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Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 4-1 (p. 78)

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Presentation on theme: "Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 4-1 (p. 78)"— Presentation transcript:

1 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 4-1 (p. 78) (a) RLC network. (b) State diagram.

2 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 4-2 (p. 79) (a) Network of Example 4-2. (b) State diagram.

3 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 4-3 (p. 81) Force-mass system.

4 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 4-4 (p. 81) Force-spring system.

5 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 4-5 (p. 82) Dashpot for viscous friction.

6 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 4-6 (p. 82) Frictional relationships of linear and nonlinear frictional forces. (a) Viscous friction. (b) Static friction. (c) Coulomb friction.

7 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 4-7 (p. 83) Torque-inertia system.

8 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 4-8 (p. 84) Torque torsional spring system.

9 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 4-9 (p. 85) Rotary-to-linear motion control system (lead screw).

10 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 4-10 (p. 85) Rotary-to-linear motion control system (rack and pinion).

11 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 4-11 (p. 86) Rotary-to-linear motion-control system (belt and pulley).

12 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 4-12 (p. 86) Gear train.

13 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 4-13 (p. 87) Gear train with friction and inertia.

14 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 4-14 (p. 88) Physical model of backlash between two mechanical elements.

15 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 4-15 (p. 89) Input-output characteristic of backlash.

16 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 4-16 (p. 90) (a) Mass-spring-friction system. (b) Free-body diagram (c) State diagram.

17 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 4-17 (p. 91) Mechanical system for Example 4-5. (a) Mass-spring-friction system. (b) Free-body diagram. (c) State diagram.

18 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 4-18 (p. 92) Electric network analogous to the mechanical system in Fig

19 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 4-19 (p. 92) Rotational system for Example 4-6.

20 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 4-20 (p. 93) (a) Motor-load system. (b) Free-body diagram.

21 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 4-21 (p. 94) State diagram of the system of Fig

22 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 4-22 (p. 95) Ten-turn rotary potentiometer (courtesy of Helipot Division of Beckman Instruments, Inc.

23 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 4-23 (p. 95) Linear motion potentiometer with built-in operational amplifier (courtesy of Waters Manufacturing, Inc.)

24 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 4-24 (p. 96) Electric circuit representation of a potentiometer.

25 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 4-25 (p. 96) (a) Potentiometer used as a position indicator. (b) Two potentiometers used to sense the positions of two shafts.

26 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 4-26 (p. 97) Block diagram representation of potentiometer arrangements in Fig

27 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 4-27 (p. 97) (a) A dc-motor, position-control system with potentiometers as error sensors. (b) Typical waveforms of signals in the control system of part (a).

28 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 4-28 (p. 98) (a) An ac-control system with potentiometers as error detectors. (b) Typical waveforms of signals in the control system of part (a).

29 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 4-29 (p. 99) Velocity-control system with tachometer feedback.

30 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 4-30 (p. 100) Position-control system with tachometer feedback.

31 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 4-31 (p. 101) Rotary incremental encoder (courtesy of DISC Instruments, Inc.).

32 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 4-32 (p. 101) Linear incremental encoder (courtesy of DISC Instruments, Inc.).

33 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 4-33 (p. 101) Typical incremental optomechanics.

34 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 4-34 (p. 102) (a) Typical rectangular output waveform of a single-channel encoder device (bidirectional). (b) Typical dual-channel encoder signals in quadrature (bidirectional).

35 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 4-35 (p. 102) (a) Typical sinusoidal output waveform of a single-channel encoder device. (b) Typical dual-channel encoder signals in quadrature.

36 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 4-36 (p. 103) One cycle of the output signals of a dual-channel incremental encoder.

37 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 4-37 (p. 104) Torque production in a dc motor.

38 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 4-38 (p. 105) Cross-section view of a permanent-magnet (PM) iron-core dc motor.

39 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 4-39 (p. 105) Cross-section view of a surface-wound permanent- magnet (PM) dc motor.

40 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 4-40 (p. 106) Cross-section view of a surface-wound permanent- magnet (PM) dc motor.

41 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 4-41 (p. 106) Cross-section side view of a moving-coil dc motor.

42 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 4-42 (p. 107) Cross-section view of a brushless, permanent- magnet (PM) iron-core dc motor.

43 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 4-43 (p. 107) Model of a separately excited dc motor.

44 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 4-44 (p. 108) State diagram of a dc-motor system.

45 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 4-45 (p. 109) Block diagram of a dc-motor system.

46 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 4-46 (p. 112) Nonlinear control system.

47 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 4-47 (p. 113) Magnetic-ball-suspension system.

48 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 4-48 (p. 115) Systems with transportation lag.

49 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 4-49 (p. 116) Schematic diagram of a sun-seeker system.

50 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 4-50 (p. 117) Coordinate system of the sun-seeker system.

51 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 4-51 (p. 118) Nonlinear characteristic of the error discriminator. The abscissa is tan α, but it is approximated by α for small values of α.

52 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 4-52 (p. 119) Block diagram of the sun-seeker system.

53 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 4P-1 (p. 122)

54 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 4P-2 (p. 123)

55 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 4P-3 (p. 123)

56 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 4P-4 (p. 124)

57 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 4P-5 (p. 124)

58 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 4P-6 (p. 124)

59 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 4P-7 (p. 125)

60 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 4P-8 (p. 125)

61 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 4P-9 (p. 125)

62 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 4P-10 (p. 126)

63 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 4P-11 (p. 126)

64 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 4P-13 (p. 127)

65 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 4P-13 (p. 127)

66 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 4P-14 (p. 128)

67 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 4P-15 (p. 129)

68 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 4P-16 (p. 130)

69 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 4P-17 (p. 131)

70 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 4P-18 (p. 131)

71 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 4P-19 (p. 133)

72 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 4P-21 (p. 134)

73 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 4P-22 (p. 135)

74 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 4P-23 (p. 136)

75 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 4P-24 (p. 137)

76 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 4P-25 (p. 137)


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