AUTOMATSKO UPRAVLJANJE Ak.g.

2023/2024

Pismeni ispit
23. veljače 2024.

Ime i Prezime: Matični broj:

Napomena: Zadatke obavezno predati s rješenjima nakon završetka testa.

1. zadatak (25 bodova)

Za električni krug prikazan na slici 1 potrebno je:

a) napisati diferencijslne jednadžbu koje opisuju vladanje sustava te prikazati sustav u prostoru stanja
uz varijable stanja: napon na kondezatoru C te struje na zavojnicama L1 i L2 . Pritom ulazni napon
uu predstavlja ulaz u sustav dok napon na otporniku R2 predstavlja izlaz iz sustava.
b) Odrediti prijenosnu funkciju koja opisuje ovisnost struje i3 o ulaznom naponu uu .

C
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L2
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R1
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i3
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i1
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i2
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L1 R2
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Uu Ui
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Slika 1: Električni krug

2. zadatak (25 bodova)

Neka je dan sustav prikazan na slici 2.
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x(t) <latexit sha1_base64="TlFU4l7QvmR2YcvjHcId3pwM6Pc=">AAACFXicbZDLSgMxFIYz9VbrbVRcuQkWoUUoM7VUlwU3LivYC7RDyaSZNjTJDElGKMM8h2u3+gzuxK1rH8G3MG1noW0PJPz8/zmc5PMjRpV2nG8rt7G5tb2T3y3s7R8cHtnHJ20VxhKTFg5ZKLs+UoRRQVqaaka6kSSI+4x0/MndLO88EaloKB71NCIeRyNBA4qRNtbAPusHEuGkmiaqpK6uy+aqldOBXXQqzrzgqnAzUQRZNQf2T38Y4pgToTFDSvVcJ9JegqSmmJG00I8ViRCeoBHpGSkQJ8pL5s9P4aVxhjAIpTlCw7n7dyJBXKkp900nR3qslrOZuTbz+Tq7F+vg1kuoiGJNBF7sD2IGdQhniOCQSoI1mxqBsKTmCxCPkcGkDciCYeMuk1gV7WrFrVfqD7Viw8ko5cE5uAAl4IIb0AD3oAlaAIMEvIBX8GY9W+/Wh/W5aM1Z2cwp+FfW1y+6Gp16</latexit>

2 y(t)
s(s + 3)(s + 4)

Slika 2: Blokovski prikaz sustava

Potrebno je

a) odrediti odziv sustava na skokovitu pobudu (step signal) x(t) = S(t) uz početne uvjete jednake nuli

b) odrediti odziv sustava na impulsnu pobudu (x(t) = δ(t)) uz početne uvjete ÿ(0) = −1, ẏ(0) = 1 i
y(0) = −1.

Napomena: Koeficijenti u rastavu na parcijalne razlomke (u slučaju postojanja samo jednostrukih korjena
nazivnika):
N (s) c1 c2 cn
= + + ... + (1)
D(s) s − s1 s − s2 s − sn
mogu se odrediti iz teorema o residuumu:
 
N (s)
ck = (s − sk ) (2)
D(s) s=sk
 AUTOMATSKO UPRAVLJANJE Ak.g. 2023/2024

3. zadatak (25 bodova)

Na slici 3 prikazan je diskretni sustav sustav upravljanja. Potrebno je:

Regulator Proces
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r(t) u(t) 2 y(t)

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K ZOH
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+
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(s + 1)(s + 2)
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A/D

Slika 3: Zatvoreni regulacijski krug

a) Diskretizirati proces primjenom ZOH diskretizacije uz vrijeme diskretizacije T = 0.2s.

b) Primjenom Juryvog kriterija odrediti područje iznosa pojačanja regulatora K za koje je diskretni
zatvoreni regulacijski krug stabilan.
c) Ako je pak proces opisan prijenosnom funkcijom:
6
G(s) = (3)
(s + 1)(s + 2)

koje je područje pojačanja P regulatora za koje se zatvoreni disretni regulacijski krug sa slike 3
stabilan?

4. zadatak (25 bodova)

Zadana je prijenosna funkcija procesa:
1
G(s) = e−sTt . (4)
2s(s + 2)

Poznato je da je zatvoreni regulacijsku sustav uz korištenje P regulatora na rubu stabilnosti uz K =

KKR = 3. Potrebno je

a) odrediti period trajnih oscilacija kada je sustav na rubu stabilnosti.

b) Odrediti iznos transportnog kašnjenja sustava Tt .

c) Ako se koristi proporcionalni regulator projektiran prema ZN metodi ruba stabilnosti koliko iznosi
amplitudno osiguranje AO?