K,

Ti
Td. ,
.
, ,
- .
. ,
. .
:
,
, . 1
(3) Wo ( p ) =
( p + 1)3
.
.2.
(.1), (1) Ti = Td = 0.
(Wo(p)) (W(p)). ,
: , ysp . K
, ( = ysp ), u . , .
-
ysp e u y .
Wp(p) Wo(p)
u(t) y(t) K=5
K=5 K=2
4
K=2 1
K=1
2
.1
0.5
0 K=1

: t t
-2 0
0 5 10 15 0 5 10 15
1t de(t ) .2
(1) u (t ) = K e(t ) + e( )d + Td (Ti = , Td = 0).
Ti 0 dt

. (1) ,

1
(2) u ( p ) = K 1 + + pTd e( p )
pTi Kt t
(4) u (t ) = e( )d = ki e( )d ,
(1) Ti 0 0
. u(t) :
( ), ( (4)
) ( ).

1 2
 du0 .4
(5) = ki e0
dt Td1 < Td2.
, e(t)
(u(t) = u0 e(t) = e0), de( )
e( ) + Td
du 0 d
=0
dt
(5) , e0 = 0.
, ,
.
, ,
. , , ,
,
. .3 t
(3). +Td1 +Td2
(1), K = 1, Td = 0.

u(t) y(t) Ti = 1
Ti = 1
2
Ti = 2 1.5 Ti = 2 .4
1.5 , Td
Ti = 5
1
1 , .
0.5
0.5 Ti = 5
.5. K Ti
t t , .
0 0
0 5 10 15 0 5 10 15
.3 ,
- (K = 1, Td = 0) Td .
Ti
, .
u(t) y(t)
. Ti Td = 0.1
Td = 0.1

3 Td = 0.7 Td = 0.7
. 1.5
Td =4.5
2
Td. 1
, 1
(.. ) 0.5 Td =4.5
0
t t
: -1 0
0 5 10 15 0 5 10 15
de( ) .5
e( + Td ) e( ) + Td -- K = 3, Ti = 2
d

3 4
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. .

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1-, 2-, 3-.

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