linear control lab[2]
TRANSCRIPT
)(
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. . . - -- . DC . . : . . . :http://saba.kntu.ac.ir/eecd/lcsl .
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1
:
: 1-1- . . . 1-2- ) (DC ) (. 1-3- 6 . 10k
. 6 . 10k . 470 TL . . . .) vi (t_ +
k
) vo (t
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:
1-4- :) Z 2 (s )Z1 (s
_
) vi (t
+
k
) vo (t
) Z1 (s ) Z 2 (s ) vo (t ) vi (t 0=GND
: k) vo (t
) vi (t
) Z 2 (s ) Z1 (s ) + Z 2 (s
+ +
++
+ -
e
) Z1 (s ) ( s ) + Z 2 (s 1Z
: vo ) Z 2 (s ) Z1 (s ) Z (s vi + vo 0= 2 -= ) Z1 (s ) + Z 2 (s ) Z1 (s ) + Z 2 (s vi ) Z1 (s ) Z1 (s ) Z 2 (s . . DC 1,0 01 . 2 DC . = ) G ( s . 1 ) Z1 (s ) Z 2 (s 2+s
-
.
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3
:
: ) ( ) (2-1- ) ( ) ( . . . 2-2- ) ( ) (. 2-3- : . . )(
r
2+s 1 + 0.1 s
u
1 2+s
y
. . u ) ( . : . . .www.ir-micro.com4
: r e u
01
1 2+s
y
. u . 2-4- . 1- : ) DC ( ) ( . ) DC ( . 2- : . . : : :2R
1e 2e 4e 3e
1R
3R
eo
1R
2R
= eo
2R R ) 2(e3 e1 ) + 2 (e4 e 1R 3R
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:
: 3-1- ) ( . . 3-2- ) ( ) (3-3- :2+s 2 + 0.1 s
. . : . . . : . 1,0 01 ) ( ) ( . . .www.ir-micro.com6
:
: . . . :
3-4- .4 2 )2 + ( s
. . . .r e k u
4 2 )2 + ( s
y
2 5 01 . . ) 5 01 ( 01 ) ( .e
01
2+s 2 + 0.1 s
u
01
01 . . . www.ir-micro.com7
:
) (u ) (e . . . 01 .
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8
:
: 4-1- ) ( . . 4-2- ) ( ) (4-3- :3+s 3.0 + s
. 3-3 .
4-4- .1 2 )1 + (0.1s
. . r e k u
1 2 )1 + (0.1s
y
.
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9
:
3 01 03 . . 3 ) ( e
3
3+s 3.0 + s
.u
3
3 03 . . ) ( u . . 3 . = ess .1 1+ k
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01
:
: -- )(PID5-1- PID . .1 e( )d Ti 0) de (t dtt
r
+
+
e
+
Kp
u
8 3)2 + (s
y
Td
t 1 ) de(t e(t ) + e( )d + Td u (t ) = K p 0 Ti dt
5-2- PID PID - 5-3- . . . 5-4- - . : 2 = K p = 2, Ti . . . Ti .www.ir-micro.com11
:
5-5- - . : 5.0 = K p = 4, Td . Td . 01 . 5-6- - - - . ,2 = K p = 4, Ti . : 5.0 = Td
- - 5-7- - - ) ) ( G (s . . . . ) ( KU ) ( TU . ., K p = 0 .6 K U , Ti = 0.5TU Td = 0.125TU
5-6 .
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21
- - ) (
y r
e
u
= Kp
2R , 1R
1 ) U (s Td s + 1 = K p + PID : Ti s Td ) E (s 1 + s R = D , Ti = RiCi , TD = RDCD : 3R
3 R . :,R2 = 100k + 100k,R2 = 100k + 100k ,R2 = 100k + 100k ,2 / R1 = 100k ,2 / R1 = 100k ,Ri = 1M
,R1 = 100k,R D = 1M , C i = 1F + 1F
,Ri = 1M,2 / C D = 1F
Ci = 1F + 1FR3 = 100k R3 = 100k
:PI :PD :PID
,RD = 1M
,2 / C D = 1F
: 100k. 31
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:
: 6-1- . )( . . . 6-2- )( . . : 1- - 2- 3- . 6-3- ) 1(IGBT . :+Vcc
PWM GND
)1-) ( 2-) ( 3-) (( )5-) ( 6-) (( . :1
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Insulated Gate Bipolar Transistor
41
:
1- +Vcc . . 2- . 3- GND . 4- . 5- )( PWM .6-4- 2PWM
)( PWM 3 ) 1-) ( 2-) ( 3-)(( 4 ) 4 5 6 7 ) (( . 1- . 2- GND . 3- . 4 5 PWM . 6 7- NOT 4 5 . PWM PWM Duty Cycle . Duty Cycle 05% +10V Duty Cycle 001% -10V Duty Cycle . Duty Cycle PWM
. . 6-5- )( : 2
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Pulse Width Modulation
51
:
. . 1,0 . 58 . 3 )1-)( 2-)( 3-)(( . 2 GND . )( :
PWM
: PWM
: )(
6-6- . ke TD s 1 + s
.
. k TD . )( . .www.ir-micro.com61
:
6-7- . .
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71
:
: DC7-1- : ) (DC . ) (1v/500rpm . . DC . :
M
:+Vcc
M
GND
B
A
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:
A B PWM. Vsupply PWM . . 7-2- . . .k : 1 + s
7-3- . . 7-4- .
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