Reguliatoriu Skaiciavimai 140603

Atliekant reguliavimo objekto eksperimentin tyrim, objekto jime veikia trikdis, gautas pakeitus votuvo atidarym = 10% eigos.
Uduotis: 1. Slenkanio vidurkio metodu nufiltruoti gaut eksperimentin kreiv. 2. Inineriniu metodu rasti aproksimuojani perdavimo funkcij
1 uduotis
h
504
505
506
508
512
513
520
522
528
536
537
540
543
546
547
550
551
553
556
553
555
557
557
558
558
558
559
559
559
560
560
560
560
561
562
563
564
565
566
567
hp
16
18
24
32
33
36
39
42
43
46
47
49
52
49
51
53
53
54
54
54
55
55
55
56
56
56
56
57
58
59
60
61
62
63
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
h0 =
504
Procesas vyksta
55
sek, viena padala lygi =
1.375 s
hnusist =
567
2 uduotis
h
592
594
597
601
610
617
624
630
633
644
640
643
640
647
649
650
652
653
652
654
654
653
654
655
657
657
652
652
655
656
657
658
659
660
661
662
663
664
665
666
hp
18
25
32
38
41
52
48
51
48
55
57
58
60
61
60
62
62
61
62
63
65
65
60
60
63
64
65
66
67
68
69
70
71
72
73
74
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
h0 =
592
Procesas vyksta
24
0.6 s
hnusist =
666
3 uduotis
h
520
520
520
521
523
523
527
530
533
537
540
543
546
549
552
554
556
557
561
563
564
571
568
571
572
572
573
575
572
577
578
584
581
581
581
582
582
583
584
585
hp
10
13
17
20
23
26
29
32
34
36
37
41
43
44
51
48
51
52
52
53
55
52
57
58
64
61
61
61
62
62
63
64
65
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
h0 =
520
Procesas vyksta
17
0.425 s
hnusist =
585
4 uduotis
h
640
640
641
642
644
647
650
656
664
675
684
690
696
700
696
704
705
700
706
707
708
708
709
710
711
711
711
712
710
713
713
708
709
714
715
716
717
718
719
720
hp
10
16
24
35
44
50
56
60
56
64
65
60
66
67
68
68
69
70
71
71
71
72
70
73
73
68
69
74
75
76
77
78
79
80
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
h0 =
640
Procesas vyksta
12
0.3 s
hnusist =
720
5 uduotis
h
489
491
493
495
498
500
504
506
510
512
522
518
520
523
525
528
524
531
532
530
535
536
537
537
538
539
542
543
543
543
543
544
544
545
545
545
546
547
548
549
hp
10
12
16
18
22
24
34
30
32
35
37
40
36
43
44
42
47
48
49
49
50
51
54
55
55
55
55
56
56
57
57
57
58
59
60
61
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
h0 =
489
Procesas vyksta
124 sek, viena padala lygi =
3.1 s
hnusist =
549
6 uduotis
h
633
635
638
648
660
671
671
683
687
691
688
700
698
699
700
701
702
703
703
704
704
702
704
708
704
702
704
704
704
708
705
706
700
707
709
708
710
711
707
711
hp
16
28
39
39
51
55
59
56
68
66
67
68
69
70
71
71
72
72
70
72
76
72
70
72
72
72
76
73
74
68
75
77
76
78
79
75
79
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
h0 =
633
Procesas vyksta
84
2.1 s
hnusist =
711
7 uduotis
h
672
673
675
677
683
684
694
696
704
715
717
721
725
729
730
734
735
738
747
738
741
744
744
745
740
745
746
746
746
748
748
748
748
749
750
752
753
754
756
756
hp
11
12
22
24
32
43
45
49
53
57
58
62
63
66
75
66
69
72
72
73
68
73
74
74
74
76
76
76
76
77
78
80
81
82
84
84
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
h0 =
672
Procesas vyksta
38
0.95 s
hnusist =
756
8 uduotis
h
744
747
750
755
767
775
784
792
795
809
804
808
804
813
815
817
793
820
819
822
822
820
822
823
825
825
819
814
823
824
825
827
828
829
830
832
833
834
835
837
hp
11
23
31
40
48
51
65
60
64
60
69
71
73
49
76
75
78
78
76
78
79
81
81
75
70
79
80
81
83
84
85
86
88
89
90
91
93
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
h0 =
744
Procesas vyksta
46
1.15 s
hnusist =
837
9 uduotis
h
632
632
632
633
636
636
641
644
648
653
656
660
664
667
680
673
676
677
682
684
686
694
691
694
695
695
697
699
695
702
703
710
706
706
706
708
708
709
710
711
hp
12
16
21
24
28
32
35
48
41
44
45
50
52
54
62
59
62
63
63
65
67
63
70
71
78
74
74
74
76
76
77
78
79
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
h0 =
632
Procesas vyksta
3.45 s
hnusist =
711
10 uduotis
h
744
744
745
746
749
752
756
763
761
785
795
802
809
814
809
818
819
814
821
822
823
823
824
825
826
826
826
828
825
829
829
823
824
830
831
832
833
834
836
837
hp
12
19
17
41
51
58
65
70
65
74
75
70
77
78
79
79
80
81
82
82
82
84
81
85
85
79
80
86
87
88
89
90
92
93
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
h0 =
744
Procesas vyksta
4.3 s
hnusist =
837
11 uduotis
h
633
636
639
641
645
648
653
655
661
663
676
671
674
678
680
684
679
688
689
687
693
694
696
696
697
694
702
704
704
704
704
705
705
706
706
706
707
709
710
711
hp
13
16
21
23
29
31
44
39
42
46
48
52
47
56
57
55
61
62
64
64
65
62
70
72
72
72
72
73
73
74
74
74
75
77
78
79
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
h0 =
633
Procesas vyksta
44
1.1 s
hnusist =
711
12 uduotis
h
745
748
751
763
777
790
790
792
809
814
810
824
822
823
824
825
827
828
828
829
829
827
829
834
829
827
829
829
829
834
830
831
824
833
835
834
836
837
833
837
hp
19
33
46
46
48
65
70
66
80
78
79
80
81
83
84
84
85
85
83
85
90
85
83
85
85
85
90
86
87
80
89
91
90
92
93
89
93
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
h0 =
745
Procesas vyksta
26
0.65 s
hnusist =
837
13 uduotis
h
832
834
835
839
845
847
859
862
872
886
887
892
898
903
904
909
911
914
919
908
918
921
921
923
917
923
924
924
924
926
926
926
926
928
929
931
933
934
936
936
hp
13
15
27
30
40
54
55
60
66
71
72
77
79
82
87
76
86
89
89
91
85
91
92
92
92
94
94
94
94
96
97
99
101
102
104
104
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
h0 =
832
Procesas vyksta
88
2.2 s
hnusist =
936
14 uduotis
h
944
947
952
958
973
984
995 1005 1010 1027 1021 1026 1021 1032 1035 1037 1043 1042 1040 1043 1043 1042 1043 1045 1048 1048 1040 1040 1045 1046 1054 1050 1051 1053 1054 1056 1058 1059 1061 1062
hp
14
29
40
51
61
66
83
77
82
77
88
91
93
99
98
96
99
99
98
99
101
104
104
96
96
101
102
110
106
107
109
110
112
114
115
117
118
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
h0 =
944
Procesas vyksta
18
0.45 s
hnusist =
1062
15 uduotis
h
888
888
888
890
893
893
900
905
910
917
922
927
932
929
942
946
949
951
958
961
963
975
970
975
976
976
978
982
976
985
987
997
992
992
992
993
993
995
997
999
hp
12
17
22
29
34
39
44
41
54
58
61
63
70
73
75
87
82
87
88
88
90
94
88
97
99
109
104
104
104
105
105
107
109
111
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
Procesas vyksta
58
1.45 s
h0 =
888
hnusist =
999
16 uduotis
h
1120 1120 1122 1124 1127 1132 1138 1148 1162 1199 1197 1208 1218 1225 1218 1232 1234 1225 1236 1237 1239 1239 1241 1243 1244 1244 1244 1246 1243 1248 1248 1239 1241 1250 1251 1253 1255 1257 1258 1260
hp
12
18
28
42
79
77
88
98
105
98
112
114
105
116
117
119
119
121
123
124
124
124
126
123
128
128
119
121
130
131
133
135
137
138
140
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
Procesas vyksta
2.8 s
h0 = 1120
hnusist =
1260
17 uduotis
h
882
885
889
893
898
902
909
912
920
923
941
934
938
943
947
952
945
957
959
956
965
966
968
968
970
972
983
979
979
979
979
981
981
983
983
983
984
986
988
990
hp
13
18
22
29
32
40
43
61
54
58
63
67
72
65
77
79
76
85
86
88
88
90
92
103
99
99
99
99
101
101
103
103
103
104
106
108
110
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
h0 =
882
Procesas vyksta
92
2.3 s
hnusist =
990
18 uduotis
h
1026 1029 1034 1050 1069 1087 1087 1107 1113 1120 1115 1134 1137 1133 1134 1136 1137 1139 1139 1141 1141 1137 1141 1147 1141 1137 1141 1141 1141 1147 1142 1144 1134 1146 1149 1147 1150 1152 1146 1152
hp
10
26
45
63
63
83
89
96
91
110
113
109
110
112
113
115
115
117
117
113
117
123
117
113
117
117
117
123
118
120
110
122
125
123
126
128
122
128
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
Procesas vyksta
15
0.375 s
h0 = 1026
hnusist =
1152
19 uduotis
h
672
673
675
677
683
684
694
696
704
715
717
721
725
729
730
734
735
738
747
738
741
744
744
745
740
745
746
746
746
748
748
748
748
749
750
752
753
754
756
756
hp
11
12
22
24
32
43
45
49
53
57
58
62
63
66
75
66
69
72
72
73
68
73
74
74
74
76
76
76
76
77
78
80
81
82
84
84
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
h0 =
672
Procesas vyksta
36
0.9 s
hnusist =
756
20 uduotis
h
488
490
492
494
498
500
504
506
510
512
522
518
520
523
525
528
524
531
532
530
535
536
537
537
538
539
542
543
543
543
543
544
544
545
545
545
546
547
548
549
hp
10
12
16
18
22
24
34
30
32
35
37
40
36
43
44
42
47
48
49
49
50
51
54
55
55
55
55
56
56
57
57
57
58
59
60
61
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
h0 =
488
Procesas vyksta
68
1.7 s
hnusist =
549
x
h1
h2
h3
h4
h5
h6
h7
h8
h9
h10
h11
h12
h13
h14
h15
h16
h17
h18
t
h1
h*
Duomenys
1
2
3
0
1
2
0
2
5
0
0
0
0
0
1
1
3
5
1
3
6
0
1
3
0
3
6
0
0
0
0
0
1
1
4
7
1
4
7
0
2
3
0
3
8
0
0
0
0
0
2
2
5
9
2
5 10
1
0
2
1
3
2
4
4
9
1
2
7
16
5
11
1
2
9
19
7
14
2
4
13
26
5
8
18
3
4
10
28
11
23
4
5
13
33
13
29
5
7
18
45
6
9
25
3
7
12
39
12
31
4
8
16
46
15
40
5
12
22
63
39
62
73
64
79
60
75
84
91
78
92
78
89
104
117
109
138
108
122
40
63
74
65
80
61
79
84
93
79
93
79
93
104
118
111
140
110
128
4
4
5
8
6
7
8
9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39
9 16 18 24 32 33
36 39 42 43 46 47 49 52 49 51 53 53 54 54 54 55 55 57 57 56 56 62 60 58 59 60 61 62
11 15 20 25 29 33 36 39 41 43 45 47 49 50 51 52 52 53 54 54 54 55 56 56 56 58 58 58 59 60 60 60 61
40
63
7
16
32
7
10
16
39
22
40
9
12
21
46
27
51
12
18
29
63
8
18
38
10
16
18
51
24
48
12
19
23
48
30
61
17
28
32
83
9
24
41
13
24
22
55
32
51
16
17
29
65
40
66
22
42
40
89
10
32
52
17
35
24
59
43
65
21
41
31
70
54
83
29
79
43
96
11 12
33 36
48 51
20 23
44 50
34 30
56 68
45 49
60 64
24 28
51 58
44 39
66 80
55 60
77 82
34 39
77 88
61 54
91 110
13
39
48
26
56
32
66
53
60
32
65
42
78
66
77
44
98
58
113
14
42
55
29
60
35
67
57
69
35
70
46
79
71
88
41
105
63
109
15
43
57
32
56
37
68
58
71
48
65
48
80
72
91
54
98
67
110
16
46
58
34
64
40
69
62
73
41
74
52
81
77
93
58
112
72
112
17
47
60
36
65
36
70
63
49
44
75
47
83
79
99
61
114
65
113
18
49
61
37
60
43
71
66
76
45
70
56
84
82
98
63
105
77
115
19
52
60
41
66
44
71
75
75
50
77
57
84
87
96
70
116
79
115
h1
70
20
49
62
43
67
42
72
66
78
52
78
55
85
76
99
73
117
76
117
23
53
62
48
69
49
72
72
78
59
80
64
85
89
99
82
121
88
117
24
54
63
51
70
49
76
73
79
62
81
64
90
91
101
87
123
88
123
25
54
65
52
71
50
72
68
81
63
82
65
85
85
104
88
124
90
117
26
54
65
52
71
51
70
73
81
63
82
62
83
91
104
88
124
92
113
27
55
60
53
71
54
72
74
75
65
82
70
85
92
96
90
124
103
117
28
55
60
55
72
55
72
74
70
67
84
72
85
92
96
94
126
99
117
29
55
63
52
70
55
72
74
79
63
81
72
85
92
101
88
123
99
117
30
56
64
57
73
55
76
76
80
70
85
72
90
94
102
97
128
99
123
31
56
65
58
73
55
73
76
81
71
85
72
86
94
110
99
128
99
118
32
56
66
64
68
56
74
76
83
78
79
73
87
94
106
109
119
101
120
33
56
67
61
69
56
68
76
84
74
80
73
80
94
107
104
121
101
110
34
57
68
61
74
57
75
77
85
74
86
74
89
96
109
104
130
103
122
35
58
69
61
75
57
77
78
86
74
87
74
91
97
110
104
131
103
125
36
59
70
62
76
57
76
80
88
76
88
74
90
99
112
105
133
103
123
37
60
71
62
77
58
78
81
89
76
89
75
92
101
114
105
135
104
126
38
61
72
63
78
59
79
82
90
77
90
77
93
102
115
107
137
106
128
h2
70
60
50
50
H = 1/5 (
40
40
30
30
20
20
10
10
0
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40
1 2 3 4 5 6 7 8 9 10111213141516171819202122232425262728293031323334353637383940
1
0
2
2
3
5
7
4
5
6
7
8
9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39
9 18 25 32 38 41 52 48 51 48 55 57 58 60 61 60 62 62 61 62 63 65 65 60 60 63 66 70 66 67 68 69 70 71 71 71
12 18 24 31 38 42 46 48 51 52 54 56 58 59 60 61 61 61 62 63 63 63 63 63 63 64 65 66 67 68 68 69 70 70 71
h3
70
40
71
h4
90
80
60
70
50
60
40
50
30
40
30
20
20
10
10
0
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40
1 2 3 4 5 6 7 8 9 10111213141516171819202122232425262728293031323334353637383940
x
h3
22
53
61
51
68
48
70
72
76
62
79
62
83
89
98
87
119
86
113
80
h= i+2
60
t
h2
h*
21
51
62
44
68
47
72
69
78
54
79
61
85
86
99
75
119
85
117
1
0
2
0
3
0
4
1
5
3
6
3
7
7
8
10
9
13
10
17
11
20
12
23
13
26
14
29
15
32
16
34
17
36
18
37
19
41
20
43
21
44
22
51
23
48
24
51
25
52
26
52
27
53
28
55
29
52
30
57
31
58
32
64
33
61
34
61
35
61
36
62
37
62
38
63
39
64
40
65
h*
x
h4
h*
1
1
0
2
0
3
1
1
4
2
3
5
4
5
6
7
10
13
17
20
23
26
29
31
34
36
38
43
45
47
49
51
51
53
53
54
55
57
58
60
61
62
61
62
62
63
7
8
9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39
10 16 24 35 44 50 56 60 56 64 65 60 66 67 68 68 69 70 71 71 71 72 70 73 73 68 69 74 75 76 77 78 79
8 12 18 26 34 42 49 53 57 60 61 62 64 65 66 68 68 69 70 70 71 71 71 72 71 71 71 72 72 74 76 77 78
h5
70
40
40
80
h6
90
80
60
70
50
60
40
50
30
40
20
30
20
10
10
0
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40
x
h5
h*
1
1
x
h6
h*
1
1
2
3
3
5
4
7
5
6
7
8
9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39
10 12 16 18 22 24 34 30 32 35 37 40 36 43 44 42 47 48 49 49 50 51 54 55 55 55 55 56 56 57 57 57 58 59 60
7 10 13 16 18 23 26 28 31 34 35 36 38 40 41 42 45 46 47 49 49 51 52 53 54 55 55 55 56 56 57 57 58 58 59
40
61
3
4
5
6
7
8
9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39
6 16 28 39 39 51 55 59 56 68 66 67 68 69 70 71 71 72 72 70 72 76 72 70 72 72 72 76 73 74 68 75 77 76 78 79 75
11 18 26 35 42 49 52 58 61 63 65 68 68 69 70 71 71 71 71 72 72 72 72 72 72 72 73 73 73 73 73 74 75 77 77 77
40
79
5
2
3
70
60
50
40
30
20
10
0
2
10
11
12
13
14
15
h* = 1/(l + 1) hi
16
17
18
19
l = 2...4
= 0,85
T = 9,.35
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
prarandama i l / 2 - 1 ir i n - l / 2 + 1
9.35
140
120
is
40
140
Poveikis
120
100
80
60
40
20
1 2 3 4 5 6 7 8 9 10111213141516171819202122232425262728293031323334353637383940
Laikas
70
60
50
40
30
20
10
0
1 2 3 4 5 6 7 8 9 10111213141516171819202122232425262728293031323334353637383940
0
1
2
3
4
5
6
7
8
9
10
k0
ymin
y0
2.5
0.9
1
1.2
1.3
1.4
1.5
1.6
1.8
1.9
2
184
460
85
337
185
240
110
243
275
370
410
17
43
5
34
10
50
20
25.5
35.1
51.1
31.5
25
20
35
40
45
30
85
100
90
175
200
150
65
80
100
100
120
140
180
200
250
300
0
15
20
15
20
15
20
15
20
20
20
Skaiiavimai
B2
-45
max
25
B1min
28
B1max
55
ta1
29.008
ta2
68.707
Ta
97.714
n
73.684
1
10.971
2
8.9712
%reg.org.eigos
priimu
8 0C
%reg.org.eigos
priimu
40 %reg.org.eigos
s
s
s
kartai per h, turi bti <80
Kintamieji
z=0
z = 20
z = - 20
2, 0C
=( + )/2, C
Apskaiiuota
Gauta modeliuojant
Apskaiiuota
Gauta modeliuojant
Apskaiiuota
Gauta modeliuojant
Apskaiiuota
Gauta modeliuojant
Apskaiiuota
Gauta modeliuojant
Gauta modeliuojant
29.007797602
138
68.706522272
86
97.71431987
224
10.97059652
6.26
8.971156554
7.29
6.775
102.6460336
86
172.35898674
139
275.0050203
225
8.569687348
7.29
6.963328042
6.31
6.8
576.27096551
258
73.16975953
62
649.440725
320
5.356968735
5.23
10.17604665
8.44
6.835
%=100/yo, %
Gauta modeliuojant
4.516666667 4.533333333 4.556666667
ta1, s
ta2, s
Ta, s
1, 0C
Pagal pavyzd 26 psl

Kintamieji
z=0
68.93
Apskaiiuota
ta1, s
Gauta modeliuojant
68.00
Apskaiiuota
43.04
ta2, s
Gauta modeliuojant
43.00
Apskaiiuota
111.97
Ta, s
Gauta modeliuojant
111.00
Apskaiiuota
12.09
0
1, C
Gauta modeliuojant
12.07
Apskaiiuota
16.50
2, 0C
Gauta modeliuojant
16.50
=(1+2)/2, C
Gauta modeliuojant
14.29
%=100/yo, %
Gauta modeliuojant
9.52
0
z = - 20
179.35
177.00
31.32
32.00
210.67
209.00
7.68
7.59
20.91
20.56
14.08
9.38
ta1 = T ln{ {(ko(B1+ B2) - [ko(B2 - z) -] e-/T} / [ko(B1 - z) -] e-/T}
B2 = min/k0 - o/k0,
B1min > z + / k0
ta2 = T ln {{(ko(B1+ B2) - [ko(B2 + z) -] e-/T} / [ko(B2 - z) -] e-/T}
B1max = B2 + 100%
Ta = ta1 + ta2
max < k0 (B2 - z).
n = 7200 / Tamin (60...80), 1/h.
1 = + y1 = + [ko(B1 + z)-](1-e-/T),
B1
36
30
25
20
17
16
15
14
13
12
11
10
z = 20
43.04
44.00
68.93
68.00
111.97
112.00
16.50
16.32
12.09
11.96
14.14
9.43
=
30
25.77347 260.96
28.300835 116.44
30.823821 84.804
33.847201 67.346
35.96823 60.066
36.73651 57.99
37.538871 56.057
38.377671 54.254
39.255492 52.566
40.175174 50.983
41.139842 49.496
42.152945 48.095
286.73
144.74
115.63
101.19
96.034
94.726
93.596
92.631
91.822
91.159
90.636
90.248
25.1105423
49.7441985
62.2689587
71.1511963
74.9733147
76.0084332
76.9261404
77.7273559
78.4128363
78.9831965
79.4389266
79.7804049
2 = + y2 = + [ko(B2 - z)-](1-e-/T).
100
80
2
0
3
0
60
40
20
0
-30
-20
-10
10
20
30
40
9
8
7
6
5
4
3
2
1
0
-1
-2
-3
-4
-5
-6
-7
-8
-9
-10
-11
-12
-13
-14
-15
-16
-17
-18
-19
-20
B
36
30
25
20
17
16
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
0
-1
-2
-3
-4
43.218304
44.340159
45.523233
46.772801
48.094779
49.495824
50.983456
52.566209
54.253809
56.057401
57.989821
60.065939
62.3031
64.721669
67.345757
70.204148
73.331549
76.770264
80.572501
84.803615
89.546772
94.909861
101.03607
108.12075
116.43966
126.3991
138.63233
154.20507
175.12237
205.89775
1
29.528814
33.01977
36.639163
41.167124
44.47735
45.705237
47.004617
48.382085
49.845098
51.402119
53.062798
54.838194
56.74105
58.786135
60.99068
63.374929
65.962852
68.783083
71.870158
75.266191
79.023178
83.206235
87.898259
93.206832
99.274796
106.29711
46.773
45.523
44.34
43.218
42.153
41.14
40.175
39.255
38.378
37.539
36.737
35.968
35.232
34.525
33.847
33.195
32.569
31.965
31.384
30.824
30.283
29.762
29.258
28.772
28.301
27.845
27.405
26.978
26.564
26.163
=
258.53
114.55
83.206
65.963
58.786
56.741
54.838
53.063
51.402
49.845
48.382
47.005
45.705
44.477
43.315
42.213
41.167
40.173
39.226
38.323
37.462
36.639
35.852
35.099
34.377
33.685
89.991
89.863
89.863
89.991
90.248
90.636
91.159
91.822
92.631
93.596
94.726
96.034
97.535
99.247
101.19
103.4
105.9
108.74
111.96
115.63
119.83
124.67
130.29
136.89
144.74
154.24
166.04
181.18
201.69
232.06
20
288.06
147.57
119.85
107.13
103.26
102.45
101.84
101.44
101.25
101.25
101.44
101.84
102.45
103.26
104.31
105.59
107.13
108.96
111.1
113.59
116.49
119.85
123.75
128.31
133.65
139.98
80.0079072
80.1216138
80.1216138
80.0079072
79.7804049
79.4389266
78.9831965
78.4128363
77.7273559
76.9261404
76.0084332
74.9733147
73.8196737
72.5461717
71.1511963
69.6327999
67.9886192
66.215768
64.3106903
62.2689587
60.0849874
57.7516172
55.2594936
52.5961015
49.7441985
46.6791256
43.363849
39.7389005
35.6990252
31.026409
24.9945492
48.7907887
60.0774004
67.2080799
69.72455
70.2807317
70.6971848
70.9745013
71.1130652
71.1130652
70.9745013
70.6971848
70.2807317
69.72455
69.0278182
68.1894555
67.2080799
66.0819512
64.8088946
63.3861957
61.8104575
60.0774004
58.1815785
56.1159666
53.8713409
51.4353173
-5
-6
-7
-8
-9
-10
-11
-12
-13
-14
-15
-16
-17
-18
-19
-20
114.54907
124.43645
136.59192
152.08048
172.90635
203.58208
258.53399
#DIV/0!
Err:502
Err:502
Err:502
Err:502
Err:502
Err:502
Err:502
Err:502
33.02
32.381
31.767
31.176
30.607
30.058
29.529
29.018
28.525
28.049
27.588
27.142
26.711
26.293
25.888
25.496
147.57
156.82
168.36
183.26
203.51
233.64
288.06
#DIV/0!
Err:502
Err:502
Err:502
Err:502
Err:502
Err:502
Err:502
Err:502
48.7907887
45.9132422
42.765812
39.289243
35.3785942
30.8166409
24.9945492
#DIV/0!
Err:502
Err:502
Err:502
Err:502
Err:502
Err:502
Err:502
Err:502
36
30
25
20
17
16
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
0
-1
-2
-3
-4
-5
-6
-7
-8
-9
-10
-11
-12
-13
-14
-15
-16
-17
-18
23.01906
24.94849
26.824181
29.007798
30.4993
31.031531
31.582884
32.154421
32.747285
33.362708
34.002018
34.666655
35.358174
36.078264
36.828762
37.611665
38.429156
39.283616
40.17766
41.114156
42.096262
43.127464
44.211619
45.35301
46.556403
47.827123
49.171137
50.595158
52.106769
53.71457
55.428362
57.259368
59.220511
61.32676
63.595563
66.047404
68.706522
71.601845
74.768239
78.248184
263.32
118.29
86.372
68.707
61.327
59.221
57.259
55.428
53.715
52.107
50.595
49.171
47.827
46.556
45.353
44.212
43.127
42.096
41.114
40.178
39.284
38.429
37.612
36.829
36.078
35.358
34.667
34.002
33.363
32.747
32.154
31.583
31.032
30.499
29.985
29.488
29.008
28.543
28.093
27.657
286.34
143.24
113.2
97.714
91.826
90.252
88.842
87.583
86.462
85.469
84.597
83.838
83.185
82.635
82.182
81.823
81.557
81.38
81.292
81.292
81.38
81.557
81.823
82.182
82.635
83.185
83.838
84.597
85.469
86.462
87.583
88.842
90.252
91.826
93.581
95.536
97.714
100.14
102.86
105.9
25.1453549
50.2661286
63.6066515
73.6841848
78.4091136
79.7765883
81.0425204
82.207938
83.273716
84.2405997
85.1092232
85.8801245
86.5537575
87.1305014
87.610669
87.9945123
88.2822275
88.4739588
88.569801
88.569801
88.4739588
88.2822275
87.9945123
87.610669
87.1305014
86.5537575
85.8801245
85.1092232
84.2405997
83.273716
82.207938
81.0425204
79.7765883
78.4091136
76.938886
75.3644756
73.6841848
71.8959869
69.9974445
67.9856009
-19 82.094088 27.234 109.33 65.8568338

-20 86.371528 26.824
113.2 63.6066515
ko
0
T1
T2
C / %reg.org.
eigos
2.5
100
40
ymin
0
25
y0
%reg.org.
eigos
160
250
15
0.15
Aperiodinis procesas
TVM = k0 (T1 + T2)
tp= z TVM
1 = 0.85 k0 z
TVM = 35000
TVM = 8750
Reguliavimo proceso laikas minimalus
TVM = k0 (0.2T1 + 0.5T2)
tp= 1313
tp= 7(T1 + 1.5T2)
1 = 0.7 k0 z
TVM = 10000
1 = 31.88
=
TVM = 2500
Prie autovytavim ribos
TVM = k0 (8,33T1 + 37,13T2) / 100
tp= 1120
TVM = 1449
1 = 26.25

Reguliatoriu Skaiciavimai 140603

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Reguliatoriu Skaiciavimai 140603

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Atliekant reguliavimo objekto eksperimentin tyrim, objekto jime veikia trikdis, gautas pakeitus votuvo atidarym = 10% eigos.

sek, viena padala lygi =

sek, viena padala lygi =

sek, viena padala lygi =

sek, viena padala lygi =

124 sek, viena padala lygi =

sek, viena padala lygi =

sek, viena padala lygi =

sek, viena padala lygi =

138 sek, viena padala lygi =

172 sek, viena padala lygi =

sek, viena padala lygi =

sek, viena padala lygi =

sek, viena padala lygi =

sek, viena padala lygi =

sek, viena padala lygi =

112 sek, viena padala lygi =

sek, viena padala lygi =

sek, viena padala lygi =

sek, viena padala lygi =

sek, viena padala lygi =

4.516666667 4.533333333 4.556666667

Pagal pavyzd 26 psl

ta1 = T ln{ {(ko(B1+ B2) - [ko(B2 - z) -] e-/T} / [ko(B1 - z) -] e-/T}

ta2 = T ln {{(ko(B1+ B2) - [ko(B2 + z) -] e-/T} / [ko(B2 - z) -] e-/T}

max < k0 (B2 - z).

n = 7200 / Tamin (60...80), 1/h.

-19 82.094088 27.234 109.33 65.8568338

TVM = k0 (T1 + T2)

Reguliavimo proceso laikas minimalus

TVM = k0 (0.2T1 + 0.5T2)

tp= 7(T1 + 1.5T2)

Prie autovytavim ribos

TVM = k0 (8,33T1 + 37,13T2) / 100

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