Karadeniz Teknik Universitesi

Mllhendislik Fakiiltesi Elektrik-Elektronik MUhendisligi SOlUmU

ELKE 304 Otomatik Kontrol Sistemleri

Donemsonu Smavi 30 Mayis 2011 Sure: 1 Saat 45 Dakika

Prof. Dr. Ismail H. ALTA~

.----==---~~~~~----~----~~~~------~~--------~~~--~~~~--~.-----UYARI: Ders bilgileri dosyasmda cep telefonlan, hesap makinalan ve cevap kagidmm baskalan tarafmdan
gorunmemesini saglama konusunda belirtilen buttin hiikUmler bu smavda da gecerlidir.
Rp6th kriterini kullanarak yanda blok diyagrann verilen sistemin kararhhk durumunu inceleyiniz. \~~,
'\.«(JJ()(

soruri.

'l'Y\,~ "-------1

SORU 2. Bir sistemin asimptotik Bode diyagrami yandaki sekilde verilmektedir. Bu sistemin Paz ciziminde yUksek frekanslardaki faz acismm -180 derece oldugu goruldugtine gore; y"transfer fonksiyonunu kestiriniz. ,,/ b. Bu sistem girisine birim basamak isaret uygulayarak (baslangic kosullan srfir iken) cikis tepkesini veren ifadeyi zaman uzaymda yazmiz. c. Bu sistem girisine birim basamak isaret uygularursa (baslangic kosullan sifir iken) ylkl§ tepkesinin nasil olabilecegini tahmini olarak cizimle gosteriniz, SOR~

dB

-80 -1 00 '-;------':;---.-.I..;--.J...:;--~ 1 2
10100
101

10

10~

m{rad/s)

Bi/sfstemin

fo. Bu sisteme iliskin Nyquist diyagrammi

acik cevrim transfer fonksiyonu G(s) ""

s(1 + 2s)(1 + 3s)

0.1

olarak verilmektedir,

ciziniz, (~Faz acisi 1800 iken cofrekansmm degerini ve bu frekanstaki genlik (kazanc) degerini bulunuz. (1'1. Bu sistemin genlik marjini nedir? ''6,) \"')

SORTY.t. rida transfer fonksiyonu verilen sistem icin bir denetleyici tasarlayrmz. Oyle ki; a. Stirekli hale gecis suresi ::; I saniye olsun, " b. Yuzde a~ma:S; 10%, c. Siirekli cahsma hatasi basamak giris iyin::; 0.1 olsun.

G( s)

= -::-( (:--8 -+ 3~) s-+-2-:-)

NOT: Genel denetleyici tasanm yontemini kullamruz, Tasanrm m=Z icin yapmiz, Diger yozUmler gecerli degildir SORU 5. Kok Yer Egrilerim yontemini kullanarak yanda cevrim transfer fonksiyonu verilen sistem icin bir Faz Ilerletici Denetleyici (Kompanzator) tasarlayunz. Oyle ki; a. Surekli bale gecis suresi S I san. olsun.

GH(s) =

(8+1)(s+3)
::, -\\..\~ .... L -+ :>

Y 01 Gosterme: Denetleyici tasanrm icin a§agldaki yolu takip ediniz, Diger cozum ve yaklasimlar gecersizdir. 1. Verilen sistemin Kok Yer egrisini ciziniz. 2. Tasanm noktasirun kompleks diizlemdeki yerini yukandaki kosullan saglayacak sekilde belirleyiniz ve grafikle gosteriniz. _____"_~--"~~_~~M~·_''''~A .• ,.<•.•..".~ ..~.,_._", •. ,

Ihtiyaeuuz

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Karadeniz Technical University

Faculty of Engineering Electrical and Electronics Engineering

ELK.E 304 Otomatik Kontrol Sistemleri

Arasmav

Prof. Dr. Ismail H. ALTA~

29 Mart 2011 Sure: 1 Saat 45 Dakika

tTY AID: Ders tanrtim dosyalannda Cep telefonu, Hesap makinasi ve cevap kagidma sahip olma konusunda yapilan a£lklamalar bu smav icin de aynen gecerlidir. 8041.
Y~~erHen sistemlerin kararhlik durumunu inceleyip, varsa K degerini kritik kararhhk smm icin bulunuz,

J
.J

(c). F;,(s)=s4+i+S2+S+K=O.

SORY2.
Greslemeli bir kontrol sistemi asagidaki blok diyagrarru He temsil edilmektedir .. O(s) $ekilde, R: Referans giris, D: Bozucu giri~, Y: Cikis, E(S) 4 ~(S) E: Kontrol hatasi, $2 + 5$ + 6 U: KontroJ isareti, and C: Kontrollor blogu, Asagrdaki siklarda istenen denetleyici parametrelerini Kararhhk ve surekli cahsma hatast icin bulunuz. Surekli cahsma hatastni basamak referans girls r(t)=lO ve basamak bozucu giris d(t)=2 alarak bulunuz. ~"'\ '\_ (a) Oransal denetleyici uygulandigmda (C yerine K, kazanci konuldugunda) ve ~ '" \..\,( f (b) Oransal + Integral denetleyici uygulandigmda (C yerine PI denetleyici geldiginde)

ICIU(~

j~ SO

3.
R(S}

D(s)

Y nda bir blok diyagrarm verilmektedir. Bu sistemdeki bozucu girls olculebllmektedir ve d(t)=3 olarak sabit bir deger o19ti1mO~ttir. Referans girls icin de 5 degerinde bit basamak giris uygulanmaktadir. Surekli cahsma hatasmi siftr yapaeak sekilde bu sisteme bir ileri beslemeli denetleyici tasarlayimz.

SOw((4.
Y~bir

Ogle ki; Hatanm karesinin lntegrali olarak bilinen perforrnans 0I9UtU(I=ISE) birim basamak
giris icin minimum olsun.

Transfer fonksiyonu verilmektedir. Bu sisteme bir Integral denetleyiei tasarlaymiz,

G(S)

YeS)

U(S)

= _5_
(s+2)

SORU5.
Geri beslerneli bir sistemin blok diyagrarm yanda verilmektedir .. a. Bu sistemin karakteristik denklemini yazmiz ..
c.
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s +1
S(S+4)2

Y(s)

d. e.

Reel eksen uzerindeki kok yer egrisi bolgelerini gosterinz, Kok yer egrilerini cizerek K ya gore degisimi irdeleyiniz ..

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