7.

13 , u y(t)
7.13 PI
.

y (t )=K R 1+

1
t
TI

(7.54)

T I=

P p=

Ty

t it u1 t i

t u2 2

e Ty
t u 2 tu 1 ti ti

t u 2 +t i t u 2 2

(7.55)

eT y
ex u

U ps H

(7.56)

7.13
.

y=

Ya
t
T y u2

(7.57)

t
ya
y
V sr = = u 2
t t u 2 +t i T y

y a= y ( 0 )

(7.58)

V max =

ya
Ty

, ,
.
SAU :
1.

2.
.
,
(1)
.
7.14 ()
.

 7.13

,
7.14. :
1.
G(s), G(z),
.
2.
.
3. ,
4. GR ( w ) , w=w ( z )

GR ( z ) ,

7.15.

. .
,
, .
.
.

7.15 GR(s)

1. z

GR ( z ) ,

GR ( s ) , :
GR ( s ) / s ,

z z

( 1z 1 )

,
( ZOH- Zero- Order Hold).

H ( z )=G R ( z )=

{ [ ]}

G (s )
U ( z)
=( 1z 1 ) Z L1 R
s
E(z)

(7.59)

, Z

z .

.
,
.
.
,
e ( t ) ,
, A/D .


.
D/A . D/A

( 1s T ) / Ts. (7.59)

U(z)/E(z)
. z
z
.

G ( z )=Z [ g ( t ) ] = g ( kT ) z

k=0


G ( z )= Z

{ L1 [G ( s ) ] }

g(t) -
L1

d
dt

GR ( z )

.
dx ( t ) x ( t +T )x ( t ) q1

=
x (t )
dt
T
T

(7.60)

dx ( t ) x ( t )x ( tt ) q1

=
x (t )
dt
T
qT

(7.60a)

px ( t )=

px ( t )=

(7.60) , (7.60)
. q
. :
qf ( k )=f ( k +1 )

{ f ( k )|k =... ,1, 0 1 }

(7.61)

f ( k )

=1.

f ( k )=k |f ( k )|

(7.62)

f [ k ]= f 2 ( k ) (7.63)
k=
.

,
.

:
q1 f ( k )=f ( k1 )

(7.64)

, (7.60) (7.61) s
( z1 ) /T ( z1 ) / zT .

:
x ( k +1 )x ( k )
dx
= x
dt
T

( )

(7.65)

x ( k )x ( k 1 )
dx
= x
dt
T

( )

(7.66)

x ( k +1 )x ( k 1 )
dx
= x
dt
2T

( )

(7.67)

x ( k + 2 )2 x ( k +1 ) + x ( k )
2
T

(7.68)

x ( k )2 x ( k 1 )+ x ( k 2 )
T2

(7.69)

x ( k +1 )2 x ( k ) + x ( k1 )
2
T

(7.70)

x ( k ) x ( kT ) .