4.

fungsi Transfer system linear

element typical
 Chapter 2 mathematical models of systems
2.5 Transfer function of the typical elements of linear systems
A linear system can be regarded as the composing of several
typical elements, which are:
2.5.1 Proportioning element
Relationship between the input and output variables:
c(t )  kr (t )
C ( s)
Transfer function: G( s)  k
R( s )
Block diagram representation and unit step response:
R( s) C( s) Examples:
k
r( t ) C( t )
k amplifier, gear train,
1
tachometer…
t t
 Chapter 2 mathematical models of systems
2.5.2 Integrating element
Relationship between the input and output variables:
t
1
c(t ) 
TI  r (t )dt..........TI : integral time constant
0
C ( s) 1
Transfer function: G( s)  
R( s) TI s
Block diagram representation and unit step response:
R( s) 1 C( s)
Examples:
r( t ) TI s C( t )
1 Integrating circuit, integrating
1
motor, integrating wheel…
t t
TI
 Chapter 2 mathematical models of systems
2.5.3 Differentiating element
Relationship between the input and output variables:
dr (t )
c(t )  TD
dt
C ( s)
Transfer function: G( s)   TD s
R( s )
Block diagram representation and unit step response:

R( s) C( s) Examples:
TDs
r( t ) C( t ) differentiating amplifier, differential
1 TD valve, differential condenser…

t t
Chapter 2 mathematical models of systems
2.5.4 Inertial element
Relationship between the input and output variables:
dc(t )
T  c(t )  kr (t )
dt
C ( s) k
Transfer function: G( s)  
R( s ) Ts  1
Block diagram representation and unit step response:
R( s) k C( s)
Examples:
r( t ) Ts  1 C( t )
k inertia wheel, inertial load (such as
1 temperature system)…
t t
T
 Chapter 2 mathematical models of systems
2.5.5 Oscillating element
Relationship between the input and output variables:
2
d c(t ) dc (t )
T 2
2
 2T  c(t )  kr (t ) 0  1
dt dt
C ( s) k
Transfer function: G( s) 
 0  1
R( s ) T 2 s 2  2Ts  1
Block diagram representation and unit step response:

R( s) 1 C( s) Examples:
r( t ) T 2 s 2  2Ts  1 C( t ) oscillator, oscillating table,
1 k oscillating circuit…

t t
Chapter 2 mathematical models of systems
2.5.6 Delay element

Relationship between the input and output variables:

c(t )  kr (t   )

 kes
C ( s)
Transfer function: G( s) 
R( s )
Block diagram representation and unit step response:

R( s) C( s) Examples:
ke s gap effect of gear mechanism,
r( t ) C( t )
k threshold voltage of transistors…
1
t
t 
2.6 model block diagram
(dynamic)
Chapter 2 mathematical models of systems
2.6 block diagram models (dynamic)
Portray the control systems by the block diagram models more
intuitively than the transfer function or differential equation models.
2.6.1 Block diagram representation of the control systems

Si gnal X( s) Component G( s)
( var i abl e) ( devi ce)

X3( s)

Adder ( compar i son) X1( s) + E( s)

E( s) =x1( s) +x3( s) - x2( s)
+
-
X2( s)
Examples:
 Chapter 2 mathematical models of systems
Example 2.14 For the DC motor in Example 2.4
In Example 2.4, we have written down the differential equations as:
dia
La  Raia  Ea  ua ....(1) M  Cmia .........................(2)
dt
d
Ea  Ce .........................(3) M  M  J  f  .....(4)
dt
Make Laplace transformation, we have:
U a ( s )  Ea ( s )
La sI a ( s )  Ra I a ( s )  Ea ( s )  U a ( s )  I a ( s )  .............(5)
La s  Ra
M ( s )  Cm I a ( s )......................................................................................(6)
Ea ( s )  Ce( s ).......................................................................................(7)
1
M ( s )  M ( s )  J s( s )  f ( s )  ( s )  [ M ( s )  M ( s )]......(8)
Js  f
 Chapter 2 mathematical models of systems
Draw block diagram in terms of the equations (5)～(8):
M (s )
Ua( s) 1 I a( s) M( s) - 1 (s )
Cm
- La s  Ra Js  f

Ea( s)
Ce
M (s )
Consider the Motor as a whole: 1
(TeTm s  Tm )
J
TeTm s 2  (Tm  TeT f ) s  T f  1
1
Ua( s) Ce - (s )
TeTm s 2  (Tm  TeT f ) s  T f  1
 Chapter 2 mathematical models of systems
Example 2.15 The water level control system in Fig 1.8:

1
Ce s k3 k4
k2 e
k1 TeTm s2  Tm s  1 s T1s  1 T2 s  1
Desi r ed Act ual
wat er l evel wat er l evel
I nput hi e ua   Q Wat er Out put h
ampl i f i er Mot or Gear i ng Val ve cont ai ner
-
Feedback si gnal hf
Fl oat
Tm
(Te s  1)
 J
2
M ( s) 
TeTm s  Tm s  1
End