10-1

s z=esT
z z s

13.1

(digital control system)
/
(A/D) 13.1
/
(D/A) 13.1

220
10-2

13.1

13.2

221
222
10-3

13.4

223
224
10.4

225
226
227
228
229
10.5

230
231
232
10.6

233
234
10.7

235
236
237
10.8

238
239
240
241
10.9

242
243
289 (11-11)

u( kT ) K d z 2 2 z 1 TK i z 2 z
GC ( z ) K P [ ] [ ]
f ( kT ) T z( z 1 ) 2 z( z 1 )
K TK i z 1
K P d ( 1 z 1 )
T 2 z 1
TK i
m z 1 n z 1 [ m f ( kT )]
2
TK i 1 TK i z
m f ( kT ) n zm f ( kT )
2 z 1 2 z 1
TK i 1 z TK i z 1
u ' ( kT ) m n f ( kT )( ) f ( kT )
2 z 1 z 1 2 z 1
u ' ( kT ) TK i z 1

f ( kT ) 2 z 1

m,n 11-5 u(kT)

244