Scribd
Upload
9 views

Chapter 2

Lecture in control systems

Uploaded by

Tarek Mohamed
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPT, PDF, TXT or read online on Scribd
9 views

Chapter 2

Lecture in control systems

Uploaded by

Tarek Mohamed
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPT, PDF, TXT or read online on Scribd
You are on page 1/ 17

‫بسم اهلل الرحمن الرحيم‬

‫وبه نستعين‬
Automatic Control Systems
Lecture Note 2

Prepared by Dr: TarekHassan Mohamed


Faculty of Energy Engineering - Aswan
System and Modeling
Plant

?
y=K*u Simple
equation

u
Plant y

Defferential
Sy = f(y,u)
equation
Sy=k*y+B*u
Linear and Non Linear Plants

y=4+2u
Linear
Sy = 4y + 5 u
y = 4 + 2 u2
Non Linear
Sy = 4y3 + 5 u
Time variant and Time invariant Plants

y=4+2u
Time
Sy = 4y3 + 5 u Invariant

y = 4t + 2 u2
Time Variant
Sy = k(t) y3 + b(t) u
The Transfer Function of Linear Systems
Field controlled DC motor

 Kf if

Tm K1 Kf if( t )  ia( t )

field controled motor - Lapalce Transform

Tm( s ) K1 Kf Ia If( s )


Vf( s ) Rf  Lf s  If( s )
Tm( s ) TL( s )  Td ( s )

2
TL( s ) J s   ( s )  b  s   ( s )

rearranging equations

TL( s ) Tm( s )  Td ( s )

Tm( s ) Km If( s ) Td ( s ) 0

Vf( s ) Km
If( s )  (s )
Rf  Lf s
Vf( s )  
s  ( J s  b )  Lf s  Rf
The Transfer Function of Linear Systems
Block Diagram Models
The Transfer Function of Linear Systems

 (s ) Km
V f(s ) s  ( J s  b ) L f  s  R f 

 (s ) Km
V a( s ) s  R a  L a s  ( J s  b )  K b K m
The Transfer Function of Linear Systems

Gear Ratio = n = N1/N2

N2  L N1  m
L n  m

L n  m

x r 

converts radial motion to linear motion


Mathematical models of systems
Example 2.1 : A passive circuit
。define: input → ur output → uc
R L ：we have

i
ur C uc
Mathematical models of systems
:Example 2.11: For a electric circuit
R1 R2 R1 R2

ur C1 C2 uc ur ( s ) 1/ C1s 1/ C2s uc ( s )
Mathematical models of systems
Example : A mechanism
Define: input → F ， output → y. We have:

dy d2y
F  ky  f m 2
k dt d t
F

d2y dy
m m 2  f  ky  F
dt dt
y
f
Exercise 1
Drive the following transfer function of armature
controlled DC motor

 (s ) Km
V a( s ) s  R a  L a s  ( J s  b )  K b K m
‫الحمد هلل رب العالمين‬

You might also like