Professional Documents
Culture Documents
Control of Electromechanical
Systems
Prof. Claudio Roberto Gaz
gaz@diag.uniroma1.it
Class Schedule
Exercise: Choosing 𝜔𝑠 = 10
1 1 2𝜋
𝐺(𝑠) = 𝑇= ; 𝜔 = 2𝜋𝑓 ; 𝑇 =
𝑠(𝑠 + 1) 𝑓 𝜔
Solution:
𝜔 + 𝑒 𝜇 𝜇 = 1.5
Solve for |𝐺(𝑠)| , 𝑠 = 𝑗𝜔 𝜇 G(s) y
−
1
|𝐺(𝑠)| = | |
𝑗𝜔(𝑗𝜔 + 1)
𝜔𝐵𝑊 2 = 1 , 𝜔𝐵𝑊 = 1
2𝜔𝑚𝑎𝑥 < 𝜔𝑠
10𝑓𝑚𝑎𝑥 < 𝑓𝑠
5𝜔𝐵𝑊 ≤ 𝜔𝑠 ≤ 10𝜔𝐵𝑊
The Z Transform
= ∑ 𝑢𝑘 𝛿(𝑡 − 𝑘𝑇)
𝑘=0 𝑢0
𝑢(𝑡) t
𝑢2 0 T 2T 3T
𝑢1
𝑢3 Fig: unit impulse
𝑢0
Step function
t
0 T 2T 3T 𝑢(𝑡)
𝑈(𝑧) = ∑ 𝑢𝑘 𝑧 −𝑘 1 𝑧
𝑘=0 𝑈(𝑧) = −1
=
1−𝑧 𝑧−1
Consider
𝑛 Exponential function
1 − 𝑎𝑛+1
∑ 𝑎𝑘 = ,𝑎 ≠ 1
1−𝑎
𝑘=0
𝑢(𝑡)
1
We can see that this converges to
∞
1
∑ 𝑎𝑘 = , |𝑎| < 1
1−𝑎
𝑘=0
t
The Z Transform of common functions 0 T 2T 3T
Time convolution: 𝑍{𝑓1 (𝑘) ∗ 𝛽(𝑘)} = 𝐹1 (𝑧) ∙ 𝐹2 (𝑧) 𝑥̇ (𝑡) = 𝐴𝑥(𝑡) + 𝐵𝑒(𝑡) (𝑏)
{
𝑢(𝑡) = 𝐶𝑥(𝑡) + 𝐷𝑒(𝑡)
Initial value theorem: 𝑓(0) = lim 𝐹(𝑧) (𝑐)
𝑧→∞
𝐼𝑛𝑡𝑒𝑔𝑟𝑎𝑡𝑒 𝑡ℎ𝑒 𝑡𝑤𝑜 𝑚𝑒𝑚𝑏𝑒𝑟𝑠
Final value theorem: lim 𝑓(𝑘) = lim(𝑧 − 1) 𝐹(𝑧)
𝑘→∞ 𝑧→1 𝑥 ∗ 𝑘 = 𝑥(𝑘𝑇)
Solution:
𝐹(𝑧) 𝑧+1 𝐴 𝐵 𝐶
= = + +
𝑧 𝑧(𝑧 2 + 0.3𝑧 + 0.02) 𝑧 𝑧 + 0.1 𝑧 + 0.2
Consider a general integral
(𝑘+1)𝑇
∫ 𝑓(𝑡)𝑑𝑡 ≅ [(1 − 𝛼)𝑓(𝑘𝑇) + 𝑎𝑓(𝑘 + 1)𝑇]𝑇 , 0 ≤ 𝛼 ≤ 1 (𝑒)
𝑘𝑇
Substitute e in d
𝑥 ∗ (𝑘 + 1) − 𝑥 ∗ (𝑘) = 𝐴[(1 − 𝛼)𝑥 ∗ (𝑘) + 𝑥 ∗ (𝑘 + 1)]𝑇 + 𝐵[(1 − 𝛼)𝑒 ∗ (𝑘) + 𝑒 ∗ (𝑘 + 1)]𝑇 (𝑓)
𝑒 ∗ (𝑘) = 𝑒(𝑘𝑇)
From (c), we have
The two relations (f) and (g) are an approximate representation of the original system.
Apply the Z-transform to (f)
𝑋 ∗ (𝑧)𝑧 − 𝑋 ∗ (𝑧) = 𝐴[𝑋 ∗ (𝑧) − 𝛼𝑋 ∗ (𝑧) + 𝛼𝑋 ∗ (𝑧)𝑧]𝑇 + 𝐵[𝐸 ∗ (𝑧) − 𝛼𝐸 ∗ (𝑧) + 𝛼𝐸 ∗ (𝑧)𝑧]𝑇
𝑥(𝑘 + 1) = 𝑋 ∗ (𝑧)𝑧
𝑥(𝑘) = 𝑋 ∗ (𝑧)
1 𝑧−1
𝑋 ∗ (𝑧) [ ∙ 𝐼 − 𝐴] = 𝐵𝐸 ∗ (𝑧) (ℎ)
𝑇 1 − 𝛼 + 𝛼𝑧
−1
∗ (𝑧)
1 𝑧−1
𝑋 =[ ∙ 𝐼 − 𝐴] 𝐵𝐸 ∗ (𝑧)
𝑇 1 − 𝛼 + 𝛼𝑧
𝟏 𝒛−𝟏
𝒔= → sampling time
𝑻 𝜶𝒛 + 𝟏 − 𝜶