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Punoi: Pranoi:
Elidon Spahiu Dr.Ing. Artenisa Myrtellari
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Bazat e Kontrollit Automatik 1
N=12
n=N+60=12+60=72
K1=n=72
K2=n+6=72+6=78
T1=0.05*K1=0.05*72=3.6
T2= 0.01*K1=0.01*72=0.72
T3=0.1*K1=0.1*72=7.2
Kerkohen:
3.6S*Y(s)+Y(s)=72*U(s)
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Bazat e Kontrollit Automatik 1
Y(s)*(3.6S+1)=72U(s)
𝑌(𝑠) 72
G1(s)= =
𝑈(𝑠) (3.6S+1)
𝑑2 y 𝑑𝑦
0.72* 𝑑𝑡 2 +7.2* 𝑑𝑡 +y=78*y1
𝑑2 y 𝑑𝑦
L{0.72* 𝑑𝑡 2 +7.2* 𝑑𝑡 +y}=L{78*y1}
0.72*𝑆 2 *Y(s)+7.2*S*Y(s)+Y(s)=78Y1(s)
Y(s)*(0.72* 𝑆 2 +7.2*S+1)= 78Y1(s)
𝑌(𝑠) 78
G2(s)= =
𝑌1(𝑠) (0.72∗ 𝑆 2 +7.2∗S+1)
72 78
Gh(s)= G1(s) *G2(s) = *
(3.6S+1) (0.72∗ 𝑆 2 +7.2∗S+1)
5161
=
2.592∗S3 +26.64∗S2 +10.8∗S+1
5161
Gh(s)=
2.592∗S3 +26.64∗S2 +10.8∗S+1
b)funksioni trasmetues per gjendjen e mbyllur.
5161
Gh(s) G1(s)∗ G2(s) 2.592∗S3 +26.64∗S2 +10.8∗S+1
Gm(s)= = = 5161 =
1+Gh(s) 1+G1(s)∗ G2(s) 1+
2.592∗S3 +26.64∗S2 +10.8∗S+1
5161
2.592∗S +26.64∗S2 +10.8∗S+1
3
2.592∗S +26.64∗S2 +10.8∗S+1
3 5161
=
+
2.592∗S3 +26.64∗S2 +10.8∗S+1 2.592∗S3 +26.64∗S2 +10.8∗S+1
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Bazat e Kontrollit Automatik 1
gjendja e mbyllur:
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Bazat e Kontrollit Automatik 1
3.3399 +10.3095i= S2
3.3399 -10.3095i= S3
5161∗[(1−26.64∗ώ2 )−(10.8∗jώ−2.592∗jώ3 )]
[(1−26.64∗jώ2 )+(10.8∗jώ−2.592∗jώ3 )][(1−26.64∗jώ2 )−(10.8∗jώ−2.592∗jώ3 )]
5161∗(1−26.64∗ώ2 )(10.8∗jώ−2.592∗jώ3 )
=[(1−26.64∗ώ2 ) 2 +(10.8∗ώ−2.592∗ώ3 ) =
2]
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Bazat e Kontrollit Automatik 1
5161∗(1−26.64∗ώ2 )−5161∗(10.8∗jώ−2.592∗jώ3 )
[(1−26.64∗ώ2 ) 2 +(10.8∗ώ−2.592∗ώ3 ) 2 ]
5161∗(1−26.64∗ώ2 )
=
6.716∗ώ6 +653.7∗ώ4 +67.78ώ2 +10.8∗ώ+1
5161∗(10.8∗ώ−2.592∗ώ3 )
- j*
6.716∗ώ6 +653.7∗ώ4 +67.78ώ2 +10.8∗ώ+1
5161∗(1−26.64∗ώ2 )
Re(ώ)=
6.716∗ώ6 +653.7∗ώ4 +67.78ώ2 +10.8∗ώ+1
5161∗(10.8∗ώ−2.592∗ώ3 )
Im(ώ)=- j*
6.716∗ώ6 +653.7∗ώ4 +67.78ώ2 +10.8∗ώ+1
percaktojme:
R(ώ)=√𝑅𝑒(ώ)2 + 𝐼𝑚(ώ)2 =
5161∗(1−26.64∗ώ2 ) 5161∗(10.8∗ώ−2.592∗ώ3 )
√( )2 + ( )2
6.716∗ώ6 +653.7∗ώ4 +67.78ώ2 +10.8∗ώ+1 6.716∗ώ6 +653.7∗ώ4 +67.78ώ2 +10.8∗ώ+1
5161∗(10.8∗ώ−2.592∗ώ3 )
𝐼𝑚(ώ) 6.716∗ώ6 +653.7∗ώ4 +67.78ώ2 +10.8∗ώ+1
φ(ώ)=arctg = 5161∗(1−26.64∗ώ2 )
=
Re(ώ)
6.716∗ώ6 +653.7∗ώ4 +67.78ώ2 +10.8∗ώ+1
5161∗(10.8∗ώ−2.592∗ώ3 ) (10.8∗ώ−2.592∗ώ3 )
= (1−26.64∗ώ2 )
5161∗(1−26.64∗ώ2 )
Percaktojme (ώ) per pjesen reale dhe imagjinare
pjesa reale 1 − 26.64 ∗ ώ2 = 0 = ˃ 26.64 ∗ ώ2 =1 =>
1 2 1
ώ2 = => ώ= √ ώ=0.1937
26.64 26.64
pjesa imagjinare
10.8 ∗ ώ − 2.592 ∗ ώ3 =0 => (10.8 − 2.592 ∗ ώ2 )*ώ=0 =>
10.8 2 10.8
2.592 ∗ ώ2 =10.8 => ώ2 = => ώ= √ =>
2.592 2.592
ώ=2.0412
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Bazat e Kontrollit Automatik 1
ndertojme KLA:
5161 5161
Gh(s)= =
2.592∗S3 +26.64∗S2 +10.8∗S+1 (3.6S+1)(0.72∗ 𝑆 2 +7.2∗S+1)
1 1 5162 1
= 5161* *(0.72∗ = *(s+9.85)∗(S+0.14)
(3.6S+1) 𝑆 2 +7.2∗S+1) (3.6S+1)
1 1 1
3761.66 * * *
3.6𝑠+1 (0.101𝑠+1) (7.14𝑠+1)
1 1 1
G1(s) =3761.66 G2(s)= G3(s)= G4(s)=
3.6𝑠+1 (0.101𝑠+1) (7.14𝑠+1)
G1(s) =3761.66
L1(ώ)=20*logR(ώ)=20*log(3761.66)=20*3.575=71.5dB
pjerresia 0dB/sec
1
G2(s)=
3.6𝑠+1
1
L2(ώ)=20*logR(ώ) =20*log =20*log1-20*log√1 + (3.6ώ)2=
√1+(3.6ώ)2
-20*log√1 + (3.6ώ)2
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Bazat e Kontrollit Automatik 1
20*log√1 + (0.101ώ)2
=-20*log√1 + (0.101ώ)2
studiojme per dy frekuenca per (ώ<<<ώprerese)
ώ=0.1=> L3(ώ)= -20*log√1 + (0.101ώ)2=-
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Bazat e Kontrollit Automatik 1
=-20*log√1 + (7.2ώ)2
studiojme per dy frekuenca per (ώ<<<ώprerese)
ώ=0.1=> L4(ώ)= -20*log√1 + (7.14ώ)2=-20*log√1 + (7.14 ∗ 0.1)2=
-20*log(1.002)=0 dB
ώ=0.01=> L4(ώ)= -20*log√1 + (7.14ώ)2=-20*log√1 + (7.14 ∗ 0.01)2=
-20*log(1.0000)=0 dB
studiojme per dy frekuenca per (ώ>>>ώprerese)
ώ=10 => L4(ώ)= -20*log√1 + (7.14ώ)2=-20*log√1 + (7.2 ∗ 10)2=
-20*log(72)=-37.14 dB
ώ=100=> L3(ώ)= -20*log√1 + (7.2ώ)2=-20*log√1 + (7.2 ∗ 100)2=
-20*log(720)=-57.14 dB
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Bazat e Kontrollit Automatik 1
1 1
ώ prerese = =0.14 dB/dec
𝑇 7.14
L4(ώ)= per ώ<<< =ώ prerese pjerresia 0 dB/dec
per ώ> >> ώ prerese pjerresia -20d/dec
Ndertojme KLF
1 1 1
Gh(s) = 3761.66 * * *
3.6𝑠+1 (0.101𝑠+1) (7.14𝑠+1)
φ(ώ)=-arctg(T*ώ)
0
G1(s) =3761.66 φ1(ώ)=-arctg =0˚
3761.66
1
G2(s)= φ2(ώ)=-arctg(3.6*ώ)
3.6𝑠+1
1
G3(s)= φ3(ώ)=-arctg(0.101*ώ)
0.101𝑠+1
1
G4(s)= φ4(ώ)=-arctg(7.14*ώ)
7.2𝑠+1
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Bazat e Kontrollit Automatik 1
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Bazat e Kontrollit Automatik 1
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Bazat e Kontrollit Automatik 1
Transfer function:
516
----------------------------------
2.592 s^3 + 26.64 s^2 + 10.8 s + 1
>> bode(g)
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Bazat e Kontrollit Automatik 1
26.64 5162
∆2 = =-5151.73<0
2.592 10.8
Kushti i dyte sipas Hurvitz-es nuk na plotesohet sistemi jone
eshte i paqendrueshem
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Bazat e Kontrollit Automatik 1
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Bazat e Kontrollit Automatik 1
S3 2.592 10.8
S2 26.64 5162
S1 -491.4 0
S0 5162 0
a1∗a2 − a0∗a3 a1∗a4 − a0∗a5
𝑏1 = = −491.4 𝑏2 = =0
𝑎1 𝑎1
𝑏1∗𝑎3 − 𝑎1∗𝑏2
𝐶1 = = 5162
𝑎1
S3 2.592 10.8
S2 26.64 (1+Kkr)
S1 26.64 ∗ 10.8 − 2.592 ∗ (1 + Kkr) 0
26.64
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Bazat e Kontrollit Automatik 1
S0 (1+Kkr) 0
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Bazat e Kontrollit Automatik 1
k=5161
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Bazat e Kontrollit Automatik 1
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Bazat e Kontrollit Automatik 1
Hapi 1
kthejme funksionin trasmetues ne gjendjen standarte
duke ditur polet e funksionit trasmetues
1 1 1 1 1 1
Gh(s)=K * * =5161 * * =
𝑇1𝑠+1 𝑇2𝑠+1 𝑇3𝑠+1 3.6𝑠+1 𝑠+9.85 𝑠+0.14
1 1 1
5161 * 1 * 1 =
3.6𝑠+1 9.85∗(9.85𝑠+1) 0.14∗(0.14𝑠+1)
1 1 1
3761.66 * * *
3.6𝑠+1 (0.101𝑠+1) (7.14𝑠+1)
𝐵𝑠
Gh(s)=K*
𝐴𝑠
Hapi 2
percaktojme polet dhe zerot
s+0.278=0 p1=-0.277
s+9.85=0 p3=-9.85
s+0.14=0 p2=-0.14
zero nk kemi z=0 dhe numri i poleve ne origjine m=0
Hapi 3
vendosim polet dhe zerot ne planin kompleks
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Bazat e Kontrollit Automatik 1
Hapi 4
percaktojme segmetin e VGJR
]-∞:p3[ dhe]p2:p1[ => ]-∞:-9.85[ dhe]-0.277:-0.14[
Hapi 5
percaktojme numrin e trajektoreve te VGJR
n+z-m=3+0-0=3 kemi tre trajektore
Hapi 6
percaktojme numrin e asimptotave dhe pikprerjen me boshtin
𝛴𝑃−𝛴𝑍 −9.85−0.14−0.277
real G(a)= = = -3.422
𝑛−𝑧−𝑚 3
Hapi 7
percaktojme pikprerjen e VGJR me boshtin real
𝑑𝐴(𝑠) 𝑑𝐵(𝑠)
B(s)= -A(s)* B(s)=1
𝑑(𝑠) 𝑑(𝑠)
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Bazat e Kontrollit Automatik 1
Hapi 9
Vlersojme koeficientin kritik
Re[A(jώ)] −26.64∗ώ2 −26.64∗2.042
Kkr= ώ=ώkr = = = 110
Re[B(jώ)] 1 1
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Bazat e Kontrollit Automatik 1
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Bazat e Kontrollit Automatik 1
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Bazat e Kontrollit Automatik 1
ans =
S1= -10.2778
S2= 0 + 2.0412i
S3= 0 - 2.0412i
ndertojme pergjigjrn kalimtare per koeficientin kritik
>> num=[110];
>> eme=[2.592 26.64 10.8 111];
>> step(num,eme)
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Bazat e Kontrollit Automatik 1
ans =
-12.9812
1.3517 + 6.1183i
1.3517 - 6.1183i
ndertojme pergjigjen kalimtare
>> num=[1320];
>> eme=[2.592 26.64 10.8 1321];
>> step(num,eme)
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Bazat e Kontrollit Automatik 1
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Bazat e Kontrollit Automatik 1
10) Perfundime
ne kte detyre studiuam konturin e mbyllur te nje sitemi teknologjik duke
u bazuar te konturi i hapur i tij.
a) gjetem funksionin trasmetues per te dy gjendjet e sistemit
5161
Gh(s)=
2.592∗S3 +26.64∗S2 +10.8∗S+1
5161
Gm(s) =
2.592∗S3 +26.64∗S2 +10.8∗S+5162
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