: 5

:
:
:
PID , PD , PI , P
.
.

. :

) (

.
) (
K , P , Z
. Z > P Z < P .
): (lead compensator
Z > P lead .
.
) (

.
P , Z .

PD = P .
): (lag compensator
(P < Z) .
.
P , Z .

-1-5 :
2

T=10, a=2 , b=150 Mp=140%.

.
P=67.5 Z=5 K=1.4 .

Mp=5.7%

.
PD
PD
.
-2-5 :
a1=30.6, T=1
a2=53 , b2=28 b1=17 2

()

.
error=906mv E=90.6%

.
.
P=0.031 Z=0.054 K=40 .

%61
.
( ) PI
PI
.

-3-5 - :
a1=4.3, T=1
a2=24 , b2=7 b1=23 2

()

.
error=906mv E=90.6%
Mp=39%

.
.
P2=45, Z2=2 , P1=0.05 , Z1=0.031 , K=40 .

%2
Mp=14%