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F 5-Revised

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behdad1985

1. The document discusses analyzing the frequency response of nonlinear systems using the method of describing functions. With describing functions, the nonlinear system is approximated as a quasi-linear system to predict its behavior. 2. As an example, it considers a nonlinear system with the equation x ̈ + α(x2 - 1)x ̇ + x = 0. It assumes the system has a limit cycle of x(t) = A sin(ωt) and derives the describing function of the nonlinear block as w ≈ -A3ω/4 cos(ωt). 3. This approximates the nonlinear block as a quasi-linear block with the transfer function w/x = A2

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F 5-Revised

Uploaded by

behdad1985
40 views20 pages
1. The document discusses analyzing the frequency response of nonlinear systems using the method of describing functions. With describing functions, the nonlinear system is approximated as a quasi-linear system to predict its behavior. 2. As an example, it considers a nonlinear system with the equation x ̈ + α(x2 - 1)x ̇ + x = 0. It assumes the system has a limit cycle of x(t) = A sin(ωt) and derives the describing function of the nonlinear block as w ≈ -A3ω/4 cos(ωt). 3. This approximates the nonlinear block as a quasi-linear block with the transfer function w/x = A2

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آناليز تابع توصيف کنترل غیر خطی nonlinear control in persian

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f 5-revised

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1. The document discusses analyzing the frequency response of nonlinear systems using the method of describing functions. With describing functions, the nonlinear system is approximated as a quasi-linear system to predict its behavior. 2. As an example, it considers a nonlinear system with the equation x ̈ + α(x2 - 1)x ̇ + x = 0. It assumes the system has a limit cycle of x(t) = A sin(ωt) and derives the describing function of the nonlinear block as w ≈ -A3ω/4 cos(ωt). 3. This approximates the nonlinear block as a quasi-linear block with the transfer function w/x = A2

Copyright:

© All Rights Reserved
Download as PDF, TXT or read online from Scribd
Download as pdf or txt
40 views20 pages

F 5-Revised

Uploaded by

behdad1985
1. The document discusses analyzing the frequency response of nonlinear systems using the method of describing functions. With describing functions, the nonlinear system is approximated as a quasi-linear system to predict its behavior. 2. As an example, it considers a nonlinear system with the equation x ̈ + α(x2 - 1)x ̇ + x = 0. It assumes the system has a limit cycle of x(t) = A sin(ωt) and derives the describing function of the nonlinear block as w ≈ -A3ω/4 cos(ωt). 3. This approximates the nonlinear block as a quasi-linear block with the transfer function w/x = A2

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© All Rights Reserved
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-

.

.

.
.
&x& + ( x 2 1) x& + x = 0 .
.
..
.
.


x(t ) = A sin t.

) w = x 2 x& = A 2 sin 2 (t ) A cos(t



&x& + x 2 x& x& + x = 0


&x& + x& + x (x 2 x& ) = 0

A 3
A 3
(1 cos(2t ))cos(t ) =
)) (cos(t ) cos(3t
w=
2
4
w ) . (

A3
) cos(t
4

A3 d
)) ( A sin(t
w=
4 dt
x w
.
w

A2
S
4

) (quasi-linear
.

: ) .
(
w x .

) w = N ( A, )( x

A2
= ) N ( A,
) ( j
4

) x = A sin(t
. .

G ( j ) N ( A, )( x ) = x
) G ( j .

(1 + G ( j ) N ( A, )) x = 0
) A 2 ( j

=0
2
4
( j ) ( j ) + 1

1 + G ( j ) N ( A, ) = 0 1 +

.
) -1 ( = 1 A = 2

A2 S

1+

4
S 2 S + 1

) ( .
1 2 2
( A 4) 2 1
64

1
S1,2 = ( A 2 4)
8

A ) ( A = 2
. A = 2
S1,2 = j
j 2 1
: .
.

:
2 ) (
:
)
(a ) .(b
= 4

) . (.

2 ) ( A > 2

.2

A2
. 1 + G ( j ) N ( A, ) = 0
S
4
.
) N ( A, (describing
) function .
:

:
.

.

-1

.
-2

.
.
.

4 .
-1 .
-2 .
-3 ) x = sin(t
) w1 (t .
-4 .
.
) G(S
.

.

.
A
.
.
) MSin( +

) N ( A,

) ASin(t

) ASin(t

) w(t

.
a0
]) + [a n Cos (nt ) + bn Sin(nt
2 n =1

) w(t )d (t

) w(t )Cos(nt )d (t

) w(t )Sin(nt )d (t

= ) w(t
1

= a0
= an
= bn

) a0 w(t .
.

) w(t ) w1 (t ) = a1Cos (t ) + b1 Sin(t ) = M Sin(t +

M A .
) ( A, ) = tg 1 (a1 / b1

M ( A, ) = a12 + b12


.
Me j (t + ) M j 1
= ) N ( A,
=
) e = (b1 + ja1
A
A
Ae jt

) N ( A, .
) N ( A, .
.


A .

) (single-valued
) N ( A, .

a1=0 ) N ( A, .
: )
( .


.

.

a K .
.
.
) w(t .
0 < t <
< t < / 2

) KASin(t
= ) w(t
Ka

) = Sin 1 (a / A

) w(t a1 b1

/2

) w(t )Sin(t )d (t
0

a
a2
2 KA
1 2
+
A

A

/2

= ) KaSin(t )d (t

2
KASin (t )d (t ) +
0

= b1
=

) N(A
b1 2 K 1 a a
a2
=
+
1 2
Sin

A
A A
A
)N ( A

K
A
a

= )N ( A

(1 N(A)=K .
(2 ) N(A .
(3 ) N(A
.
)(on/off
.

a 0 K
.
b1 :
/2

MSin(t )d (t ) = M
4M
A

:
)N ( A

M

= b1

= )N ( A

)(dead-Zone

.
x(t ) = ASint A
.

w
x

) w(t .
0 t <
< t /2

0
= ) w(t
) K ( ASin(t )

) . = Sin 1 ( / A ) w(t a1
b1 :
/2

) K ( ASin(t ) )Sin(t )d (t

/2

= ) w(t )Sin(t )d (t
0

2 KA

2
1

1 2
Sin
A A
2
A

2K

2
1 2
Sin 1
A A
A
2

= b1
=

= )N ( A

) N(A
.
) (N ( A) / K
.

)(backlash
backlash .

) w(t .
< t
3
2

< t

3
< t 2
2
5
2 < t
2

w(t ) = ( A b) K
w(t ) = ( A sin(t ) + b) K
w(t ) = ( A b) K
w(t ) = ( A sin(t ) b) K

) . = Sin 1 (1 2b / A ) w(t .
a1 b1 .
:

4 Kb b

1
A

= a1

KA
2b
2b
2b
Sin 1 1 1 1 1
2
A
A

= b1

backlash :
) N ( A) = tan 1 (a1 / b1

1
a12 + b12
A

= )N ( A

:
(1 A=b N ( A) = 0

(2 b / A ) N ( A .
(3 b / A 0 N ( A) 1 .
:
(1 90

(2 backlash ) b
( .
b
.


.
.

.

A

x = y
w = N ( A, ) x .
y = G ( j ) w

.
) y = G ( j ) N ( A, )( y

y ) (
G ( j ) N ( A, ) + 1 = 0

1
) N ( A,

= ) G ( j

) G ( j
) N ( A, .
) N ( A, .
) G (S .
.
1
) G ( j
) N ( A,

.
*
.
(1 ) N(A,
1

)N ( A

. G ( j ) =

backlash .
:
1
( G ( j )
)N ( A

A ) . (
(
A
.
n n .
.
) (K
AK K .
:
. ) N(A, .


.
(2 ) N(A,
1

) N ( A,

G ( j ) =


1

) N ( A,

1

) N ( A,

) G ( j
) G ( j .

.
* .
A 0 ) G ( j ) N ( A,
.
A
0 ) G ( j ) N ( A,


.
1 + j 0
.
A2
1 + j 0 .


.

.
) G ( j
.

2
. A
A L1 A
L2 .

) G(S .

L1 . :
L1 . A1
1 .
L1 L'1.
L'1 ) G ( j
) (

1
)N ( A

L2.

) ( L1
L"1 L"1
) G ( j ) ( L"1

.
L2 L2
.
:
1
) G ( j
)N ( A

1
A
)N ( A

) G ( j


3
.
.
.
(1 .
(2
(3


) (
.
.
) G ( j
1
)N ( A

:
(
( ) G ( j .

1
) G ( j
)N ( A

) (

.
) G (s .
1

)N ( A

) G ( j ) (

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