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Aula14 CSL PDF
Aula14 CSL PDF
2. MATLAB
Scribe Metal to be
y-axis engraved
Copyright 1998 by Addison Wesley Longman. All rights reserved.
Controller
x-axis
x-motor 1 Position measurement
Position measurement
(a)
(b)
Figure 8.29 (a) Engraving machine control system (b) Block diagram model
Exemplo de projeto
B FT do processo
1
G(s) =
s(s + 1)(s + 2)
K 2
T (s) = =
s3 + 3s2 + 2s + K s3 + 3s2 + 2s + 2
5
Magnitude (dB)
10
15
20
25
30
35
40
90
Phase (deg)
180
270
1 0 1
10 10 10
Frequency (rad/sec)
1
1.8363 = p = 0.2840
2 1 2
p r
r = n 1 2 2 n = n = 0.8592rad/s
0.9588
2
n 0.7382
T (s)
= =
s2 + 2n s + 2
n s2 + 0.4880s + 0.7382
4 4
ta = = = 16.3944s
n (0.2840)(0.8592)
Resposta Temporal...
Step Response
1.4
System: f
Peak amplitude: 1.39
Overshoot (%): 38.9
At time (sec): 4.07
1.2
System: f
1 Settling Time (sec): 16
0.8
Amplitude
0.6
0.4
0.2
0
0 5 10 15 20 25
Time (sec)
Y (s)
G3 (s) =
U (s)
b
Friction
Figure 8.42 Disk drive head position control, including effect of flexure head mount
Projeto Sequ
encial: Leitura de um Drive
20
20 dB/dec
dB 0
40 dB/dec
220
240
80 dB/dec
260
280
0.1 1 10 102 103 104 105
vz = 1 v2 = 20 v 1 = 1000 vn
v
MASTER 115
Figure 8.43 Sketch of the Bode diagram magnitude for the system of Fig. 8.42
Projeto Sequ
encial: Leitura de um Drive
4 4
ta = = 2.5 103 s
n (0.8)(2000)
100
50
Magnitude (dB)
250
2100
2150 21
10 100 101 102 103 104 105
Frequency (rad/sec)
(a)
20
23 0
220
Magnitude (dB)
240
260
280
2100
2120
1021 100 101 102 103 104 105
vB
Frequency (rad/sec)
(b)
Figure 8.44 The magnitude Bode plot for (a) the open-loop transfer
function and (b) the closed-loop system
08
220 dB/dec
2458 2908
f M
Copyright 1998 by Addison Wesley Longman. All rights reserved.
2908 240
K 0 dB/dec K(st a 1 1) 1/t 2 f
1. f M KdB 7. 21808
st 1 1 1 s(st 1 1 1)(st 2 1 1) 0 dB 1 1 220 log v
21808 t1 ta
0 dB 1 log v
t1 240 dB/dec
220 dB/dec
08 240 dB/dec
f f M
0
f M
K K f
2. 220 8. 21808
(st 1 1 1)(st 2 1 1) 21808 s2 0 dB log v
0 dB 1 1 log v
t1 t2
240 dB/dec
08 f
240 dB/dec
0
220 f M
f M
MASTER 117
Table 8.5 Bode diagram plots for typical transfer functions
MASTER 118
TABLE 8.5 ( continued )
2908
240 dB/dec
f M
K(st a 1 1) f M
10. f
21808 s 2 (st 1 1 1) 1/t 1
K 0 dB log v 21808
4. 0 dB 1 log v
s ta . t1
Copyright 1998 by Addison Wesley Longman. All rights reserved.
ta
220 dB/dec
220 dB/dec 240 dB/dec
22708
f
212 dB/oct
Table 8.5 Bode diagram plots for typical transfer functions (continued)
TABLE 8.5 ( continued )
G(s) Bode Diagram G(s) Bode Diagram
260 dB/oct
f 1
2908 f M t1
240 dB/oct 240
1
f M
Copyright 1998 by Addison Wesley Longman. All rights reserved.
220
240
2908 1 1
260
K(st a 1 1)(st b 1 1) t3 t4
14. f M 240
s(st 1 1 1)(st 2 1 1)(st 3 1 1)(st 4 1 1) log
0 dB v
21808
220
1 1
1 240
t1 t2 1
ta t b 260
22708
MASTER 119
Table 8.5 Bode diagram plots for typical transfer functions (continued)