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F

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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