EF

J J
W
W
W
KG
WG
K J
K J
K J
K J
K G

KW

KW

W
K J
K J
K J
W

- -

EF

W

K
KDifferential equation
K
W J

W
K J
KRC J
J
W J
W
Qin
W

Qout
W
RL

W J

KEQin=QoutF
KKEQin>QoutF
KKEQin<QoutF

- -

EF

WVt
V = (q q ) .t
in out avg

WEhF
V ( q q ) .t
EmF h = = in out avg

A A
KtEhF
0.0026m/sec=0.26/100W100sec0.26m
W
h (q q )
Em/secF = in out avg

t A
WEdtFt
dh

+ h = Gq in
dt
dh (q q ) h
= in
W
out
0t
dt A t
W
gh
3
Em /secF qout =
R L
3 3
=gkg/m =m /sec=qoutW
Pa.sec/m3=RLmWhm/sec2
gh
q in
dh R
= W
L

dt A
A dh R
R = q h W
L

g dt g
L in

- -

EF

dh
E1F + h = Gq in
dt
R RA
sec/m2 G = EsecF =
L
W L

g g

WRC J
WCR


R
i
+

Ein
Eout
C

-
RCW J

KREEin-EoutFi
E E
i = in out

R
KCi
dE
i =C out

dt
dE
E2F + E = E W
out
out in
dt
K = RC

- -

EF

W J

PinFaK
WAK
Fa=Pin.A

FIW
KFCFR
Fa=FI+FR+FC
W
2 2
d x d x
F = m
I
W
2
= W 2
dt dt
dx
F = R R
WFR
m
dt
x
F = WFC
R
C m

d x 2
dx 1
E3F p A = m
in
+R 2
+ x W
m
dt dt C m

KE2FE1FE3F
dh/dtE1F
Kdx/dtE3FdEout/dtE2F






- -

EF

Fa

Cm

Rm

W
WG
W
Kg=9.81m/sec2=880kg/m3A=1.85m2RL=5.62x105Pa.sec/m3
Kqinhdh/dt
W
R A (5.62 10 Pa.s )(1.85m ) 5 2

= = L
= 120 s
g (880 )(9.81 ) kg
m3
m
s2

R (5.62 10 Pa.s / m ) 5 3

G = = = 65.1s / m
L 2

g (880kg / m )(9.81m / s ) 3 2

dh
120 + h = 65.1q in
dt

W J

K
W J
Wt o(t)
- -

EF

s 0 f (t )e st dt F ( s ) =
KF(s) = [(t)](t)F (s)

Time domain Frequency domain

Differential equation Algebric equation

W J
(t) = KW

e
st

F ( s ) = [K] = f (t )e dt = Ke dt = K
st st

s
0 0

K K K
= (e e ) = (0 1) =
s 0

s s s

K
(K) = W
s

W J
WF(s) (t)
(t) = [ F ( s )]1

K

s = K W
1

- -

EF

(t)

K

W J
W
Ka,b a.[ f1 (t )] + b.[ f 2 (t )] = [af1 (t ) + bf 2 (t )]W J
df
[ ] = s.[ f (t )] f (0) = s.F ( s ) f (0) W J
dt
d f df (0)
2

2 = s.[ f (t )] f (0) = s 2 F ( s ) sf (0) W J

dt dt
[ f (t )] F ( s )
[ 0 f (t ) dt ] = = W J
t

s s
lim s.F ( s ) Lim f (t )
= W J
s0 t

W J
F(s) f(t) f(t)
1 (t)
K K EKF
s
K2 Kt
s
K K .e at
a>0

s+a
K K .e
t

>0

.s + 1
a 1 e at


s(s + a) a>0

- -

EF

K (1 e )
t
K

s ( .s + 1) >0
K K . sin( t ) sin

s +
2 2

Ks K . cos( t ) cos

s +
2 2

K K .e .sin t at
sin

( s + a) + 2 2

K ( s + a ) K .e . cos t at
cos

( s + a) + 2 2

K K .t.e
at


( s + a) 2

W J

K
W
K J

WW J
K

e
v y







- -

EF

KKKK
W

y

v
HH
H





WEF

v e HH y
HH

K

W J

K


E(s) U(s)
G(s)

- -

EF

U ( s)
= G ( s ) W
E ( s)
WG
U (t ) = 1 e t

K
E(t)=1 U (t ) = 1 e t W
?

W J
1
E ( s ) = [e(t )] = [1] =
s
U ( s ) = [e(t )] = [1 e t ]
1 1
= U(s)W
s s +1
1
U ( s ) = W
s ( s + 1)
W J
U ( s) 1 s 1
G(s) = = . =
E ( s ) s ( s + 1) 1 s + 1
1
G ( s) = W
s +1
W J
W J J
E(s) U(s)
G1 ( s ) G2 ( s)

E(s) U(s)
G1 ( s ).G 2 ( s )

- -

EF

W J J
W

v e y

G(s)

H(s)
W


v

y
G ( s)

1 + G ( s) H ( s)

WH(s) =1G

v e y

G(s)



W

v y

G ( s)
1 + G(s)

WG

v(s) e y(s)
G(s

- z
H(s

- -

EF

W
e = v-zW: e
y ( s)
G ( s) = WWG(s)
e( s )
z ( s)
H (s) = WWH(s)
y(s)
G ( s) H ( s) = z ( s) WWG(s).H(s)
e( s )
G ( s) = y ( s) WW G ( s)
1 + G ( s) H ( s ) v( s) 1 + G ( s) H ( s)

W J J
y( s) = ? W
v( s)

v1 e1 e2
v(s) y(s)
K1 s +1 1
s 2s + 1


K2

W
W

v
v1
e1 e2 y
K1 s +1
s (2s + 1)

K2

- -

EF

y G
=
e1 1 + GH
s +1
KH(s)=K2 G = W
s (2 s + 1)
s +1

y = G = s(2s + 1) W
e1 1 + G.H K 2( s + 1)
1+
s (2s + 1)
s +1
y= W
e1 s(2 s + 1) + k 2( s + 1)

y = 2 s +1 W
e1 2s + s (k 2 + 1) + k 2
W

e1
y

v v1
s +1
K1
2s + s (k1 + 1) + k 2
2

y G
= W
v1 1 + GH
s +1
H=1 G = W
2s + s (k 2 + 1) + k 2
2

s +1
2 s + s(k 2 + 1) + k 2
2
y= G = W
v1 1 + G s +1
1+ 2
2 s + s (k 2 + 1) + k 2
s +1
y= 2 W
v1 2s + s (k 2 + 1) + k 2 + s + 1
s +1
y= 2 W
v1 2s + s (k 2 + 2) + k 2 + 1
W
v v1 y
s +1
K1
2s + s (k 2 + 2) + k 2 + 1
2

- -

EF

W
y
= G1 .G2
v

v y

k1 ( s + 1)

2 s + s ( k 2 + 2) + k 2 + 1
2

K

{
W J J
WG
W
dh
+ h = Gqin
dt
W
H ( s ) = [h(t )]
dh
= sH ( s )
dt
W
sH ( s) + H ( s) = GQin ( s)
H ( s )[s + 1] = GQin ( s )
G
H ( s) = Qin ( s )
s + 1
H ( s) G
=
Qin ( s ) s + 1

- -

EF

H ( s)
K
Qin ( s )
WG
W
dE
out + Eout = Ein
dt
W
E 1
out =
Ein 1 + s
WG
W
d 2x dx 1
Pin A = m 2 + Rm + x
dt dt C m
W
x AC m
=
Pin 1 + Rm C m s + mCm s 2

- -

EF

J J
W
W
(t)=12 J
f (t ) = 2 + e 2t J
f (t ) = 2 sin 4t J
f (t ) = 120 cos 377t J
(t)=27t J
f (t ) = 89.e 2t sin 1000t J
f(t)=12.3+t+5e-4t J
WG
KF(s)=12/s J
F(s)=2/s+1/(s+2) J
8
F(s)= J
s + 16 2

377
F(s)= 120 J
s + (377) 2
2

F(s)=27/s2 J
89000
F(s)= J
(s + 2) 2 + 1000000

F(s) = 12.3 + 12 + 5 J
s s s+4
W
W
F ( s) = 27.5 J
S
8
F ( s) = J
s+5
19.6 s
F ( s) = 2 J
s + 2500
17.4
F ( s) = 2 J
2 s + 32 s + 128

- -

EF

350
F ( s) = J
( s + 2) 2 + 10000
8( s + 1) K1 K2
F ( s) = = + J
( s + 2) 2 s + 2 ( s + 2) 2
WG
f(t)=27.5 W J
f(t)=8e-t W J
f(t)=19.6cos50tW J
8.7 8.7
f(t)=8.7te-8tW F(s) = = J
s + 16s + 64 (s + 8) 2
2

f(t)=3.5e-2tsin100tW F(s) = (3.52)(100) 2 J

(s + 2) + (100)
8( s + 1) = K 1 ( s + 2) + K 2 W ( s + 2) 2 W J
K2=-8W-2sW
K1=8WK2W
8 8
F ( s) = W
s + 2 ( s + 2) 2
f (t ) = 8e 2 t 8te 2 t W

W
W
d 2 x(t ) dx(t )
W f (t ) = 8 2
+ 12 + 7 x(t ) J
dt dt
x(0)=0 J
dx(0) = 4 x(0)=6 J
dt
x(0)=0W f (t ) = 5.5 dx(t ) + 24.2 x(t ) + 4.8 x(t )dt J
dt
WG
F(s)=8s2.X(s)+12s.X(s)+7.X(s)W
W
WPID Controller--
- -

EF

de K
dt Ti
i = Ke + KTd + e.dt

W
KEmilliampereFWi
KEvoltFWe
KWK
KWTd
KWTi
WI(s)/E(s)W
.Ti=2.2 Td=0.008 K=3.6
WG
I(s) = K.E(s) + KTd .s.E(s) + K . E(s) W
Ti s
1
I(s) / E(s) = K (1 + Td .s + ) W
Ti .s
1
I(s) / E(s) = 3.6(1 + 0.008s + ) W
2.2s

W

X ( s)

I ( s)
W
d2X dx
0.0001 2 + 0.02 + x = 0.3i
dt dt
KEmAF= i EinchF = x W
X ( s) 0.3
= W
I ( s ) 0.0001s 2 + 0.02 s + 1
W
W

- -

EF

R(s) C(s)
+
20
- s+5

5
s

C (s) 20 s
= 2 WG
R( s ) s + 5s + 100
W
W

C(s)
R(s) +
s + 20 1 1
10 s s
- s

20

s +1
s+2

C ( s) 10( s + 2)
= 3 WG
R ( s ) s + 20 s + 41s + 2
2

- -