, , (2.13), (2.14).
, (2.7)
(2.15,a)
k0 , - .
(2.15,)
.. .
, , (.2.1), .
.
, , .
. , , . .
. (2.16)
.. , . , .
(. 2.2).
. 2.2
:
(2.17)
- ,
- .
, , . (2.17)
(2.18)
- , .
(2.19)
, (2.18) - . , .2.3.
(2.20)
| |||
| |||
. 2.3
, . , .2.3. () . 2.4.
|
|
| |||
| |||
.
.2.4
(2.16),
; ,
. (2.21)
3.
1. MATLAB 6.X.
SIMULINK. , c. 3.1.
. 3.1
Simulink. PID Controller ( ) Simulink Extras ( SIMULINK) Additional Linear ( ).
Scope , Parameters (). Scope General Number of axes ( ) 2.
Multiport Switch : , Constant. . .
2. ( ) .
2.1. () Transfer Fcn
Gain Gain1 . Step2 Final value =0.
, Constant , Step : Step time= 0,Initialvalue = 0, Final value =
PID Controller ,
2 18 ( 5 6 ), Scope
2.2. PID Controller , .
)
! . , Scope, Stop time.
) , 0,4.
2.3. Transfer Fcn : ,
.
PID Controller ()
.
P .
) I=1.
) , .