521314 AUTOMATIC CONTROL IN

AGRICULTUAL AND FOOD ENGINEERING

-
-
-
-


(Root-locus method)

- (gain, K)

-

-
K


(Root-locus method)

- (root-locus)
(closed-loop pole)

(gain) K

(closed-loop pole) K
K= 0 K=

C (s)
K
2
R( s ) s 2s K

s 2 2s K 0

s 1

K K

1 K
0 K


K 0

s 1 1 K
K
0
1

s
0, - 2
-1

2
3

-1 i
- 1 2i
- 1 i

1.
2. 1. s

3.
4. (asymptotes)
5. (breakaway point) (break-in point)
6. (angle of departure, AOD)
(angle of arrive, AOA)
7.
8.

1.
GH ( s)

K ( s z1 )(s z2 )...(s zm )
( s p1 )(s p2 )...(s pn )

0 K


2. GH(s) GH(s)
( s)

3.


4. s

nm

GH ( s) poles GH ( s) zeros
nm

r (180)
; r 1,3,5...
nm


5.

B( s)
1 GH (s)
B(s) KA(s) 0
K

A( s)

dK
0
ds

dK
0
ds

dK

ds

A( s)

dB( s)
dA( s)
B( s )
ds
ds 0
2
A ( s)


6. (angle of departure, AOD)
(angle of arrive,
AOA)
AOD 180

AOA 180


7.
-
- s i

(Routh array)
a0 s n a1s n1 ... an1s an 0


6.1

G (s)

2600k1
s ( s 2 100 s 2600)

H ( s)

25
s 25

1.
GH ( s )

65,000k1
K

s ( s 25)( s 2 100 s 2600) s ( s 25)( s 2 100 s 2600)

GH ( s )

65,000k1
K

s ( s 25)( s 2 100 s 2600) s ( s 25)( s 2 100 s 2600)


6.3
GH ( s)

K ( s 3)
s( s 1)(s 2 4s 5)

K
- K K

-
(compensation)

-
- (lead compensator)
- (lag compensator)
- (PID controller)
-
-
-

-

Gc ( s)

sz
s p
R(s)

Gc (s)

G(s)

C (s)

0
z

s
s (dominant pole)



s
-

- G(s) CR((ss)) s 2
s
s i 1
2
n

1, 2

cos

2
n



1.
(dominant pole)
2.

3.

4.
5.

6.


6.6

30% 3 s
K 3
v

G( s)

K
s( s 2)

G( s)

K
s( s 2)

GcG( s)

K ( s 3)
s( s 2)(s 7.66)

G( s)

1
G( s)
s( s 2)

K
s( s 2)

G( s)

5
s( s 2)

G( s)

26
s( s 2)



26
G( s)
s( s 2)

GcG( s)

26( s 3)
s( s 2)(s 7.66)

-

Gc ( s)

sz
s p
R(s)

0
z

Gc (s)

G(s)

C (s)

s
-
(0,0)
s



1.
2. (
)
3. K

4. z 0.05n
n

5.
z

p

6.


6.7
0.45
K 20
v


0.45

G( s)

5
s( s 2)

G( s)

5( s 0.1118)
s( s 2)(s 0.014)


,, (P,I,D)
R(s)

Gc (s)

G(s)

C (s)
E (s)
Gc (s)

U (s)

- P (proportional)
u(t) u(t ) K pe(t )
e(t)
- I (integral)
du (t )
K I e(t )
u(t)
dt
e(t)
u (t ) K I e(t )
- D (derivative)

u(t)
d
u (t ) K D e(t )
dt
e(t)


,, (P,I,D)

P
I

Gc ( s)

U ( s)
E (s)

-
Gc ( s)

U ( s) K ( s z )

E ( s)
( s p)

Kp

Kp

KI
s

KI
s0

sK D

K D ( s 0)

PD

K p sK D

K D (s

PI

K
Kp I
s

K P (s

PID

K
K p I sK D
s

Kp
KD

KI
)
KP
s0

KDs2 K ps KI
s0


,, (P,I,D)
-
-

-

-

6.4 209


(PD)
Gc ( s) K ( s z ) K D ( s
R(s)

Gc (s)

Kp
KD

G(s)

C (s)

-
- K
-


PD
1.
(dominant pole)
2.

3.
180

4.

5.


6.9 (PD)

30% 3 s
K 3
v

R(s)

1
s( s 2)

C (s)

G( s)

K
s( s 2)

G( s)

K ( s 5.14)
s( s 2)

G (s)

1
s ( s 2)

G (s)

3.4( s 5.4)
s ( s 2)


(PI)
Gc ( s)

K (s z)

R(s)

Gc (s)

K P (s

KI
)
KP

s
G(s)

C (s)

- s=0

- type 0 ( 0)


PI
1.
(dominant pole)
2.

3.
180

4.

5.


6.10 (PI)
GH(s) = 1/[(s+0.5)(s+2)]

ess=0, 20%
0.6
Root Locus
1.5

Gc (s)

G(s)

C (s)

0.5

Imaginary Axis

R(s)

-0.5

-1

-1.5
-2.5

-2

-1.5

-1
Real Axis

-0.5

0.5

Root Locus
2.5
2
1.5

Imaginary Axis

1
0.5
0
-0.5
-1
-1.5
-2
-2.5
-2.5

-2

-1.5

-1
Real Axis

-0.5

0.5

G(s)

1
( s 0.5)(s 2)

G( s)

2.06( s 0.76)
s( s 0.5)(s 2)


(PID)
KDs K ps KI

R(s)

Gc ( s)

( s z1 )(s z2 )
s

Gc (s)

G(s)

C (s)

-
KI KP, KD
Kp

sin( ) 2 K I cos

GH ( sr ) sin
sr

KD

sin
K
I2
sr GH ( sr ) sin sr

( )

GH (s ) GH (s )
sr sr
r


PID
1.
(dominant pole)
2. Kp, Kd Ki
3.


6.11 (PID)
GH(s) =K/[(s+1)(s+2)]

( ) 0.25 0.707
R(s)

G (s)

G(s)

Gc (s)

C (s)

K
( s 1)( s 2)

Gc ( s)

KDs2 K ps KI
s

( s z1 )(s z2 )
s


Root Locus

5.02s 2 30.14s 0.5 ( s 0.017)( s 6)

G (s)

s ( s 1)( s 2)
s ( s 1)( s 2)

Root Locus

0.03

-1

0.02

-2

0.01

Imaginary Axis

Imaginary Axis

-3

-4

-0.01

-5
-12

-10

-8

-6

-4

-2

-0.02

Real Axis

-0.03

-0.12

-0.1

-0.08

-0.06

-0.04

-0.02

Real Axis

0.02

0.04

0.06


5.02s 2 30.14s 0.5 ( s 0.017)( s 6)
G (s)

s ( s 1)( s 2)
s ( s 1)( s 2)

Root Locus

Imaginary Axis

-1

-2

-3

-4

-5
-12

-10

-8

-6

-4
Real Axis

-2


5.47 s 2 33.76s 15 ( s 0.48)(s 5.69)
G( s)

s( s 1)(s 2)
s( s 1)(s 2)


6.1s 2 38.76s 35 (s 1.09)(s 5.26)
G( s)

s( s 1)(s 2)
s( s 1)(s 2)