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,
.
1
, Matlab,
60C.

3 2

: /1.&
/2. /3.

,
(1), .
,

Matlab/Simulink.
(2), .
- (/D),
, 0,25sec.
2 ,
.

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. -


Matlab Simulink
( 1)

,

,
.

( 2),

3.
1

2: 3:

3
( 4)




(FOPTD),
:
ke s
G
s 1
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k=17
=0,25sec
t=11,75
=11,75-0,25=11,5sec 4:
&

17e 0,25 s
: G -0.0870
11,5s 1

5: ode

PI G,
. ,
, ,
C


Kc K
c
,

.
,
(Gc_PI)
c2d
0,25
-
(/D)

Matlab/Simulink.



Matlab/Simulink 6.
6:
Matlab/Simulink

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, C =0,1s , 0,5s ,20s ,
. C
=1000,5s K C =0,0006763

. C =2000s K C =0,000338193
:

1
GC ( s ) 0, 000338193 (1+ )
11,5s


, :

7:

8:

:
:
: PI
: PI
: PI

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9: Bode

10: Nyquist
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10:

21:

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,
.
Bode
,
, ,
.
Bode
.
PI
Nyquist (-1,0),
.

.
,
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