30 minut

Ad 1

________________
R1 | R2 |
____ | ____ |
----|____|-----|____|--------
| |
| |
| |
--- ---
--- C1 --- C2
| |
| |
-----------------------

_________
| | ____
| 1 | | |
---| ------- |---| k1 |----
| | T1s+1 | |____| |
| |_________| |
Pa | V + l2
---| sumator ---->
| _________ ^ -
| | | ____ |
| | 1 | | | |
---| ------- |---| k2 |----
| T2s+1 | |____|
|_________|

k1, k2 - stale odpowiadajace pierwszemu i drugiemu mieszkowi

T1 = R1C1
T2 = (R1+R2)C2

k1 k2
lo(s)= ( ------- - ------- )Pa(s)
T1s+1 T2s+1

lo(s) k1T2s + k1 - k2T1s - k2 s(k1T2 - k2T1) + k1 - k2
H(s)= ------- = ------------------------- = --------------------------
Pa(s) (T1s+1)(T2s+1) 2
T1T2s + (T1+T2)s + 1

Ad 2

_______
| 1 |
| ----- |
----->| Tis |----
| |_______| |
____ | V+
e | | | + x
---->| kp |---> ----------------> sumator --->
|____| |
| _____ ^+
| | | |
----->| Tds |------
|_____|
_________ _________
| | | |
| k2T2s | | k1 |
-----| ------- |--<----| ------- |-<---
| | T2s+1 | | T1s+1 | |
| |_________| |_________| |
| |
| |
| ____ |
e + V - | | | x
-----> sumator ----->| k |------->---------------
|____|


_________
| |
| k1 |
----| ------- |--<---
| | T1s+1 | |
|+ |_________| |
V |
---- sumator _________ |-----
| ^ | | | |
| |- | k2 | | |
| ----| ------- |--<--- |
| | T2s+1 | |
| |_________| |
| |
| ____ |
+ V | | i | x
----> sumator ----->| k |---->------------------->--
|____|

Ad 3

ko
Go(s)= ------------------
(s+v+jw)(s+v-jw)

obiekt oscylacyjny 2 rzedu
ma dwa magazyny energii
oddzialywanie wsteczne

-stal
koe
Go(s) = ----------
Tos+1

obiekt inercyjny z opoznieniem tal

^
u |
| _______
| |
| |
| |
|______|
------------------->
t

^
y |
| ______
| /
| /
| /
|________/
------------------->
tal T t

regulacja 2 i 3 stawna
regulacja PID

regulator dwupolozeniowy - stosowany do regulacji obiektow o dosc duzej bezwladnosci
i krotkich czasach martwych




u ^
|
|---
-----|-----> | P
---| e |
| | I
| PID uklady specjalne
|
--|--------------|--------------------|----------------->

0 u ^ 0,2 1 tal/T
| ___
| |
---|-|-|--->
___| | e
|

opoznienie w obiektach jest przyczyna
- skonczonej predkosci nosnikow informacji (opoznienie transportowe, czas martwy)
y=u(t-tal)

y(s) -stal
G(s) = ------ = e
u(s)
______
u | | y
---| G(s) |---->
|______|


| . . . |
|__ . __|
| | |
| V |
v
-->

|---------|
l

l - dlugosc przewezenia

l
tal = ---
v

- faktu magazynowania energii

R R
____ ____
o---|____|-----|____|---
^ | | ^
Uu | C --- C --- | Uy
| --- --- |
| |
o-----------------------



^
Uu |
| _______
| |
| |
| |
|______|
------------------->

^
Uy |
| ______
| /
| /
| /
|______/
------------------->

****************************************************************************************

30 minut

Ad 1

________
Urzadzenie | | Urzadzenie
wykonawcze -------------| Obiekt |------------------- pomiarowe
| |________| |
|~~~~~~~~~~~~~~~~~| |~~~~~~~~~~~~~~~~~~~|
| _____|_____ | | _ ____|______ |
| | | | | | | |
| | element | | | | Czujnik | |
| | nastawczy | | | |____________| |
| |___________| | | | |
| | | | |
| | | | _____________ |
| ___________ | | | | |
| | | | | | przetwornik | |
| | Silownik | | | | pomiarowy | |
| |___________| | | |_____________| |
| | | | | |
~~~~~~~~~~~~~~~~~~~ ~~~~~~~~~~~~~~~~~~~~~
| |
| |~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~|
| | ____________ | __________ |
| | | | | | | |
| | | Czlon | V | zadajnik | |
------|--| dynamiczny |------<--- --sumator --<-----------| wartosci | |
| |____________| |__________| |
| |
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

przetwornik (czesc urzadzenia pomiarowego) - jest w kazdym ukladzie gdzie konieczny
jest inny sygnal (niz biezacy)

Ad 2

|________| |________|
| ^ | | ^ |
| | H1 | | | H2 |
------------- | ----------------- | |
V V |
---------------------------------------------------
q1 q2



R1 R2
i1 ____ i2 ____
o->-|____|---->--|____|---
^ | <--- |
| V i1 UR2 |
| | | ^
Uwe | C1 --- ^ C2 --- | U2
| --- | U1 --- |
| | |
| | |
| |
o-------------------------

U2=U1-UR2
U2=Uwe-UR1-UR2
U2=Uwe-R1i1-R2i2
U2=Uwe-R1i3-R1i2-R2C2U2s
U2=Uwe-R1i3-R1C2U2s-R2C2U2s
U2=Uwe-R1C1U1s-R1C2U2s-R2C2U2s
U2=Uwe-T1sUR2-T1sU2-T3U2s-T2U2s
U2=Uwe-T1sR2i2

2
U2=Uwe-T1s R2C2U2-T1U2s-T3U2s-T2U2s

2
Uwe=U2(T1T2s + (T1+T2+T3)s+1)

U2 1
G(s) = ----- = ------------------------
Uwe 2
T1+T2s + (T1+T2+T3)s+1

Ad 3

-stal
koe
Go(s) ----------
Ts+1

^
|
|
| --------------
| /
| /
| /
|_/
------------------->


^
|
|
|
| /\ /\ /\
| / \/ \/ \
| /
|_/
------------------->

Ad 4 Silnik - ale kiepskie sterowanie
serwomechanizm, silownik