자동제어 | 폐루프 시스템의 compensator 설계하기 |

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작성자 cemtool 작성일14-09-17 11:08 조회14,103회 댓글3건

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전기자의 인덕턴스를 무시할 수 있는 어떤 DC motor의 개루프 전달함수가 다음과 같이 주어진다.

$G(s)=\frac{50}{s(1+s/2)}$

이때, 폐루프 시스템이 다음과 같은 specification을 만족하도록 하는 compensator를 설계하시오.

● 단위 ramp 입력에 대한 정상 상태의 오차가 1/150 미만이어야 한다.

● 단위 step 응답의 overshoot가 25% 미만이어야 한다.

● 보상된 시스템(compensated system)의 bandwidth가 보상되지 않은 시스템(uncompensated system) 의 bandwidth보다 작아야 한다.

ex6_49.cem

/*
  Exercise 6.49*/
 
del *;
"************************"
"**                    **"
"**   Exercise 6.49    **"
"**                    **"
"************************"
" "
sleep(2);
 
"G(s) = 50/s(1+s/2)"
" "
sleep(2);
 
numG = 50;
denG = [1/2 1 0];
 
// bode plot"bode plot"
" "
sleep(1);
 
w = logspace(-1, 2, 1000);
bode(numG,denG,w);
 
// compensator
"compensator"
"D(s) = (s/0.4+1)/(s/0.008+1)"
" "
sleep(2);
 
numD = [1/.4 1];
denD = [1/.008 1];
 
// open loop
num = convo(numG,numD);
den = convo(denG,denD);
 
"bode plot of compensated system"
" "
sleep(1);
 
holdon;
bode(num,den,w);
 
"graph 설명"
"빨강색: 원래의 system"
"파랑색: compensated system"

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Irsanto Ongko 작성일 18-12-21 00:12

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