tailieunhanh - Generalized Control Theory

Having discussed individual components of industrial servo drives from an operation point of view and a mathematical descriptive point of view, the next step is to combine these components into a block diagram for the complete servo drive. The block diagram is a powerful method of system analysis. In the block diagram each component in a servo system can be described by the ratio of its output to input. Thus the output of one component is the input to the next component. | 8 Generalized Control Theory SERVO BLOCK DIAGRAMS Having discussed individual components of industrial servo drives from an operation point of view and a mathematical descriptive point of view the next step is to combine these components into a block diagram for the complete servo drive. The block diagram is a powerful method of system analysis. In the block diagram each component in a servo system can be described by the ratio of its output to input. Thus the output of one component is the input to the next component. To satisfy an accuracy requirement some form of feedback is required. For a velocity servo drive the output is speed. Without velocity feedback the speed will vary greatly with changes in load. By providing negative feedback with the use of a tachometer the feedback voltage is compared with a reference command voltage input by means of a summing junction. The difference in the two voltages command and feedback is the error voltage. For a velocity servo drive the error is finite. As load increases the drive slows down the feedback voltage gets smaller and the error increases causing the speed regulator to speed up and maintain the required velocity. To represent the servo drive with a block diagram it is necessary to use block diagram algebra. In its simplest form the block diagram will have a forward loop block a feedback loop block and a summing junction as in Copyright 2003 by Marcel Dekker Inc. All Rights Reserved Figure 1. The output controlled variable C ratio to the reference input R is B CH E C G R - B E R - CH C G R C G CH C 1 GH G C G R 1 GH The term G represents the total transfer function for the forward loop. The term H represents the total transfer for the feedback loop. Normally the G term is made up of the combined transfer functions of several components. Using Eq. several examples are given in Figures 2-4 showing the use of block diagram algebra to simplify servo block diagrams and .

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