, , (-), , - , , , - . 10:
1
: Kp=0.12,Kd=8.35,Ki=0.000449, :
(.1)
:
2
:
3
, =0, :
4
, , .. -( ). .
=1.33
2
.
.
04 04 23 01
.
.
.
..
.
...
. .
...
.
..
.
.
4 21 05 05 12
: z-, , - , , , - .
5
:
3.857 z^2 - 7.619 z + 3.762
Wzr= --------------------------------- (.1)
z^2 - 0.5021 z - 0.4979
0.1562z^3-0.0772z^2-0.07837z-0.0006055
Wzk =z^(-1)*--------------------------------------------- (.2)
3.857z^3-9.959z^2+8.384z-2.282
:
6
7
8