI ~ ~ 1f ~ 1 then mau~h 'b) fQl1:' the MC2 contn:ill6:t ~tli and tf' -tho ,fOnow ~ rett tt ~
Il.9gmm and tgiI.pfC the brii:n:fd. .
\\1dJ. a Mililbj.ihi P1.U &11. I~ teftly aaa De ~gnM.~i~La& l ~r c~ rtby by ~ it ~lding]y-, Thm III pJ:~ 3!Jl int8mi1 rtlay MIOO as ;8 ~t otrrr~1 ~1 ~ progFam irutruction ~
Me M100
MeR MtOO
1r. iDdioa~ 1hc ¢w:I at thlMCtiOJ'L G<mtro1Jed b~' a, Qtttrr- ~tn:.I relav, the prognun jns:tItW[jOJl Js~
19.8.1 J'Umps
A ~on y,'hicb is • provided with l1~J1i! is- the: clJn~fti£m~1 Jump functitHk. Such.a~ enables progrm:ns M be"'b~ so that if a certain oolldluoo. ~:SlS t1Ien at5eiCtillJl..t~,tlie l)t"o.gnon 15 jmnped. Fir;~ 12.41 illutrates this OD I flew ru~ :md wnh a ~~f~ P_fGtrtm" Pc~ a ~ o1"PfI~ A.., the pr'Ilgram run~ "is e~. lVitb li1put 1 and'" me. wndi,tit)~ Jump retuy CJP. If lnQul 1 ~ filen :Ike ~ jumps to the ru.ng with lhe end of jump retay ddt HJP mid ~ colltinues mlh ·that Rdion at the ~ t~II~ es- ~ o~ it cOOt$~ with .~ p~ ~ ~ed ~ p:rogr,wB
1.~9 Cata handnr,Q
LIJ MOV
\Vim tnt ~101J ill lhe_;.thift regi~r ·the P'~ ~.bf ~S dtapur hat'!! been e6rJ~ l\']th ~ ~anng_ or individUa1 bits 0f' il1.ibtrmW.oll" e.g a;~~h ~ing. t::I~ Of nm, TheN ~ ~~ som. ootIU'Qi tasb W.~rn"'" t i,i useiQ.l1O deUwi;1:b :rdared I~s ofbits~ ~.8. 3 bte$k«cfgpt,inpu~ aad SO'o~ 01I~ as a dati WQfd, S1iCli a d~OOl can arik when a RD60t StlPUll~ an anaJ.~ Signal 'Whi(:b fE (;Cn~ te, ~t an J..bit wcdt1 bdOfe be€~aD. in~I-w.aPLC
The ~0'IlS thal . ~y b; ~ Out With a pte on ~ WOf.d:s ~rmau., iilcl"~
i Movin&data.
.~ Comp:trison Qf ~wdes of data. j .e, gn::;Uu 'dmnT ~ Me" or Jess than
3. A.rithmetic operrillOltl) ~h _a&IltiOIi W ~U~6Jt
Add
ftJ~
\
- AID 0
All 1 A~l'id
t±J A~
R~~ /"~\
-~ tD a(1d~ ~~~t'iCn
~ h6tr0ciiorl ~~
~ ..... aco::o~
step l~t~tJttiM
0 LD ~OO
1 =--
2 D1
3: O:l Such a odmpariwo mi.ght - be Ilsed wilen the Si~fi ·ft-Ol)1 tW(:J ~ are ~o be comPafed by the FLC 1Je(0Ie -action rs tUe.u. For exampl~ an alarm lnigbl ee reqUired [0 be ~. if a se~ indi_.a tefl1}leratUm. a.bm;.e 'StJ~C ana ~ .t1.nding nntt~ the It.m~ falll h!fcrw 1~_Fi~ 19~44 $h0\lrS the ~~ Rto"gnUn ~lhat (;riuJd bre used, T1k Input ~nlfie m'fa ~ inputted to th~ :so.llI~ address .MId me destination. ftthif$S ~ms the set value. Wh®n the. ternpemtm-e riti~:~r<'tO ~e QJ hi~. fire· ;data \'3lP.e ill the ~ .addresS b¢omel! .~ the deStination add:ress "«alue and ::there is an ,putput to the- aJQ1n wilkhl.afchcs the inptlt~ V.fben the ttfriPeil!tme taus to 7~e~ or: 4ower? tile data ",.1Ilue'in tlre so~. address ~ s tc tire dt$ti~on,address vahie and ~e is an QU1}rut to 1he tela! wltieb their opens its· CO!ltaq, and so u'i~ the 3lamJ. 'OlE
19.9.3 Arith melle 0 peratioris
Some PLCs em CarTy mn jus! the rnthmeti~ tr~~o~ of iidW"tion a:oo subtOlf'"tion., 'Others h:lve oven lIIore aritb~ ~f;tIL'i," The iI!StruCrion to add er ~Ulfct ~-era1tf ~ the f~~km .. the fegister CCtlUWllng lbo-addreSs 0f·the \'t\I~ 10· be ~ddecl. or tubt.raoted, tbe Address of tHe 10tflUe to wh:.it1l ~e iiddiittQD;Of from. ~TIich the s.tIDtrn.aIOO is tobe ~ an4 ~ re~f' where the reSult rs.10 ~flW~d, Figure I~45 shows the form ~ rot· tha~der svrOOt,l Yrr .addi 1100 "With O~.ON_
~ ~
AddJ;tiQ~o.r; suotraeuoa mlght be ~ EO alter tha value. d"WImC
seesor input valijp. pcrhap$ a eorreetien ~r t1j'fBet~.01~t~r the. p«sel v.aIgi!$. 'Of ulDtm or counters.
~ 9.9.4 Code conversions
AU I~ iitternai OJieI'atipos in the CPU of a PLe "3re ~'M ~t l.lSing hmar)" Dumber'S: Thus, when fliRt UlpOl is;it sj_gnal which I~ de¢lnm~, tQm~iQn ttr binarv eoded de;e;itntil (BCD) is used; l.ike.wise. where a decilnal .nFJ.lput D; req,u.i~ ~p-ve{$i'(m 10 deennaJ \S ·reqtbir:5d. Such c.£;blwers-fG'IlS .are "prv>ffd.cli with mwt PL~ ior .example, with ~~bi$llhGo l~er mol ~ tap~~rt ~ tobina:r:y is. of: cbe1brtl'''~l1Q"WfI in Fi~ r9 .. 4§~ We ~yat the SOUieeeaddte&s rs iil :aCn and ~onv~ to ):ri.ruuy 3lli:!&la~
;at~ 1es..tiflatiea M4rcss~
r~ 'fg.f' RampJflII1be
~MiJlll~ct
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1(400 ~ OOtpulwDtti ~ ~ ~ ~»ih * di.gita:I-~~ C(etverter·w.t:IIe ati:uarnr~:8~. UlL ~1O g~thre~.
With ~ la&ler pJOmalll. ~ nmg b ~ tb.e A.D~ arid
~ ~~PCf#t;urt?aJ~ In datir ~~ .DIU '. With . !
.tlw ~ .n:~(" DIU ]~ ~ ~, ~ the ~, pmQt'~
R1w& ~ rses th~. ~. ~on to; ~t ~.:lram~~. in ~ ~!!lCg mu. and DRZ and· stOFC the res.utt ~n d11a tWster
'V!U ie~ Ibis @$ mg,isWt h:O~ lhe:'ent»"~ WiUl nmg.!.a m.ultiWr funct\Q,1l is ~ in ~lO: ~ ~ .mu!liply the yalne h r data Ttp-tef DID DY the p~p.ortl'(Vnal galD of 4:-. ~g -4 uses :in mr.efJiill. N:~. which can. ~ p~mmed fQ mlch aD' n,,: t1 u bk~ ~tlve- ~~ue_ . W]~ nutg :5 Uie· data ~rstefD;Ft3" 'is ~ l.Q zat:i wh.c.n th,$lr.p.nt IS SWllcb(",d till"-
.sn~ pL;()s ljaVie; .. ac.hil:"OlI ~ wbil}h ;lll'L~~~y ·enable PDt tOntro! to b€ u§c-d, witiwUt the need to 'Write'l1!ta of im~m, in me"1\'-&y ootfi11.ed aWve.
19-.11 Selection ora p~C
In cansiderjng ~ '&-ze and type (If. PLC .req~1m',)" ~ar tMk or lAsb. £rittnia thtt need tn bt~ed11MaCt'~ Me~
I \Vilat inp~Vout;pu.t ~ is ft:q~ 1_~~ th~ nWiibet ~ mputstolit'pj1ts;. ~ of-e~, fijr :mtu~ ~s1
"2 What. ~ [if lnpQlildntpu5 .am ~ t~, i"sol~ ~(l~ (XfWer supply ro~ input.§f-q~ ~ ~. 10 III in g.?
3 What .:S.tm of memory k~airM;? 1'Jtls. isLi:n1ood kl' !:k number of i npuWout:p\¢s and. tlto. ool1tple$dt~i (d pr'0ga«1 ~
-4 ~~ ~"and ~ is nquir4'i of the CF'lt? 'fhls is li:$ta ttl the number of ~ of ~llS.tJU¢tiOll, 1:lim ':ean,.be 1un&ioo 'by ,3 .Pl£. As [be llurnbe;r 0f ~ jJ1cr~ SIn a fa;si& ~~ feQ"itifud. L~ '!".he treater the l'Iumta of illp;tllt~~br
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Problems
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