,

15.06.2013 ., 11.30., 9224 9205

.1. .
1.1. -

u(t) y(t) :
u(t)

(.2),

W ( p ) = k p 1 + 1 .
T
p
i

3.1.
, .
3.2. Ti = ? , ,
//
.
3.3. k p = ? ,

2.5

y(t)
y(t)
2

-.

1.5
a

.4. ,:

= a = 1 , =Km=1;

0.5
d

0
u(t)

-0.5

10

20

30

40

50

60

70

80

d=1, a=0.9;

Ku.
1.2 , 0,337 rad/sec
-0,735,j0
Tu Ku
dB.
,

System: Object
Real: -0.735
Imag: 2.78e-011
Frequency (rad/sec): 0.337

X ( p)

Y ( p)

( p + 1)

1.1. k .

Imaginary Axis

.5.
( k ) , X ( p ) = 3/ p .

Nyquist Diagram

0.5

4.1 ;
4.2 -
; 4.3
; 4.4 ,
p12=-1j;

1.2. Tk .

-0.5

1.3. .
1.4.
k .

-1

-1.5

.6. ,

1 , W

PID _1 ( p ) = K 1 + TD p +

-2

-2.5
-1

-0.5

0.5

1.5

2.5

Real Axis

1.3. p12=0 j0,333,

=1,333,
dB.

TI p

6.1. e - ,
, , I, D,

I.
.2. :

Wo()=Ko/(p +1), K=0,5 C/W, T= 50
.
1-

sec, C (t)

:
max =1000 W ,
min= 0 W ,

=40 C,
2.1 - .

2.2

KI

C (t)
KD

=340 C.

(t)

.
2.3 Ak ( ) Tk (
).

2.4 , = 10 C, =340 C
.
2.5 Tkmin
max .
2.6 f=-20 C.
2.7
1 .
.3.
d 2 y (t )
dy ( t )
10
+7
+ y (t ) = x (t ) .
2
dt
dt

I
. - , ,
, , .
.
6.2.
Wpid1 W

PID _ 2

( p ) = k + kd p +

ki ,(, k ,kd, ki),

I, D

.
6.3. - Wpid1 Wpid2.