addpath D:\trenag
tr_PID
: .
(), - ()
-- () .
-, - -.
,
.
.
( ) .
Warning: Size vector should be a row vector with integer elements.
> In rlax at 10
In tr_PID at 53
0 -4 -5
0.5 8
wc = 2
_ _ _ _ _ _ _ _
= 256 ( 0 ). =
Zero/pole/gain:
---------------
(s+0.5)^4 (s+8)
, zpk- =
z =
Empty matrix: 0-by-1
ps =
-8.0000
-0.5000
-0.5000
-0.5000
-0.5000
k =
, naklony = 0 -4 -5, chastoty izlomov = 0.5 8, wc = 2
- ( ) ( ).
- .
, .. . - .
, , .
= 10
- 1 = 2 C, 2 = 2 10
- , 1 = 2 C, .
- .
ר
<= 5 % .
ke = 0.5 .
= [8.125 6.125 4.325] ( Tsum) C , , -.
|
|
( )= [0.061538 0.081633 0.11561] ( wcj) 1/C , , -
(zpk-) - =
Zero/pole/gain:
0.00024038
----------
s
(zpk-) - =
Zero/pole/gain:
0.00063776 (s+0.5)
------------------
s
(zpk-) - =
Zero/pole/gain:
0.0090318 (s+0.5)^2
-------------------
s (s+5)
( Wpid (s) zpk-)
(tf-) - =
Transfer function:
0.009032 s^2 + 0.009032 s + 0.002258
------------------------------------
s^2 + 5 s
= 0.059805 1/C, = 62.2886 . -. W(s) =
Zero/pole/gain:
0.030769
-----------------
s (s+0.5)^4 (s+8)
= 0.078674 1/C, = 62.6103 . -. W(s) =
Zero/pole/gain:
0.081633
-----------------
s (s+0.5)^3 (s+8)
Zero/pole/gain:
1.1561
-----------------------
s (s+0.5)^2 (s+5) (s+8)
= 0.11016 1/C, = 63.0985 . -. W(s) =
Zero/pole/gain:
1.1561
-----------------------
s (s+0.5)^2 (s+5) (s+8)
= [62.2886 62.6103 63.0985] . wc = [0.059805 0.078674 0.11016] 1/C, , , -.
- =
Zero/pole/gain:
0.030769
------------------------------------------------------------------
(s+8) (s+0.7725) (s^2 + 0.1625s + 0.01364) (s^2 + 1.065s + 0.3651)
- =
Zero/pole/gain:
0.081633
-------------------------------------------------------
(s+8) (s^2 + 0.2062s + 0.02212) (s^2 + 1.294s + 0.4613)
- =
Zero/pole/gain:
1.1561
--------------------------------------------------------
(s+8.001) (s+4.996) (s+0.7263) (s^2 + 0.2767s + 0.03982)
, , -, M = [1 1 1] wm = [0 0 0] 1/C
h(t) = [28.7 21.59 16.09] , = [3.5323 3.5249 3.7202] , , -,
-
= 2
: kP = 0.001716, kI = 0.00045159 ( Ki) 1/, kD = 0.0014632 C
: -kI/kP = -0.5, -kP/kD = -0.5
-: = 0.001716, =
Transfer function:
0.0004516
---------
s
=
Zero/pole/gain:
0.0073158 s
-----------
(s+5)
- - - - - - - - - - - - - - - - - -
|
|
ke
-
ke 0.35 0.4 0.5 0.6 0.75
. 0.07892044 0.08957145 0.1101628 0.1298598 0.1576205
. 70.59127 68.01942 63.09847 58.46395 52.07169
( %) 0.12 1.03 4.63 9.08 16
h(t) 5% 25.34 20.64 16.09 25.46 23.63
h(t) 1% 32.19 33.46 34.47 30.39 38.17
1 1 1 1.030675 1.139509
I1 = {t*|(t)|}dt 101.0032 80.07521 65.23106 62.10055 64.79587
I2 = {(t)^2}dt 8.924494 8.204782 7.233078 6.628516 6.097149
-.
= 16.09 5 % = 4.63 % ke = 0.5,
= 0, - = 9.0775, 907.75 % .
= 30.39 1 % = 9.08 % ke = 0.6,
= 0, - = 7.7006, 770.06 % .
= 1 <= 4.63 % ke <= 0.5.
(, ) I1 = 62.1006 = 9.08 % ke = 0.6.
I2 , .
= 4.325 .
= 16.09 , 10 .
-, ٨ .
. tr_PID ( ) , , . (raz. Kont. PID) , .
tr_PID (PID ke=0.5). 5%, . ke=0.35 ( 0%) . , ke .
!
c ( ):
2
, , :
-> Characteristics -> Peak Response
, , :
Overshoot =
= () () 1+0.05 1-0.05. . , Characteristics -> Setting Time. - , )
( 0.9 ) (, Characteristics -> Rise time)
:
, , . , ( -180, 180-116=64 = !)