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 ‫א‬‫א‬‫א‬
ã¹]<gè…‚jÖ]æ<ËÖ]<Üé×Ãj×Ö<íÚ^ÃÖ]<í‰‰ö¹]

‫א‬‫א‬‫א‬‫א‬
‫א‬
-‫א‬‫א‬
٢٣٣
 ‫א‬  ٢٣٣ ‫א‬
 -‫א‬‫א‬ ‫א‬
 

 W،،‫א‬‫א‬،‫א‬

‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
  ‫א‬ ‫א‬  ،‫א‬   ‫א‬ ‫א‬ ‫א‬ ‫א‬ ‫א‬ 
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 ‫؛‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 K ‫א‬‫א‬‫א‬

‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
  ‫א‬        ،‫א‬ ‫א‬‫א‬  
‫א‬  ‫א‬ ‫א‬ ‫א‬ ‫א‬ ‫א‬   ‫א‬    ،  
‫א‬،‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬
     ‫א‬  ‫א‬   ،‫א‬   
 K‫א‬‫א‬،‫א‬‫א‬

?  ‫א‬  ?  ? ‫א‬ ‫א‬  ? ‫א‬ ‫א‬  
 K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬

‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
،‫א‬،‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬‫א‬‫א‬

 ،‫א‬‫א‬‫א‬ ‫א‬
 K‫א‬

 ‫א‬‫א‬‫א‬‫א‬      
   ٢٣٣ ‫א‬
 -‫א‬‫א‬ ‫א‬
 
 ‫א‬‫א‬‫א‬

،K، ‫א‬‫א‬،‫א‬‫א‬
?‫א‬‫א‬?W‫א‬ ‫א‬‫א‬ 
‫?א‬،‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬،?
 K‫א‬‫א‬
‫א‬‫א‬‫א‬
 ‫א‬‫א‬
‫א‬
 ‫א‬‫א‬‫א‬
K ‫א‬‫א‬‫א‬‫א‬
 ‫א‬K‫א‬
 K‫א‬Matlab‫א‬‫א‬‫א‬
 W,
 ‫א‬‫א‬W‫א‬‫א‬
 ‫א‬‫א‬W‫א‬‫א‬
 ‫א‬‫א‬W‫א‬‫א‬
 ‫א‬‫א‬W‫א‬‫א‬‫א‬
 ‫א‬‫א‬‫א‬‫א‬W‫א‬‫א‬
 ‫א‬‫א‬W‫א‬‫א‬
 PIDE‫א‬F‫א‬W‫א‬‫א‬
 ‫א‬‫א‬‫א‬W‫א‬‫א‬
 ‫א‬‫א‬‫א‬W‫א‬‫א‬
PID‫א‬‫א‬‫א‬‫א‬W‫א‬‫א‬
‫א‬PID‫א‬‫א‬‫א‬‫א‬W‫א‬‫א‬
 ‫א‬‫א‬
‫א‬PID‫א‬‫א‬‫א‬‫א‬W‫א‬‫א‬
 ‫א‬‫א‬
   ٢٣٣ ‫א‬
 -‫א‬‫א‬ ‫א‬
‫א‬PID‫א‬‫א‬‫א‬‫א‬W‫א‬‫א‬
 ‫א‬‫א‬‫א‬
 ‫א‬‫א‬‫א‬‫א‬W‫א‬‫א‬‫א‬
 K‫א‬W‫א‬‫א‬
 ‫א‬W‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬W‫א‬‫א‬
 ‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬W‫א‬‫א‬
 ‫א‬‫א‬‫א‬‫א‬
 ‫א‬PIDW‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬W‫א‬‫א‬
 
 ‫א‬‫א‬W‫א‬‫א‬‫א‬
 W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬

‫א‬
 ‫א‬‫א‬K‫א‬LeyboldCom3Lab
‫א‬K ‫א‬K‫א‬‫א‬
K‫א‬‫א‬‫א‬‫א‬‫א‬K

KMatlab‫א‬‫א‬‫א‬‫א‬
KW‫א‬‫א‬‫א‬
 ‫א‬‫א‬W‫א‬‫א‬
 ‫א‬‫א‬W‫א‬‫א‬
 ‫א‬‫א‬W‫א‬‫א‬
   ٢٣٣ ‫א‬
 -‫א‬‫א‬ ‫א‬
 ‫א‬‫א‬‫א‬‫א‬‫א‬W‫א‬‫א‬‫א‬
 ‫א‬‫א‬W‫א‬‫א‬
 ‫א‬‫א‬‫א‬W‫א‬‫א‬
 ‫א‬‫א‬W‫א‬‫א‬
 K‫א‬‫א‬‫א‬W‫א‬‫א‬
 ‫א‬‫א‬‫א‬‫א‬‫א‬W‫א‬‫א‬
 ‫א‬‫א‬W‫א‬‫א‬
 ‫א‬‫א‬W‫א‬‫א‬
 ‫א‬‫א‬W‫א‬‫א‬
 ‫א‬‫א‬W‫א‬‫א‬
 ‫א‬‫א‬W‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬W‫א‬‫א‬


 ‫א‬‫א‬‫א‬

‫ א‬‫א‬‫א‬‫א‬
 -‫א‬‫א‬
‫א‬‫א‬‫א‬
 ‫א‬‫א‬‫א‬
١
 ‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬‫א‬‫א‬  -‫א‬‫א‬ ‫א‬
 ‫א‬‫א‬‫א‬W‫א‬‫א‬
 ‫א‬‫א‬
 ‫א‬‫א‬‫א‬
 Open Loop Control


 W١‫א‬‫א‬‫א‬

‫א‬‫א‬‫א‬K ‫א‬‫א‬‫א‬‫א‬‫א‬
K
 ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
E ‫א‬‫א‬‫א‬F‫א‬
 K‫א‬‫א‬‫א‬‫א‬

 WE٢‫א‬F‫א‬‫א‬‫א‬

،‫א‬‫א‬‫א‬‫א‬‫א‬EF‫א‬‫א‬
‫א‬‫א‬K ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬‫א‬‫א‬

 WE٣‫א‬F‫א‬‫א‬‫א‬

K ‫א‬‫א‬‫א‬‫א‬‫א‬
K ‫א‬‫א‬‫א‬K ‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬‫א‬‫א‬ 



-١-
 ‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬‫א‬‫א‬  -‫א‬‫א‬ ‫א‬
 WE٤‫א‬F‫א‬‫א‬‫א‬

‫א‬K‫א‬K‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬‫א‬‫א‬K‫א‬‫א‬‫א‬‫א‬‫א‬
Darlington‫א‬‫א‬COM3LAB‫א‬‫א‬‫א‬‫א‬
 kyt 10‫א‬ytFF‫א‬‫א‬
 ‫א‬‫א‬w


 W‫א‬‫א‬‫א‬
 ‫א‬‫א‬
xt‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬LEDs‫א‬‫א‬‫א‬‫א‬K‫א‬‫א‬K‫א‬
 K‫א‬‫א‬


 ‫א‬‫א‬‫א‬W١‫א‬




-٢-
 ‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬‫א‬‫א‬  -‫א‬‫א‬ ‫א‬
 W‫א‬‫א‬‫א‬
 ‫א‬

E ‫א‬‫א‬F ‫א‬‫א‬‫א‬EzF
‫א‬K ‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬KERF‫א‬‫א‬EHF‫א‬‫א‬
 K

 W‫א‬‫א‬‫א‬
 ‫א‬‫א‬‫א‬

‫א‬‫א‬K ‫א‬‫א‬‫א‬
 ‫א‬K º 100 = υº = υ٢٥‫א‬
U/υW
 K‫א‬
 K‫א‬‫א‬‫א‬‫א‬

 W‫א‬‫א‬‫א‬
 W‫א‬‫א‬

W‫א‬‫א‬
 W‫א‬‫א‬
Com3Lab‫א‬‫א‬‫• א‬
 K‫א‬‫א‬‫א‬‫א‬‫א‬ •
K‫א‬ •
 K‫א‬‫א‬‫א‬‫א‬‫א‬ •
K‫א‬‫א‬‫א‬ •

-٣-
 ‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬‫א‬‫א‬  -‫א‬‫א‬ ‫א‬
‫א‬‫א‬
(Power Supply)‫א‬ •
K‫א‬‫• א‬
Function Generator •
(Controlled Unit) •
Multimeter‫א‬ •


xt ‫اﻟﺨﺮج‬
‫اﻟﺪﺧﻞ‬
yt ‫درﺟﺔ اﻟﺤﺮارة‬ ‫اﻟﺠﻬﺪ‬
‫ﻣﻮﻟﺪ إﺷﺎرة اﻟﺪﺧﻞ‬
Func. Gen. ‫اﻟﻨﻈﺎم اﻟﻤﺘﺤﻜﻢ ﻓﻴﻪ‬ V
‫ﻣﺨﻄﻂ اﻟﺤﻠﻘﺔ اﻟﻤﻔﺘﻮﺣﺔ‬
‫א‬‫א‬‫א‬
K‫א‬‫א‬‫א‬‫א‬‫א‬ •
‫א‬‫א‬‫א‬‫א‬‫א‬‫• א‬
KOut
K٢‫א‬‫א‬ •
K‫א‬‫א‬ •
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ •
‫א‬
‫א‬‫א‬‫א‬ •
‫א‬‫א‬Multimeter‫א‬
z=5vz=0 ‫א‬

-٤-
 ‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬‫א‬‫א‬  -‫א‬‫א‬ ‫א‬

 ‫א‬W٢‫א‬
‫א‬

EVF‫א‬Multimeter‫א‬‫א‬xtW‫א‬‫א‬
‫א‬ytFunction Generator‫א‬‫א‬EoutF┴Com
 ┴K

‫א‬K‫א‬ ‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬،‫א‬K
 ‫א‬‫א‬
K‫א‬‫א‬،υ٦٠Z˚‫א‬‫א‬

 Z=0V → U= V


 Z= 5 V → U= V
 KEx‫א‬F‫א‬Ey‫א‬F‫א‬‫א‬

 K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬J

-٥-
 ‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬‫א‬‫א‬  -‫א‬‫א‬ ‫א‬
٥٠ ٤٠ ٣٥ ٣٠ y
x

 ‫؟‬K‫א‬‫א‬J
 K‫א‬Com3Lab‫א‬‫א‬J

 ‫؟‬‫א‬‫؟‬‫א‬‫א‬‫؟‬‫א‬


 ‫א‬W٣‫א‬

 WE∆x/∆yF‫א‬‫א‬‫א‬‫א‬
y −y
1 0 =m
 1 − x0
x
y = m( x − x ) + y
1 1 0 0

 m = ∆x 
∆y
 W
 ‫א‬W m
 ‫א‬‫א‬W y1 , y0
 K‫א‬W x1 , x0
-٦-
 ‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬‫א‬‫א‬  -‫א‬‫א‬ ‫א‬
 W
10 − 3 7
m = = = 0 . 096
 100 − 25 75
y = 0 . 096 ( 60 − 25 ) + 3 = 6 . 4V
1

 W‫א‬‫א‬‫א‬
 

‫א‬‫א‬‫א‬‫א‬E‫א‬F‫א‬‫א‬
 K‫א‬
 K‫א‬‫א‬‫א‬‫א‬‫א‬K‫א‬‫א‬‫א‬





-٧-
 ‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬‫א‬‫א‬  -‫א‬‫א‬ ‫א‬
 ‫א‬‫א‬



   W‫א‬   W‫א‬     W‫א‬‫א‬

 W‫א‬‫א‬
J ١
W‫א‬‫א‬‫א‬‫א‬
X ( s)
 G ( s) =
Y (s)

W‫א‬‫א‬G(s)

 ‫א‬Y(s) 1/S  1/S  1/S 1/S
 ‫א‬X(s) S S +1 2S 2
 ‫א‬‫א‬G(s)    
 ‫؟‬ G(s)‫א‬‫א‬‫א‬
J J J J J J J J J J J J J J J J J J J J J J J J J J J J J J
J J J J J J J J J J J J J J J J J J J J J J J J J J J J J J J J
 J J J J J J J J J J J J J J J J J J J J J J J J J J

-٨-
 ‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬‫א‬‫א‬  -‫א‬‫א‬ ‫א‬
‫א‬Ex(sEy(s‫א‬‫א‬J ٢
 ‫؟‬‫א‬‫א‬‫א‬‫א‬‫א‬KEG(s

 J J J J J J J J J J J J J J J J J J J J J J J J J

 K‫א‬‫א‬‫א‬E‫א‬‫א‬F‫א‬J ٣



 W‫א‬‫א‬‫א‬J ٤


 K‫א‬‫א‬‫א‬J ٥


 K‫א‬J ٦

 J J J J

-٩-
 ‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬‫א‬‫א‬  -‫א‬‫א‬ ‫א‬
 K‫א‬‫א‬J ٧

 J J J J J J J J J J J J J J J J J J J J J J J J J J J J J J J J

 K‫א‬‫א‬J ٨


 K‫א‬‫א‬J ٩

 J J J J J J J J J J J J J J J J J J J J J J J J J J J J J J J J
 ‫؟‬‫א‬‫א‬‫א‬J ١٠


 K‫א‬‫א‬J ١١


 KE‫א‬F‫א‬‫א‬J ١٢


- ١٠ -
 ‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬‫א‬‫א‬  -‫א‬‫א‬ ‫א‬
 K‫א‬‫א‬‫א‬J ١٣
 J J J J J J J J J

 W‫א‬

 K‫א‬‫א‬
 W‫א‬‫א‬‫א‬‫א‬‫א‬


 ‫א‬

 W١‫א‬
 ‫؟‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬‫א‬ K١
K‫א‬‫א‬‫א‬‫א‬ K٢
 K‫א‬‫א‬‫א‬‫א‬ K٣

 W٢‫א‬
 W‫א‬‫א‬‫א‬
 ‫ א‬K١
  K٢
  K٣
  K٤
- ١١ -
 ‫א‬‫א‬‫א‬

‫א‬‫א‬‫א‬‫א‬
 -‫א‬‫א‬
‫א‬‫א‬‫א‬
 ‫א‬‫א‬‫א‬
٢
 ‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬‫א‬‫א‬  -‫א‬‫א‬ ‫א‬
 ‫א‬‫א‬‫א‬W‫א‬‫א‬

 ‫א‬‫א‬
 ‫א‬‫א‬‫א‬
 Closed Loop Control

 ‫א‬‫א‬‫א‬
 ‫א‬‫א‬‫א‬

،‫א‬‫א‬‫א‬‫א‬‫א‬،‫א‬‫א‬‫א‬‫א‬‫א‬
E‫א‬F‫א‬K E ‫א‬‫א‬F ‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬
K ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬KE‫א‬F‫א‬
 K‫א‬‫א‬‫א‬‫א‬

 W‫א‬‫א‬‫א‬
 W‫א‬

K ‫א‬‫א‬E
 F‫א‬‫א‬
‫א‬‫א‬‫א‬E
 ‫א‬‫א‬F
 ‫א‬‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬


- ١٢ -
 ‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬‫א‬‫א‬  -‫א‬‫א‬ ‫א‬
 ‫א‬‫א‬‫א‬
 ‫א‬‫א‬‫א‬‫א‬

‫א‬‫א‬‫א‬‫א‬EprocessF  ‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬K ‫א‬‫א‬‫א‬
‫א‬‫א‬E‫א‬‫א‬F‫א‬‫א‬K‫א‬
 Ky‫א‬‫א‬‫א‬

 ‫א‬‫א‬‫א‬
 ‫א‬‫א‬

E‫א‬F‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬K ‫א‬‫א‬‫א‬
 ‫א‬‫א‬‫א‬controller‫א‬‫א‬‫א‬




    


- ١٣ -
 ‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬‫א‬‫א‬  -‫א‬‫א‬ ‫א‬
 ‫א‬‫א‬‫א‬
 ‫א‬‫א‬‫א‬

‫א‬‫א‬‫א‬
 ‫א‬
‫א‬‫א‬‫א‬K ‫א‬K  ‫א‬
J ‫א‬F‫א‬‫א‬K  ‫א‬‫א‬‫א‬K‫א‬
 KE‫א‬


 ‫א‬‫א‬‫א‬
 ‫א‬‫א‬

K  ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬KE ‫א‬F‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬E‫א‬F‫א‬
‫א‬‫א‬‫א‬‫א‬K ‫א‬‫א‬‫א‬‫א‬
‫א‬KE‫א‬F E ‫א‬‫א‬‫א‬F‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬

 ‫א‬‫א‬‫א‬
 ‫א‬‫א‬‫א‬

EKKKKK، ‫א‬،‫א‬،‫א‬‫א‬Fx‫א‬‫א‬‫א‬‫א‬W
 ‫א‬‫א‬
KErF‫א‬‫א‬K ‫א‬،
‫א‬EwF‫א‬‫א‬K،
 K‫א‬‫א‬EzF‫א‬KEF‫א‬

- ١٤ -
 ‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬‫א‬‫א‬  -‫א‬‫א‬ ‫א‬
 ‫א‬‫א‬‫א‬
 ‫א‬‫א‬‫א‬

‫א‬‫א‬‫א‬ ‫א‬
‫א‬‫א‬‫א‬،E ‫א‬‫א‬F ‫א‬‫א‬‫א‬K
‫א‬EeF ‫א‬‫א‬‫א‬KE
 ‫א‬‫א‬F ‫א‬
 KE‫א‬‫א‬Fx‫א‬wE‫א‬FReference‫א‬


 W‫א‬‫א‬
 W‫א‬‫א‬
 Com3Lab‫א‬‫א‬‫• א‬
 K‫א‬‫א‬‫א‬‫א‬‫א‬ •
 K‫א‬ •
 K‫א‬‫א‬‫א‬‫א‬ •
 K‫א‬‫א‬‫א‬ •
 ‫א‬‫א‬
 Power Supply)F‫א‬ •
 K‫א‬‫• א‬
 Function Generator •
Controlled Unit)F •

 ‫א‬‫א‬‫א‬
K‫א‬‫א‬‫א‬‫א‬‫א‬ •
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
KKOut‫א‬
- ١٥ -
 ‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬‫א‬‫א‬  -‫א‬‫א‬ ‫א‬
١J ١‫א‬‫א‬ •
K‫א‬‫א‬ •
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ •
K‫א‬
‫א‬‫א‬‫א‬ •
‫א‬‫א‬Multimeter‫א‬
z=5vz=0 ‫א‬
‫א‬

 KMultimeter‫א‬‫א‬‫א‬‫א‬




 ‫א‬‫א‬‫א‬W٢J ١‫א‬

- ١٦ -
 ‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬‫א‬‫א‬  -‫א‬‫א‬ ‫א‬
 ‫א‬‫א‬‫א‬
 ‫א‬

E  ‫א‬F
 ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬‫א‬
 ‫א‬‫א‬EAnalog P ControllerF
KKp = 10W  
 υ= 60ºE‫א‬F‫א‬K‫א‬‫א‬‫א‬‫א‬

‫א‬‫א‬xtW‫א‬‫א‬W‫א‬‫א‬
Function 
 ‫א‬‫א‬EoutF ┴
 ComEVF‫א‬Multimeter
‫א‬‫א‬xt‫א‬‫א‬‫א‬wGenerator
‫א‬F‫א‬‫א‬e‫א‬‫א‬Ke‫א‬x‫א‬‫א‬
‫א‬y‫א‬z‫א‬‫א‬KEKp = 10
FDI‫א‬KE ‫א‬‫א‬‫א‬F‫א‬‫א‬
 ┴K‫א‬KE‫א‬

 Kº υZ٦٠w
 º w = V = υ٦٠
 KEEMysV٥z‫א‬‫א‬

 º → w= V = υ٦٠
 z = 0 → x= V
 z = 5V → x= V

 ‫؟‬
 ‫؟‬‫א‬‫؟‬‫א‬‫א‬،‫א‬


- ١٧ -
 ‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬‫א‬‫א‬  -‫א‬‫א‬ ‫א‬

 K‫א‬W٢J ٢‫א‬


 ‫א‬‫א‬‫א‬
 

‫א‬‫א‬،EP ControllerF
 ‫א‬
‫א‬‫א‬،‫א‬‫א‬K‫א‬‫א‬EFK
‫א‬‫א‬‫א‬F‫א‬‫א‬‫א‬K‫א‬‫א‬
 K‫א‬‫א‬‫א‬‫א‬‫א‬KE‫א‬





- ١٨ -
 ‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬‫א‬‫א‬  -‫א‬‫א‬ ‫א‬
‫א‬‫א‬



   W‫א‬   W‫א‬    W‫א‬‫א‬


 W‫א‬‫א‬



 K‫א‬‫א‬J ١



 K‫א‬‫א‬J ٢




 K‫א‬‫א‬‫א‬‫א‬J ٣




 ‫؟‬‫א‬‫א‬‫א‬‫א‬‫א‬J ٤

- ١٩ -
 ‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬‫א‬‫א‬  -‫א‬‫א‬ ‫א‬


 K‫א‬‫א‬‫א‬‫א‬‫א‬J ٥



 K‫א‬‫א‬‫א‬K‫א‬‫א‬‫א‬J ٦



 ‫؟‬‫א‬‫א‬‫א‬J ٧



 ‫؟‬‫א‬‫א‬‫א‬‫א‬J ٨



 K‫א‬‫א‬‫א‬‫א‬‫א‬J ٩



‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬J ١٠
 K‫א‬


- ٢٠ -
 ‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬‫א‬‫א‬  -‫א‬‫א‬ ‫א‬
 W‫א‬

 W‫א‬
 ‫؟‬‫א‬‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫ א‬K١
 K‫א‬‫א‬‫א‬‫א‬‫א‬ K٢
 K‫א‬‫א‬‫א‬ K٣
 K‫א‬‫א‬‫א‬‫ א‬K٤
- ٢١ -
 ‫א‬‫א‬‫א‬

‫א‬‫א‬‫א‬‫א‬
 -‫א‬‫א‬
‫א‬
 ‫א‬
٣
 ‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬  -‫א‬‫א‬ ‫א‬
 ‫א‬W‫א‬‫א‬
 ‫א‬‫א‬
 ‫א‬‫א‬
Analysis Of Controlled Systems

W‫א‬‫א‬
 W‫א‬‫א‬
Com3Lab‫א‬‫א‬‫• א‬
 K‫א‬‫א‬‫א‬‫א‬‫א‬ •
K‫א‬‫• א‬
 K‫א‬‫א‬‫• א‬
K‫א‬‫א‬‫• א‬
K‫א‬‫א‬‫א‬ •


‫א‬‫א‬
(Power Supply)‫א‬ •
K‫א‬‫• א‬
(Controlled Unit) •
Multimeter‫א‬ •




- ٢٢ -
 ‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬  -‫א‬‫א‬ ‫א‬
‫اﻟﺪﺧﻞ‬ xt ‫اﻟﺨﺮج‬
yt
‫ﻣﻮﻟﺪ إﺷﺎرة اﻟﺪﺧﻞ‬ ‫درﺟﺔ اﻟﺤﺮارة‬ ‫اﻟﺠﻬﺪ‬

Func. Gene. ‫اﻟﻨﻈﺎم اﻟﻤﺘﺤﻜﻢ ﻓﻴﻪ‬ V
‫ﻣﺨﻄﻂ ﺗﺤﻠﻴﻞ اﻟﻨﻈﻢ اﻟﻤﺘﺤﻜﻢ ﻓﻴﻬﺎ‬

W‫א‬‫א‬‫א‬
K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ •
‫א‬‫א‬‫א‬‫א‬‫• א‬
KEυsense‫א‬FOut‫א‬
K٢‫א‬‫א‬ •
K‫א‬‫א‬ •
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ •
‫א‬
‫א‬‫א‬‫א‬ •
Kytxt‫א‬Multimeter‫א‬
K‫א‬‫א‬‫א‬‫א‬
Kxt‫א‬ yt ‫א‬‫• א‬
K‫א‬‫א‬‫א‬‫א‬‫א‬ •


- ٢٣ -
 ‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬  -‫א‬‫א‬ ‫א‬
 ‫א‬‫א‬
 ‫א‬‫א‬
‫א‬K ‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬ K ‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬K  ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬Kstep functionE‫א‬F‫א‬‫א‬‫א‬‫א‬K‫א‬
‫א‬‫א‬،step FunctionE‫א‬F ‫א‬W‫א‬ ‫א‬‫א‬‫א‬
‫א‬KSine Function‫א‬،Pulse Function‫א‬،Ramp Function
‫א‬‫א‬‫א‬‫א‬‫א‬Function Generator‫א‬‫א‬‫א‬‫א‬
K‫א‬‫א‬‫א‬

 ‫א‬‫א‬
 ‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
،‫א‬،‫א‬K
‫א‬‫א‬‫א‬‫א‬‫א‬K‫א‬‫א‬‫א‬
 K‫א‬

 ‫א‬‫א‬
 ‫א‬‫א‬‫א‬
‫א‬E‫א‬‫א‬FDynamic‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬K ‫א‬‫א‬StaticE ‫א‬F‫א‬
 ‫א‬‫א‬K‫א‬ExoF‫א‬‫א‬‫א‬E‫א‬F

xo/yo‫א‬‫א‬KETransientF ‫א‬‫א‬‫א‬‫א‬
KsK‫א‬Kp‫א‬

- ٢٤ -
 ‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬  -‫א‬‫א‬ ‫א‬
 ‫א‬‫א‬
 ‫א‬‫א‬‫א‬
E‫א‬‫א‬‫א‬yo‫א‬Fx0/yo‫א‬
‫א‬EFxoyo‫א‬،‫א‬
 K‫א‬‫א‬،‫א‬‫א‬K‫א‬

 ‫א‬‫א‬
 ‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬Com3Lab‫א‬ ‫א‬
 ‫א‬yoxo‫א‬K‫א‬‫א‬‫א‬
 Kxo/yo



 ‫א‬‫א‬‫א‬W١‫א‬


- ٢٥ -
 ‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬  -‫א‬‫א‬ ‫א‬
 ‫א‬‫א‬
 ‫א‬
‫א‬K ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬،‫א‬
Ext‫א‬F
 ‫א‬‫א‬‫א‬‫א‬‫א‬
 Kytxt‫א‬K‫א‬‫א‬‫א‬Eyt‫א‬F‫א‬‫א‬


 ‫א‬W٢‫א‬


 ‫א‬‫א‬

‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬K ‫א‬Kp‫א‬‫א‬K ‫א‬
Kxt‫א‬xt > 0yt=0‫א‬K‫א‬
 ∆xt/∆ytW‫א‬‫א‬‫א‬kp





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 ‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬  -‫א‬‫א‬ ‫א‬

 K‫א‬‫א‬‫א‬‫א‬W٣‫א‬


 ‫א‬‫א‬
 ‫א‬‫א‬

‫א‬،‫א‬E‫א‬‫א‬F‫א‬‫א‬
‫א‬‫א‬
 ‫א‬‫א‬K ‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬K‫א‬K
 ‫א‬
 K

 ‫א‬‫א‬
 ‫א‬‫א‬
‫א‬ ‫א‬‫א‬K
K
 ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬K
 ‫א‬‫א‬
‫א‬‫א‬‫א‬KE‫א‬F
 ‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬K ‫א‬‫א‬‫א‬‫א‬‫א‬
K ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬K‫א‬‫א‬‫א‬
Self Regulation‫א‬‫א‬Self Recovery‫א‬‫א‬
 K‫א‬‫א‬‫א‬‫א‬
- ٢٧ -
 ‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬  -‫א‬‫א‬ ‫א‬

 WParameters‫א‬‫א‬‫א‬‫א‬‫א‬
 Delay Time‫א‬Tu
 Time Constant‫א‬‫א‬Tg
 Gain‫א‬Ks
 K‫א‬Tu/Tg‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬Overshoot‫א‬Ts : settling Time‫א‬‫א‬‫א‬‫א‬
K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬،KKAccuracy
K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬K‫א‬‫א‬‫א‬
KPI Controller‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬Pure Delay TimeEF‫א‬‫א‬‫א‬
Derivative Controller : D‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
Pulsating Systems‫א‬‫א‬‫א‬‫א‬‫א‬K‫א‬‫א‬
 K‫א‬‫א‬‫א‬‫א‬‫א‬


- ٢٨ -
 ‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬  -‫א‬‫א‬ ‫א‬
 ‫א‬‫א‬


   W‫א‬   W‫א‬     W‫א‬‫א‬

 W‫א‬‫א‬


‫א‬‫א‬‫א‬ W ‫א‬ J ١
‫א؟‬‫؟‬
‫א‬‫א‬‫א‬W ‫א‬ J ٢
‫؟‬
K ‫א‬‫א‬٪٦٣{٢‫א‬‫א‬‫א‬T‫א‬‫א‬ J ٣
K‫א‬‫א‬
 W‫א‬
 ‫؟‬‫א‬‫א‬‫א‬
 ‫؟‬‫א‬‫א‬J ١
 ‫؟‬‫א‬‫א‬‫א‬J ٢
 W‫א‬
 K‫א‬
 K K١
K‫א‬ K٢
K K٣
 K‫א‬ K٤
- ٢٩ -
 ‫א‬‫א‬‫א‬

‫א‬‫א‬‫א‬‫א‬
 -‫א‬‫א‬
‫א‬‫א‬
 ‫א‬‫א‬
- ٩١ -
 ‫א‬‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬‫א‬  -‫א‬‫א‬ ‫א‬
 ‫א‬‫א‬W‫א‬‫א‬‫א‬
 ‫א‬‫א‬‫א‬
 ‫א‬‫א‬
Controlled Systems With Compensation

W‫א‬‫א‬
 W‫א‬‫א‬
Com3Lab‫א‬‫א‬‫• א‬
K‫א‬‫א‬‫א‬‫א‬‫א‬ •
KPT1‫א‬‫א‬ •
K‫א‬‫א‬‫א‬‫• א‬
 K‫• א‬
Step ‫א‬‫א‬‫א‬ •
KFunction
KP •
Ky2Y1‫א‬‫א‬‫א‬ •
‫א‬‫א‬‫א‬ •
K
W‫א‬‫א‬
(Power Supply)‫א‬ •
K‫א‬‫• א‬
( Light Controlled Unit) •
KOscilloscope‫א‬ •
-٣٠-
 ‫א‬‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬‫א‬  -‫א‬‫א‬ ‫א‬
W‫א‬‫א‬‫א‬
K‫א‬‫א‬‫א‬‫א‬‫א‬ •
‫א‬‫א‬‫א‬‫א‬‫• א‬
KOut‫א‬
K١‫א‬‫א‬ •
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ •
K‫א‬
K‫א‬‫א‬Y2Y1‫א‬‫א‬ •
K •



 ‫א‬‫א‬
 ‫א‬

F ‫א‬‫א‬ 
 ‫א‬
‫א‬‫א‬
 ‫א‬‫א‬‫א‬‫א‬K
 ‫א‬E ‫א‬‫א‬
‫א‬EPF‫א‬‫א‬KPT1‫א‬‫א‬
RC FE
 J  F،‫א‬‫א‬‫א‬K ‫א‬
 KESystem

 ‫א‬‫א‬
 EPT1F‫א‬‫א‬

F‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬ET1F‫א‬‫א‬K
 ‫א‬‫א‬E
‫א‬K ‫א‬‫א‬K ‫א‬‫א‬‫א‬E‫א‬F‫א‬
-٣١-
 ‫א‬‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬‫א‬  -‫א‬‫א‬ ‫א‬
‫א‬‫א‬،‫א‬‫א‬‫א‬٪٦٣‫א‬ET1F
 K‫א‬

 ‫א‬‫א‬
 ‫א‬‫א‬‫א‬‫א‬
 EPT1F

 K‫א‬x‫א‬‫א‬‫א‬RCJ 
‫א‬‫א‬ ‫א‬‫א‬T1 = R x C
 K


 ‫א‬‫א‬
 ‫א‬‫א‬‫א‬

‫א‬ ‫א‬‫א‬ Com3Lab‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬  ‫א‬ ‫א‬K ‫א‬،‫א‬،‫א‬‫א‬‫א‬
 K‫א‬‫א‬E‫א‬F‫א‬‫א‬‫א‬‫א‬‫א‬

 ‫א‬‫א‬
 ‫א‬‫א‬

 ‫א‬‫א‬T1‫א‬‫א‬Kp‫א‬‫א‬‫א‬‫א‬

 ‫א‬‫א‬‫א‬‫א‬K ‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬K ‫א‬‫א‬‫א‬‫א‬،EPT1F
 ‫א‬‫א‬
 K

-٣٢-
 ‫א‬‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬‫א‬  -‫א‬‫א‬ ‫א‬
 ‫א‬‫א‬
 P

‫א‬‫א‬‫א‬K
 ‫א‬E ‫א‬F ‫א‬‫א‬‫א‬
‫א‬‫א‬K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
W‫א‬،EFE‫א‬F
 ‫א‬‫א‬
 K‫א‬‫א‬‫א‬‫א‬‫ א‬KP Controlled Systems

 ‫א‬‫א‬
 

LEDE F‫א‬ComLab3‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬EF‫א‬‫א‬‫א‬‫א‬K
‫א‬K ‫א‬‫א‬YL‫א‬‫א‬‫א‬K
 ،
 K‫א‬‫א‬‫א‬XL‫א‬

 ‫א‬‫א‬
 ‫א‬

K ‫א‬‫א‬K‫א‬‫א‬‫א‬‫א‬‫א‬
 K٣‫א‬،٢‫א‬‫א‬‫א‬
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
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 ‫א‬‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬‫א‬  -‫א‬‫א‬ ‫א‬
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 ‫א‬‫א‬W١‫א‬
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 ‫א‬‫א‬
 

‫א‬‫א‬KE‫א‬F‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬١٠
K  ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬،‫א‬
 K‫א‬‫א‬ 




-٣٤-
 ‫א‬‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬‫א‬  -‫א‬‫א‬ ‫א‬
‫א‬‫א‬‫א‬



   W‫א‬   W‫א‬     W‫א‬‫א‬


 W‫א‬‫א‬



 K‫א‬‫א‬‫א‬‫ א‬K١
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

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 K‫א‬‫א‬‫ א‬K١




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 W‫א‬



-٣٥-
 ‫א‬‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬‫א‬  -‫א‬‫א‬ ‫א‬

 W‫א‬
 W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬

 K‫א‬‫א‬‫א‬ K١
 K‫א‬‫א‬‫א‬ K٢
 K‫א‬‫א‬ K٣
 K‫א‬‫א‬‫א‬ K٤


-٣٦-
 ‫א‬‫א‬‫א‬

‫א‬‫א‬‫א‬‫א‬
 -‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬
٥
 ‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬‫א‬‫א‬‫א‬  -‫א‬‫א‬ ‫א‬
 ‫א‬‫א‬‫א‬‫ א‬W‫א‬‫א‬

 ‫א‬‫א‬
 ‫א‬‫א‬‫א‬‫א‬
 Controlled Systems With Time Delay of a Higher Order
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W‫א‬‫א‬
 W‫א‬‫א‬
Com3Lab‫א‬‫א‬‫• א‬
 K‫א‬‫א‬‫א‬‫א‬‫א‬ •
K‫א‬‫א‬‫א‬ •
 TgTuW‫א‬ •
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W‫א‬‫א‬
(Power Supply)‫א‬ •
K‫א‬‫• א‬
PT2 , PT1(Controlled Unit) •
K‫א‬ •
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W‫א‬‫א‬‫א‬
K‫א‬‫א‬‫א‬‫א‬‫א‬ •
‫א‬‫א‬‫א‬‫א‬‫• א‬
KOut‫א‬
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 ‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬‫א‬‫א‬‫א‬  -‫א‬‫א‬ ‫א‬
K١‫א‬‫א‬ •
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ •
‫א‬
‫א‬‫א‬‫א‬  •
Multimeter‫א‬
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
 ‫א‬‫א‬‫א‬‫א‬
 ‫א‬‫א‬

PTn PT3PT2‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬K‫א‬n،Elements
،E‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬،F
 K‫א‬‫א‬‫א‬‫א‬

 ‫א‬‫א‬‫א‬‫א‬
EPTnF‫א‬‫א‬E‫א‬F

EnF‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬ EEPTn‫א‬‫א‬‫א‬‫א‬
‫א‬KETgF‫א‬ETuF‫א‬W‫א‬‫א‬‫א‬‫א‬K‫א‬
 K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
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
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 ‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬‫א‬‫א‬‫א‬  -‫א‬‫א‬ ‫א‬
 ‫א‬‫א‬‫א‬‫א‬
 ETgFETuF‫א‬
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‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬Tu‫א‬
Tg‫א‬K ‫א‬K ‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬Tu‫א‬‫א‬‫א‬
Transient ‫א‬‫א‬‫א‬‫א‬TgKE ‫א‬Fxo‫א‬‫א‬
 KResponse
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 ‫א‬‫א‬‫א‬‫א‬
 W‫א‬

EPT2F‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬EPT1F
 ‫א‬‫א‬‫א‬K
 K‫א‬

‫א‬‫א‬X3‫א‬EPT1F‫א‬‫א‬‫א‬‫א‬
 KX6‫א‬EPT1F‫א‬



‫א‬‫א‬‫א‬‫א‬W١‫א‬
- ٤٠ -
 ‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬‫א‬‫א‬‫א‬  -‫א‬‫א‬ ‫א‬
 ‫א‬‫א‬

   W‫א‬   W‫א‬    W‫א‬‫א‬


 W‫א‬‫א‬

‫א‬‫א‬PT1PT2‫א‬ K١
‫؟‬



 ‫؟‬‫א‬ K٢




 W‫א‬



- ٤١ -
 ‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬‫א‬‫א‬‫א‬  -‫א‬‫א‬ ‫א‬
 W‫א‬
 W٢‫א‬‫א‬‫א‬،RC
 K‫א‬‫א‬ K١
 K‫א‬‫א‬ K٢
 K‫א‬‫א‬‫ א‬K٣



 W‫א‬
 ‫؟‬‫א‬‫א‬‫א‬‫א‬‫א‬
 KE‫א‬FP‫א‬‫א‬ K١
PT1 K٢
PT2 K٣
 PTn‫א‬ K٤



 W‫א‬
IT1‫א‬
 K K١
K‫א‬ K٢
K‫א‬ K٣
K K٤
- ٤٢ -
 ‫א‬‫א‬‫א‬

‫א‬‫א‬‫א‬‫א‬
 -‫א‬‫א‬
‫א‬‫א‬
 ‫א‬‫א‬
٦
 ‫א‬‫א‬W‫א‬‫א‬
 ‫א‬‫א‬
 ‫א‬‫א‬
 Controlled Systems Without Compensation

W‫א‬‫א‬
 W‫א‬‫א‬
Com3Lab‫א‬‫א‬‫• א‬
‫א‬‫א‬‫א‬‫א‬ •
K‫א‬
 •
KIT1
I‫א‬‫א‬ •
‫א‬‫א‬‫א‬ •
K‫א‬‫א‬

W‫א‬‫א‬
(Power Supply)‫א‬ •
K‫א‬‫• א‬
( Light Controlled Unit) •
KOscilloscope‫א‬ •
W‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬ •
K‫א‬‫א‬

‫א‬‫א‬‫א‬‫• א‬
Out‫א‬‫א‬
K
K١‫א‬‫א‬ •
‫א‬‫א‬‫א‬‫א‬‫א‬ •
K‫א‬‫א‬
Y2Y1‫א‬‫א‬ •
K‫א‬‫א‬
K •

 ‫א‬‫א‬
 I‫א‬‫א‬

‫א‬‫א‬ EFluctuateF‫א‬
‫א‬‫א‬KSystem Without Compensation‫א‬
K
 ‫א‬‫א‬
 K‫א‬
‫א‬EhF‫א‬‫א‬‫א‬،ETankF‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬EInlet QF‫א‬

 ‫א‬‫א‬
 ‫א‬‫א‬

Area A‫א‬F  ‫א‬‫א‬EX(t‫א‬
‫א‬‫א‬‫א‬KEtF‫א‬Ey(t‫א‬‫א‬
‫א‬K
 ‫א‬‫א‬‫א‬‫א‬ ‫א‬
 ‫א‬‫א‬Ki‫א‬‫א‬
KiK
 EXtFK‫א‬‫א‬Ki‫א‬K‫א‬Ti


 ‫א‬‫א‬
 ‫א‬‫א‬

،‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬PT1‫א‬K ‫א‬‫א‬‫א‬
 KIT1‫א‬I‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬K‫א‬KKKPT2‫א‬IPT1‫א‬
‫א‬‫א‬‫א‬K ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬I.I
 ‫א‬‫א‬
 ‫א‬
‫א‬I‫א‬‫א‬
‫א‬‫א‬KKi‫א‬‫א‬
‫א‬‫א‬ComLab3‫א‬‫א‬I‫א‬‫א‬
 K‫א‬‫א‬‫א‬K

 ‫א‬‫א‬
 ‫א‬
‫א‬IT1‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬PT1‫א‬‫א‬‫א‬I‫א‬

 ‫א‬‫א‬W١‫א‬
 ‫א‬‫א‬
 

‫א‬،PT1‫א‬‫א‬
‫א‬KIT1
Kp‫א‬I‫א‬Ki‫א‬
 KPT1

 ‫א‬‫א‬
 ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬
K ‫א‬‫א‬
‫א‬‫א‬EPT1F‫א‬
K‫א‬‫א‬ ‫א‬KEF
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬،‫א‬‫א‬‫א‬
K ‫א‬،‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬
K
 ‫א‬‫א‬‫א‬K
 ‫א‬‫א‬
،‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬ ‫א‬‫א‬
 W‫א‬‫א‬‫א‬‫א‬K‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ J ١
K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ J ٢
K‫א‬‫א‬‫א‬‫א‬‫א‬‫ א‬J ٣
 
 ‫א‬‫א‬


W‫א‬   W‫א‬     W‫א‬‫א‬
  


 W‫א‬‫א‬
 W‫א‬
 WPTn‫א‬‫א‬‫א‬
 ‫؟‬Tg‫א‬ K١
 ‫؟‬Tu‫א‬ K٢
 ‫؟‬‫א‬TuTg K٣
 ‫؟‬Tg K٤
 ‫؟‬Tu K٥

 W‫א‬

 WI‫א‬‫א‬PTn
 KPTn-I K١
KITn K٢
KPT2 K٣
 KIT2 K٤

 W‫א‬


 ‫א‬‫א‬‫א‬

‫א‬‫א‬‫א‬‫א‬
 -‫א‬‫א‬
E‫א‬F‫א‬
 E‫א‬F‫א‬
٧
 ‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬  -‫א‬‫א‬ ‫א‬
 E‫א‬F‫א‬W‫א‬‫א‬

 ‫א‬‫א‬
 E‫א‬F‫א‬
Controllers
W‫א‬‫א‬
 W‫א‬‫א‬
Com3Lab‫א‬‫א‬‫• א‬
K‫א‬‫א‬‫א‬‫א‬‫א‬ •
PID, PI, PD, I, P‫• א‬
PT1‫א‬‫א‬‫א‬‫א‬ •
Step FunctionPT1‫א‬‫• א‬
Ramp Function‫א‬‫א‬

W‫א‬‫א‬
EPower SupplyF‫א‬ •
K‫א‬‫• א‬
PT1‫א‬‫א‬ •
K‫א‬ •
W‫א‬‫א‬‫א‬
K‫א‬‫א‬‫א‬‫א‬‫א‬ •
‫א‬‫א‬‫א‬‫א‬‫א‬ ‫• א‬
KOut
K‫א‬‫א‬‫א‬ •
- ٤٨ -
 ‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬  -‫א‬‫א‬ ‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ •
K‫א‬
K‫א‬‫א‬Y2Y1‫א‬‫א‬ •
K •

 W‫א‬

‫א‬y‫א‬‫א‬‫א‬K ‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬K ‫א‬‫א‬e‫א‬
،E‫א‬F‫א‬
 K‫א‬E‫א‬F‫א‬

 W‫א‬‫א‬

 W‫א‬‫א‬
‫א‬KDiscontinuousFF ‫א‬‫א‬EContinuousF ‫א‬‫א‬
‫א‬PID‫א‬J ‫א‬J ‫א‬‫א‬‫א‬
F‫א‬K
 
 Switching ControllersE‫א‬‫א‬
K‫א‬K‫א‬‫א‬‫א‬

 WPID‫א‬

‫א‬‫א‬‫א‬K ‫א‬‫א‬‫א‬PID‫א‬
‫א‬K‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬PID‫א‬K‫א‬
 K‫א‬‫א‬K‫א‬
- ٤٩ -
 ‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬  -‫א‬‫א‬ ‫א‬

 ‫א‬‫א‬
 P‫א‬‫א‬

‫א‬‫א‬‫א‬KKp‫א‬ P‫א‬‫א‬
‫א‬‫א‬EetF‫א‬‫א‬EetFK‫א‬‫א‬EytF‫א‬
‫א‬‫א‬K ‫א‬‫א‬‫א‬‫א‬KP‫א‬
 K،‫א‬‫א‬


 EPT1FW‫א‬‫א‬‫א‬‫א‬‫א‬

‫א‬‫א‬‫א‬‫א‬‫א‬
K?‫א‬‫א‬?‫א‬‫א‬‫א‬‫א‬KEPT1FKK‫א‬
‫א‬‫א‬‫א‬Kp‫א‬‫א‬K ‫א‬
 K‫א‬‫א‬‫א‬


 W‫א‬‫א‬‫א‬‫א‬

‫א‬،w(t) = woE‫א‬F‫א‬‫א‬‫א‬
K ‫א‬EetF‫א‬Exo < w0Fwo‫א‬Ex(t‫א‬
 K‫א‬‫א‬‫א‬‫א‬Keo >0‫א‬




- ٥٠ -
 ‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬  -‫א‬‫א‬ ‫א‬
 W‫א‬

‫א‬DIP‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬K‫א‬‫א‬PT1‫א‬
 W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 Kp= 1; Kp=10; Kp =50
KEetF‫א‬‫א‬Kp‫א‬‫א‬‫א‬


 ‫א‬‫א‬W١‫א‬



 W
 PT1‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬K
 K‫א‬‫א‬‫א‬‫א‬KKp‫א‬





 
- ٥١ -
 ‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬  -‫א‬‫א‬ ‫א‬
 W‫א‬‫א‬

 ‫א‬‫א‬،PID‫א‬I‫א‬‫א‬‫א‬‫א‬
‫א‬K
 Ke(tF‫א‬‫א‬‫א‬K‫א‬‫א‬


 WPT1‫א‬‫א‬I‫א‬‫א‬

‫א‬KPT1‫א‬PID ‫א‬I‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬‫א‬‫א‬




 ‫א‬‫א‬W٢‫א‬

 W

 ‫א‬‫א‬K‫א‬‫א‬‫א‬‫א‬‫א‬
EytF‫א‬‫א‬،E<EetF0F ‫א‬‫א‬
K ‫א‬‫א‬‫א‬K(et) = 0F‫א‬
- ٥٢ -
 ‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬  -‫א‬‫א‬ ‫א‬
،‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
KOvershoot‫א‬‫א‬‫א‬‫א‬‫א‬
 
 W‫א‬‫א‬‫א‬

‫א‬‫א‬‫א‬I‫א‬‫א‬P‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬KI‫א‬P‫א‬PI‫א‬‫א‬KPI
TnE‫א‬F(Reset Time)‫א‬Kp‫א‬
 KKi‫א‬

 W‫א‬

‫ﺣﺎآﻢ‬
‫إﻟﻰ‬
‫ﺗﻨﺎﺳﺒﻲ‬ ‫ﺟﻬﺎز‬
‫ﻣﻮﻟﺪ ﻧﻘﻄﺔ‬ ‫وﺣﺪة‬ ‫اﻟﻌﺮض‬
‫اﻟﺘﺸﻐﻴﻞ‬ ‫ﻣﺤﻜﻮﻣﺔ‬
‫ﺣﻠﻘﺔ ﺗﺤﻜﻢ‬
‫ﺣﺎآﻢ‬
‫ﺗﻔﺎﺿﻠﻲ‬
‫ ﻋﻠﻰ اﻟﺘﻮازي‬PI ‫اﻟﺘﻜﺎﻣﻠﻲ‬-‫اﻟﺤﺎآﻢ اﻟﺘﻨﺎﺳﺒﻲ‬


 W‫א‬‫א‬‫א‬
 ‫א‬‫א‬‫א‬
 PI‫א‬‫א‬‫א‬‫א‬
‫א‬FE‫א‬P‫א‬F‫א‬PI‫א‬‫א‬
 KEI‫א‬
- ٥٣ -
 ‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬  -‫א‬‫א‬ ‫א‬
‫א‬‫א‬I‫א‬‫א‬‫א‬‫א‬‫א‬Tn‫א‬‫א‬
KI‫א‬PI‫א‬Tn‫א‬KP‫א‬
 K‫א‬I‫א‬‫א‬Tn

 W‫א‬

‫א‬Tn‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬Kp = 1PI‫א‬‫א‬KComLab3PI
 KDIP‫א‬‫א‬



 ‫א‬‫א‬‫א‬W٣


 ‫א‬‫א‬‫א‬
 
 

 ‫א‬yp =1‫א‬Kp = 1PI‫א‬
EetFZ١
 
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 ‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬  -‫א‬‫א‬ ‫א‬
‫א‬I‫א‬‫א‬yi‫א‬‫א‬Tn‫א‬‫א‬
٢PI‫א‬‫א‬‫א‬‫א‬K ‫א‬‫א‬
 W
 K‫א‬py + pi = 2

 ‫א‬‫א‬‫א‬
 PI‫א‬PT1‫א‬‫א‬

 ‫א‬‫א‬PT1‫א‬‫א‬‫א‬PI‫א‬‫א‬‫א‬
K
PT1‫א‬IP‫א‬
 K‫א‬

 ‫א‬‫א‬PI‫א‬W٤‫א‬


 ‫א‬‫א‬‫א‬
 

‫א‬‫א‬‫א‬‫א‬PI‫א‬‫א‬‫א‬‫א‬
 KTnKp،I‫א‬‫א‬P‫א‬
IPPI‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬I‫א‬KPT1‫א‬
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 ‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬  -‫א‬‫א‬ ‫א‬
 ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 ‫א‬‫א‬PID & PI‫א‬‫א‬‫א‬‫א‬

‫א‬‫א‬‫؛‬Derivative ActionPI‫א‬
‫א‬YD‫א‬‫א‬KPID‫א‬‫א‬‫א‬
D‫א‬‫א‬KE‫א‬F‫א‬‫א‬‫א‬‫א‬
 KKD‫א‬Tv‫א‬‫א‬

 ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 ‫א‬‫א‬

‫א‬Kto‫א‬EFPID‫א‬D‫א‬
‫א‬‫א‬KE
 ‫א‬‫א‬‫א‬F‫א‬‫א‬
D‫א‬K ‫א‬‫א‬‫א‬
 KReal PID Controller‫א‬PID-T1‫א‬KT1‫א‬‫א‬

 ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 ‫א‬

‫א‬ComLab3‫א‬‫א‬‫א‬PID‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬

 ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ ‫א‬
 

K  ،PID‫א‬Analog‫א‬‫א‬
 D
D‫א‬K
 ‫א‬١٤‫א‬‫א‬
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 ‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬  -‫א‬‫א‬ ‫א‬
‫א‬‫א‬،‫א‬‫א‬‫א‬
 K‫א‬

 ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 PD‫א‬‫א‬‫א‬

 KPD‫א‬‫א‬PID‫א‬I‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬
K‫א‬EIntegrating ActuatorF‫א‬I
 KD‫א‬PD‫א‬
‫ﺣﺎآﻢ‬
‫إﻟﻰ‬
‫ﺗﻨﺎﺳﺒﻲ‬ ‫ﺟﻬﺎز‬
‫اﻟﻌﺮض‬
‫ﻣﻮﻟﺪ ﻧﻘﻄﺔ‬ ‫وﺣﺪة‬
‫اﻟﺘﺸﻐﻴﻞ‬ ‫ﻣﺤﻜﻮﻣﺔ‬
‫ﻠﻘﺔ ﺗ ﻜ‬ ‫ﺣﺎآﻢ‬
‫ ﻋﻠﻰ اﻟﺘﻮازي‬PD‫ﺣﺎآﻢ ﺗﻨﺎﺳﺒﻲ ﺗﻔﺎﺻﻠﻲ‬



- ٥٧ -
 ‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬  -‫א‬‫א‬ ‫א‬
 PID‫א‬J ‫א‬J ‫א‬‫א‬


 !‫ﺧﻄﺄ‬
  ‫ﺣﺎآﻢ‬
‫ﺗﻨﺎﺳﺒﻴﻲ‬
 ‫إﻟﻰ ﺟﻬﺎز‬
‫اﻟﻌﺮض‬
‫ﻣﻮﻟﺪ ﻧﻘﻄﺔ‬  ‫ﺣﺎآﻢ‬

‫ﺗﻨﺎﺳﺒﻴﻲ‬
‫وﺣﺪة‬
‫ﻣﺤﻜﻮﻣﺔ‬
‫اﻟﺘﺸﻐﻴﻞ‬
‫ﺣﻠﻘﺔ ﺗﺤﻜﻢ‬
‫ﻣﻐﻠﻘﺔ‬

 ‫ﺣﺎآﻢ‬


‫ﺗﻔﺎﺿﻠﻲ ﻋﻠﻰ اﻟﺘﻮازي‬-‫ﺗﻜﺎﻣﻠﻲ‬-‫ﺣﺎآﻢ ﺗﻨﺎﺳﺒﻲ‬


Tn‫א‬‫א‬PDTv‫א‬
‫א‬‫א‬ PD‫א‬‫א‬KPI
‫א‬‫א‬‫א‬K‫א‬‫א‬‫א‬ERampF‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 K

 ‫א‬‫א‬‫א‬


PD‫א‬W٥‫א‬
- ٥٨ -
 ‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬  -‫א‬‫א‬ ‫א‬
 ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 ‫א‬

PD‫א‬Tv‫א‬‫א‬Ramp‫א‬‫א‬‫א‬
KI‫א‬‫א‬‫א‬ ‫א‬KComLab3
 K‫א‬‫א‬‫א‬‫א‬

 ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 

ETo ‫א‬F‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬TvW‫א‬
ToK‫א‬‫א‬EytFE‫א‬‫א‬F‫א‬‫א‬‫א‬‫א‬
 Tv =1 secW‫א‬‫א‬

 ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 W

PID‫א‬‫א‬‫א‬‫א‬
EetF‫א‬E ‫א‬F ‫א‬‫א‬K ‫א‬‫א‬
D‫א‬KE‫א‬F
 ‫א‬‫א‬‫א‬K 
 KE‫א‬F‫א‬‫א‬‫א‬





- ٥٩ -
 ‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬  -‫א‬‫א‬ ‫א‬
E
 ‫א‬‫א‬F‫א‬‫א‬‫א‬‫א‬ ‫א‬
‫א‬‫א‬‫א‬EF ‫א‬
‫א‬‫א‬K ‫א‬‫א‬‫א‬‫א‬،‫א‬
‫א‬PIKp‫א‬K‫א‬‫א‬‫א‬
 K‫א‬

‫א‬‫א‬‫א‬‫א‬‫א‬
 Ki‫א‬‫א‬K‫א‬
‫א‬K ‫א‬‫א‬
 K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬










- ٦٠ -
 ‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬  -‫א‬‫א‬ ‫א‬
 ‫א‬‫א‬

   W‫א‬   W‫א‬    W‫א‬‫א‬


 W‫א‬‫א‬


‫؟‬‫א‬‫א‬‫א‬ K١
‫؟‬‫א‬‫א‬‫א‬‫א‬ K٢

W K٣
 ‫؟‬‫א‬‫א‬ •

 ‫א؟‬‫א‬‫א‬ •

 ‫؟‬‫א‬‫א‬‫א‬ K٤

KE‫א‬F‫א‬‫א‬ K٥

K‫א‬ K٦


K‫א‬ K٧

‫؟‬PI‫א‬‫א‬‫א‬‫א‬ K٨
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 ‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬  -‫א‬‫א‬ ‫א‬

‫؟‬‫א‬‫א‬ PI‫א‬ K٩

‫؟‬‫א‬PID‫א‬‫א‬‫א‬‫א‬‫א‬ K١٠

‫؟‬‫א‬‫؟‬‫א‬‫א‬،‫א‬‫א‬‫א‬ K١١

‫؟‬‫א‬‫א‬ K١٢
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬P‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬،‫א‬‫א‬‫א‬
K‫א‬‫א‬K?‫א‬‫א‬‫א‬‫א‬

‫؟‬‫א‬‫א‬K١٣
‫א‬،‫א‬‫א‬‫א‬
K?‫א‬

 ‫؟‬‫א‬‫א‬K١٤
،‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
K?‫א‬‫א‬‫א‬‫א‬
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 ‫א‬‫א‬‫א‬

‫א‬‫א‬‫א‬‫א‬
 -‫א‬‫א‬
‫א‬‫א‬‫א‬
 ‫א‬‫א‬‫א‬
- ٩١ -
 ‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬‫א‬‫א‬  -‫א‬‫א‬ ‫א‬
 ‫א‬‫א‬‫א‬W‫א‬‫א‬
 ‫א‬‫א‬
 ‫א‬‫א‬‫א‬
 Automatic Digital Control

W‫א‬‫א‬
 W‫א‬‫א‬
Com3Lab‫א‬‫א‬‫• א‬
K‫א‬‫א‬‫א‬‫א‬‫א‬ •
K‫א‬‫א‬‫א‬ •
DDC‫א‬‫א‬‫• א‬
K‫א‬‫א‬ •
DDC‫א‬‫א‬‫א‬‫א‬ •
PID‫א‬‫א‬‫א‬ •
K‫א‬‫א‬ •
W‫א‬‫א‬
K‫א‬‫• א‬
Digital Control Line •
W‫א‬‫א‬‫א‬
K‫א‬‫א‬‫א‬‫א‬‫א‬ •
K٢‫א‬‫א‬ •
KY1‫א‬‫א‬‫א‬‫א‬‫• א‬
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 ‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬‫א‬‫א‬  -‫א‬‫א‬ ‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ •
K‫א‬
‫א‬Y1‫א‬‫א‬ •
K‫א‬
K •
Com3Lab‫א‬PID‫א‬‫א‬ •

 ‫א‬‫א‬‫א‬
 EDirect Digital Control (DDC ‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬،‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬K‫א‬‫א‬K
‫א‬‫א‬K 
 K‫א‬‫א‬‫א‬

 ‫א‬‫א‬‫א‬
 ‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬sampledFF‫א‬‫א‬EetF‫א‬
 ‫א‬‫א‬‫א‬A/D Converter
،‫א‬  ‫א‬
‫א‬K ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
D/A Converter‫א‬‫א‬
 K‫א‬‫א‬

 ‫א‬‫א‬‫א‬
 DDC‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬ ،‫א‬‫א‬
 ‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
Fuzzy Controllers‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬KHardware
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 ‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬‫א‬‫א‬  -‫א‬‫א‬ ‫א‬
‫א‬‫א‬‫א‬K‫א‬Adaptive Controllers‫א‬‫א‬
K‫א‬‫א‬‫א‬‫א‬

 ‫א‬‫א‬‫א‬
 PID‫א‬‫א‬

‫א‬‫א‬‫א‬K ‫א‬‫א‬
‫א‬،‫א‬‫א‬‫א‬‫א‬K 
‫א‬‫א‬K ‫א‬‫א‬‫א‬‫א‬KSampling (T) Time
 K‫א‬ETF‫א‬

 ‫א‬‫א‬‫א‬
 ‫א‬‫א‬

‫א‬ComLab3‫א‬‫א‬‫א‬
Hysteresis‫א‬ PID
‫א‬‫א‬‫א‬‫א‬Sampling Time) T=32 msFK
KE‫א‬F‫א‬


 ‫א‬‫א‬‫א‬
 ‫א‬‫א‬

‫א‬K ‫א‬‫א‬E
 ‫א‬‫א‬F
 ‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬‫א‬‫א‬


-٦٥-
 ‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬‫א‬‫א‬  -‫א‬‫א‬ ‫א‬



 ‫א‬‫א‬‫א‬‫א‬W١‫א‬
 ‫א‬‫א‬‫א‬
 ‫א‬

 ‫א‬‫א‬‫א‬ PID‫א‬‫א‬‫א‬‫א‬‫א‬
 ‫א‬PID‫א‬
‫א‬‫א‬‫א‬‫א‬ K
 KTn = 1 secKp =1PIPID‫א‬

 ‫א‬‫א‬W٢‫א‬




-٦٦-
 ‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬‫א‬‫א‬  -‫א‬‫א‬ ‫א‬
 ‫א‬‫א‬‫א‬
 

‫א‬‫א‬‫א‬PI‫א‬‫א‬
 ،‫א‬
‫א‬‫א‬PID‫א‬‫א‬‫א‬K‫א‬
 K‫א‬‫א‬‫א‬‫א‬K‫א‬‫א‬
P‫א‬‫א‬Step Function‫א‬ K١
 ‫؟‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬PID‫א‬PI‫א‬‫א‬ K٢
 K‫א‬‫א‬
‫؟‬ K٣

















-٦٧-
 ‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬‫א‬‫א‬  -‫א‬‫א‬ ‫א‬
 ‫א‬‫א‬


   W‫א‬   W‫א‬     W‫א‬‫א‬


 W‫א‬‫א‬

P‫א‬‫א‬Step Function‫א‬J ١
 ‫؟‬‫א‬‫א‬‫א‬‫א‬‫א‬

‫א‬PID‫א‬PI‫א‬‫א‬J ٢
 K‫א‬‫א‬

 W‫א‬
 ‫؟‬‫א‬‫א‬‫א‬‫א‬
 Ky‫א‬‫א‬J ١
 Kx‫א‬‫א‬J ٢
 Kz‫א‬J ٣
 Kw‫א‬J ٤

 W‫א‬
 WKp‫א‬
K‫א‬‫א‬‫א‬‫א‬Kp K١
 W‫א‬
 ‫؟‬PID‫א‬I‫א‬‫א‬‫א‬

-٦٨-
 ‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬‫א‬‫א‬  -‫א‬‫א‬ ‫א‬
 K‫א‬‫א‬ K١
K‫א‬‫א‬‫א‬‫א‬‫א‬ K٢
K‫א‬‫א‬ K٣
 K‫א‬‫א‬‫א‬ K٤
K‫א‬‫א‬‫א‬‫א‬Kp K٥
 KKp‫א‬‫א‬‫ א‬K٦

 W‫א‬
 ‫؟‬‫א‬‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬J ١
 K‫א‬‫א‬‫א‬‫א‬J ٢
 K‫א‬‫א‬‫א‬‫א‬J ٣
 K‫א‬‫א‬‫א‬‫א‬J ٤

 W‫א‬
 ‫؟‬‫א‬‫א‬‫א‬‫א‬
 KI‫א‬‫א‬PI‫א‬‫א‬‫ א‬K١
KP‫א‬‫א‬PI‫ א‬K٢
K‫א‬‫א‬‫ א‬K٣
Overshoot‫א‬‫ א‬K٤

 W‫א‬
 ‫؟‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ 
 K‫א‬‫א‬‫א‬J ١
 K‫א‬‫א‬‫א‬J ٢
 K‫א‬‫א‬‫א‬‫א‬J ٣
-٦٩-
 ‫א‬‫א‬‫א‬

‫א‬‫א‬‫א‬‫א‬
 -‫א‬‫א‬
‫א‬‫א‬‫א‬
 ‫א‬‫א‬‫א‬
٩
 ‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬‫א‬‫א‬  -‫א‬‫א‬ ‫א‬
 ‫א‬‫א‬‫א‬W‫א‬‫א‬

 ‫א‬‫א‬
 ‫א‬‫א‬‫א‬
Performance Criteria for Automatic Control Loops
W‫א‬‫א‬
 W‫א‬‫א‬
Com3Lab‫א‬‫א‬‫• א‬
K‫א‬‫א‬‫א‬‫א‬‫א‬ •
K‫א‬‫א‬‫א‬ •
K‫א‬‫א‬‫• א‬
KOvershoot‫• א‬
‫א‬‫א‬Tr‫א‬ •
K‫א‬ •
K‫א‬‫א‬ •

W‫א‬‫א‬
K‫א‬‫• א‬
EPT2 (PT1 +PT1‫א‬‫א‬ •
Generator Function‫א‬ •
W‫א‬‫א‬‫א‬
K‫א‬‫א‬‫א‬‫א‬‫א‬ •
K١‫א‬‫א‬ •
KY2 , Y1‫א‬‫א‬‫א‬‫א‬‫• א‬
- ٧٠ -
 ‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬‫א‬‫א‬  -‫א‬‫א‬ ‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ •
K‫א‬
K‫א‬‫א‬Y2,Y1‫א‬‫א‬ •



 ‫א‬‫א‬‫א‬W١‫א‬

 ‫א‬‫א‬‫א‬
 ‫א‬‫א‬‫א‬

‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬K
 ‫א‬‫א‬
K ‫א‬‫א‬E‫א‬F‫א‬‫א‬‫א‬
K ‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬‫א‬

 ‫א‬‫א‬‫א‬
Overshoot‫א‬

‫א‬،xo‫א‬‫א‬‫א‬x‫א‬‫א‬‫א‬
‫א‬‫א‬ xm‫א‬K
 ‫א‬
- ٧١ -
 ‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬‫א‬‫א‬  -‫א‬‫א‬ ‫א‬
KExm=10%F‫א‬‫א‬‫א‬‫א‬K‫א‬‫א‬‫א‬
 K‫א‬‫א‬

 ‫א‬‫א‬‫א‬
 Rise Time‫א‬
 Settling Time‫א‬‫א‬

‫א‬KTaus‫א‬‫א‬Tan‫א‬
x(t). Tan‫א‬‫א‬‫א‬ ‫א‬KEZdxo±١٠٪F‫א‬
Ex(t‫א‬‫א‬TausK ‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬

 ‫א‬‫א‬‫א‬
 ‫א‬

‫א‬K‫א‬PIDEPT2F‫א‬‫א‬‫א‬
K‫א‬‫א‬PT1‫א‬‫א‬KKp = 10WP‫א‬‫א‬
 K‫א‬‫א‬‫א‬،‫א‬،‫א‬،‫א‬‫א‬

 ‫א‬‫א‬‫א‬
 

‫א‬٪٣٨‫א‬‫א‬‫א‬
 tan=0.05 sec‫א‬Keb =0.09
 Ktaus =2.3 sec‫א‬‫א‬

- ٧٢ -
 ‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬‫א‬‫א‬  -‫א‬‫א‬ ‫א‬
 ‫א‬‫א‬


    W‫א‬   W‫א‬    W‫א‬‫א‬


 W‫א‬‫א‬

 W‫א‬
 ‫؟‬‫א‬‫א‬‫א‬

 K‫א‬‫א‬‫א‬J ١
 K‫א‬‫א‬J ٢
 K‫א‬‫א‬J ٣
 KJ ٤

 W‫א‬

 ‫؟‬‫א‬‫א‬‫א‬IT1‫א‬‫א‬‫א‬‫א‬‫א‬

 P‫ א‬K١
I‫ א‬K٢
PI‫ א‬K٣
PD‫ א‬K٤
 PID‫ א‬K٥


- ٧٣ -
 ‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬‫א‬‫א‬  -‫א‬‫א‬ ‫א‬

 W‫א‬

 ‫؟‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬

،‫א‬‫א‬Ks‫א‬‫א‬ K١
 K‫א‬‫א‬Kp‫א‬
 K‫א‬Kp‫א‬Ks K٢
 K‫א‬Tn‫א‬Tg K٣
 KD‫א‬Tv‫א‬Tu K٤


W‫א‬
- ٧٤ -
 ‫א‬‫א‬‫א‬

‫א‬‫א‬‫א‬‫א‬
 -‫א‬‫א‬
PID‫א‬‫א‬‫א‬‫א‬
PID‫א‬‫א‬‫א‬‫א‬
١٠
 ‫א‬‫א‬  ٢٣٣ ‫א‬
PID‫א‬‫א‬‫א‬‫א‬  -‫א‬‫א‬ ‫א‬
 PID‫א‬‫א‬‫א‬‫א‬W‫א‬‫א‬

‫א‬‫א‬
PID‫א‬‫א‬‫א‬‫א‬
 ‫א‬‫א‬‫א‬‫א‬
Optimization Guidelines for PID Controllers

 Automatic Temperature Control

W‫א‬‫א‬
 W‫א‬‫א‬
Com3Lab‫א‬‫א‬‫• א‬
K‫א‬‫א‬‫א‬‫א‬‫א‬ •
K‫א‬‫א‬‫א‬ •
K‫א‬‫• א‬
K،‫א‬‫א‬‫א‬‫א‬ •
PIPID‫א‬ •
K‫א‬‫א‬‫א‬ •
K‫א‬‫א‬‫א‬‫א‬‫א‬ •
K‫א‬‫א‬ •
K‫א‬‫א‬‫א‬ •
K‫א‬ •

W‫א‬‫א‬
K‫א‬‫• א‬
- ٧٥ -
 ‫א‬‫א‬  ٢٣٣ ‫א‬
PID‫א‬‫א‬‫א‬‫א‬  -‫א‬‫א‬ ‫א‬
W‫א‬‫א‬‫א‬
K‫א‬‫א‬‫א‬‫א‬‫א‬ •
K٢‫א‬‫א‬ •
KY1‫א‬‫א‬‫א‬‫א‬‫• א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ •
K‫א‬
K‫א‬‫א‬Y1‫א‬‫א‬ •

 PID
 W‫א‬‫א‬

KP, PI, PID‫א‬‫א‬‫א‬‫א‬KPID‫א‬
‫א‬K ‫א‬‫א‬KE
 F
 ‫א‬‫א‬
 K‫א‬‫א‬‫א‬‫א‬‫א‬ K‫א‬‫א‬‫א‬

 PID‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬Kp, Tn, TvW‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬،‫א‬‫א‬‫א‬KE‫א‬F
‫א‬FETu‫א‬FTgF‫؛‬‫א‬FW
 ‫א‬‫א‬‫א‬‫א‬
 KEKp

PID‫א‬‫א‬‫א‬‫א‬
 W،،‫א‬‫א‬‫א‬

K  ‫א‬‫א‬‫א‬
 ‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬K‫א‬‫א‬‫א‬
 K‫א‬
- ٧٦ -
 ‫א‬‫א‬  ٢٣٣ ‫א‬
PID‫א‬‫א‬‫א‬‫א‬  -‫א‬‫א‬ ‫א‬
PID
 WPID‫א‬

‫א‬‫א‬PID‫א‬‫א‬‫א‬ComLab3‫א‬
‫א‬‫א‬KKs, Tu, Tg‫א‬،‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬،‫א‬


 ‫א‬W١‫א‬

W‫א‬‫א‬‫א‬‫א‬
 W‫א‬‫א‬‫א‬

‫א‬K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
،‫א‬‫א‬،‫א‬‫א‬‫א‬‫א‬‫א‬
KKKKK‫א‬‫א‬‫א‬
 
 W‫א‬‫א‬‫א‬‫א‬

‫א‬Tu‫א‬،Ks‫א‬‫א‬W‫א‬‫א‬‫א‬‫א‬
 ،‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬Tg
- ٧٧ -
 ‫א‬‫א‬  ٢٣٣ ‫א‬
PID‫א‬‫א‬‫א‬‫א‬  -‫א‬‫א‬ ‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬KComLab3
 K‫א‬


 ‫א‬‫א‬W٢‫א‬
 W

ComLab3‫א‬‫א‬‫א‬‫א‬
Ks = 0.83E
 F‫א‬‫א‬K‫א‬‫א‬
 KTg = 75 secTu = 5 sec


PI‫א‬‫א‬W٣‫א‬

- ٧٨ -
 ‫א‬‫א‬  ٢٣٣ ‫א‬
PID‫א‬‫א‬‫א‬‫א‬  -‫א‬‫א‬ ‫א‬
 WPI‫א‬

‫א‬‫א‬‫א‬‫א‬E
 ‫א‬F
 ‫א‬
‫א‬E‫א‬F‫א‬‫א‬PI‫א‬
‫א‬‫א‬‫א‬KComLab3‫א‬‫א‬
 K‫א‬

 W

‫א‬K ‫א‬‫א‬W ‫א‬
Kp =10،‫א‬‫א‬‫א‬
 KTn = 75 sec‫א‬

 W‫א‬‫א‬‫א‬

‫א‬‫א‬‫א‬PI‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬K ‫א‬‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬‫א‬



 K‫א‬‫א‬‫א‬W٤‫א‬
- ٧٩ -
 ‫א‬‫א‬  ٢٣٣ ‫א‬
PID‫א‬‫א‬‫א‬‫א‬  -‫א‬‫א‬ ‫א‬
 W

w = ‫א‬‫א‬‫א‬‫א‬‫א‬
 K6v

 W‫א‬‫א‬‫א‬

 ‫א‬‫א‬‫א‬‫א‬‫א‬K‫א‬‫א‬‫א‬
 XT =6v

 K‫א‬‫א‬‫א‬‫א‬W٥‫א‬
 W
‫א‬،‫א‬‫א‬،E‫א‬F
 ‫א‬‫א‬
‫א‬KE ‫א‬‫א‬F ‫א‬‫א‬‫א‬
‫א‬‫א‬K‫א‬Tn‫א‬KI‫א‬‫א‬
 KTn‫א‬
 
- ٨٠ -
 ‫א‬‫א‬  ٢٣٣ ‫א‬
PID‫א‬‫א‬‫א‬‫א‬  -‫א‬‫א‬ ‫א‬
 W
‫א‬KPI‫א‬IE‫א‬F‫א‬E‫א‬FTn‫א‬
‫א‬‫א‬‫א‬‫א‬
 Kv٦‫א‬‫א‬‫א‬Kv١٠‫א‬

 K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬

 ‫א‬ ‫א‬ ‫ א‬‫ א‬‫א‬‫ א‬
‫א‬ ‫א‬ I P
‫א‬ PI
PID
‫א‬PI   PI   ١
Pure Dead Time
‫א‬PID  PID PI  ‫א‬‫א‬ ٢
Dead 
Time-lug 1st order
  PID    ٣
‫א‬ nd
٢‫א‬‫א‬
‫א‬ order system
  PID PI  ‫א‬ ٤

 ‫א‬
- ٨١ -
 ‫א‬‫א‬  ٢٣٣ ‫א‬
PID‫א‬‫א‬‫א‬‫א‬  -‫א‬‫א‬ ‫א‬
 ‫א‬‫א‬


   W‫א‬   W‫א‬    W‫א‬‫א‬


 W‫א‬‫א‬
 W‫א‬

 ‫؟‬EXtF‫א‬‫א‬‫א‬

 K‫א‬‫ א‬K١
K‫א‬‫א‬‫א‬‫ א‬K٢
K‫א‬‫א‬‫ א‬K٣
 K‫א‬‫א‬‫ א‬K٤

 W‫א‬
- ٨٢ -
 ‫א‬‫א‬‫א‬

‫א‬‫א‬‫א‬‫א‬
 -‫א‬‫א‬
‫א‬‫א‬‫א‬
 ‫א‬‫א‬‫א‬
١١
 ‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬‫א‬‫א‬  -‫א‬‫א‬ ‫א‬
‫א‬‫א‬‫ א‬:‫ א‬‫א‬

 ‫א‬‫א‬
PID‫א‬‫א‬‫א‬‫א‬
 ‫א‬‫א‬‫א‬
Automatic Speed Control


W‫א‬‫א‬
 W‫א‬‫א‬
Com3Lab‫א‬‫א‬‫• א‬
K‫א‬‫א‬‫א‬‫א‬‫א‬ •
‫א‬‫א‬ •
Kxs‫א‬
‫א‬‫א‬‫א‬ •
Ks,Tu,Tg
،‫א‬‫א‬‫א‬‫א‬PID‫א‬ •
K‫א‬‫א‬‫א‬

W‫א‬‫א‬
K‫א‬‫• א‬
Speed Control Unit‫א‬‫א‬ •
KOscilloscope‫א‬ •
Function Generator‫א‬ •
W‫א‬‫א‬‫א‬
K‫א‬‫א‬‫א‬‫א‬‫א‬ •
- ٨٣ -
 ‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬‫א‬‫א‬  -‫א‬‫א‬ ‫א‬
K١‫א‬‫א‬ •
  



 ‫א‬‫א‬W١‫א‬


KY1‫א‬‫א‬‫א‬‫א‬‫• א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ •
K‫א‬
K‫א‬‫א‬Y1‫א‬‫א‬ •

‫א‬‫א‬‫א‬

١٧٦٩‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬K
 ‫א‬‫א‬
K ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 KEKKKK‫א‬،‫א‬،F‫א‬‫א‬‫א‬‫א‬


- ٨٤ -
 ‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬‫א‬‫א‬  -‫א‬‫א‬ ‫א‬
‫א‬‫א‬‫א‬
 W‫א‬‫א‬

Kys‫א‬‫א‬‫א‬ComLab3
‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬Kxs‫א‬
 K

‫א‬‫א‬‫א‬
 W‫א‬‫א‬

K‫א‬‫א‬K‫א‬‫א‬‫א‬‫א‬
 Ks, Tu, TgE‫א‬F‫א‬‫א‬‫א‬‫א‬
  
‫א‬‫א‬‫א‬
 W
 W‫א‬‫א‬
 Ks = 1.1‫א‬
 Tu = 0.1 sec‫א‬
 Tg = 1.3 sec‫א‬

 K‫א‬،‫א‬،‫א‬W٢‫א‬
- ٨٥ -
 ‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬‫א‬‫א‬  -‫א‬‫א‬ ‫א‬
‫א‬‫א‬‫א‬
 W‫א‬

‫א‬‫א‬‫א‬‫א‬‫א‬PID‫א‬
 K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬

‫א‬‫א‬‫א‬
 

 WPID‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 Kp = 11،Kp ) KsF‫א‬‫א‬
 Tn = 1.8 secW‫א‬‫א‬
 Tv = 0.05 secW

‫א‬‫א‬‫א‬
 ‫א‬‫א‬‫א‬

 K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬


 ‫א‬W٣‫א‬
- ٨٦ -
 ‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬‫א‬‫א‬  -‫א‬‫א‬ ‫א‬
‫א‬‫א‬‫א‬
 
v١٠H‫א‬K‫א‬‫א‬‫א‬Kp‫א‬
‫א‬K‫א‬‫א‬‫א‬K‫א‬‫א‬v١٠J 
 KKp‫א‬‫א‬

‫א‬‫א‬‫א‬
 W
‫א‬‫א‬‫א‬K‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬K‫א‬‫א‬‫א‬
 K‫א‬


 
- ٨٧ -
 ‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬‫א‬‫א‬  -‫א‬‫א‬ ‫א‬
 ‫א‬‫א‬


   W‫א‬   W‫א‬   W‫א‬‫א‬


 W‫א‬‫א‬


 ‫؟‬‫א‬‫א‬‫א‬‫א‬‫א‬

 K‫א‬‫א‬‫א‬J ١
 K‫א‬‫א‬‫א‬‫א‬J ٢
 K‫א‬‫א‬‫א‬J ٣

 W‫א‬
- ٨٨ -
 ‫א‬‫א‬‫א‬

‫א‬‫א‬‫א‬‫א‬
 -‫א‬‫א‬
‫א‬‫א‬‫א‬
 ‫א‬‫א‬‫א‬
١٢
- ٩١ -
 ‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬‫א‬‫א‬  -‫א‬‫א‬ ‫א‬
 ‫א‬‫א‬‫א‬W‫א‬‫א‬
 ‫א‬‫א‬
PID‫א‬‫א‬‫א‬‫א‬
 ‫א‬‫א‬‫א‬
 Automatic Light Control

W‫א‬‫א‬
 W‫א‬‫א‬
Com3Lab‫א‬‫א‬‫• א‬
K‫א‬‫א‬‫א‬‫א‬‫א‬ •
K‫א‬‫א‬‫א‬ •
K‫א‬‫• א‬
K،‫א‬‫א‬‫א‬‫א‬ •
PIPID‫א‬ •
K‫א‬‫א‬ •
K‫א‬‫א‬ •
K‫א‬‫א‬‫א‬ •
K‫א‬ •
W‫א‬‫א‬
K‫א‬‫• א‬
Light Control‫א‬ •


-٨٩-
 ‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬‫א‬‫א‬  -‫א‬‫א‬ ‫א‬
W‫א‬‫א‬‫א‬
K‫א‬‫א‬‫א‬‫א‬‫א‬ •
K٢‫א‬‫א‬ •
KY1‫א‬‫א‬‫א‬‫א‬‫• א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ •
K‫א‬
K‫א‬‫א‬Y1‫א‬‫א‬ •

E‫א‬F‫א‬‫א‬‫א‬

‫א‬،E ‫א‬F ‫א‬‫א‬‫א‬
‫א‬‫א‬K
 ‫א‬‫א‬
،‫א‬F ‫א‬،EF
 KEKKK‫א‬

 E‫א‬F‫א‬‫א‬‫א‬

LED‫א‬K‫א‬ComLab3‫א‬
‫א‬‫א‬‫א‬K
 ‫א‬‫א‬‫א‬‫א‬‫א‬K
‫א‬‫א‬‫א‬K
  ‫א‬‫א‬‫א‬
 K‫א‬K

 W‫א‬‫א‬‫א‬‫א‬‫א‬

‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 KPI‫א‬‫א‬‫א‬

-٩٠-
 ‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬‫א‬‫א‬  -‫א‬‫א‬ ‫א‬
 WP‫א‬

‫א‬‫א‬،‫א‬‫א‬‫א‬
 ‫א‬‫א‬‫א‬K
 ‫א‬
‫א‬‫א‬،I‫א‬K ‫א‬
 K‫א‬E‫א‬F‫א‬‫א‬‫א‬



 ‫א‬‫א‬‫א‬W١‫א‬

 WPI‫א‬

‫א‬K ‫א‬‫א‬PI‫א‬I‫א‬‫א‬
 KPI‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬

 WPI‫א‬‫א‬‫א‬‫א‬

PI‫א‬  ‫א‬‫א‬
‫א‬‫א‬E
 F‫א‬K ‫א‬
 K

-٩١-
 ‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬‫א‬‫א‬  -‫א‬‫א‬ ‫א‬
 W

K ‫א‬EF‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬K‫א‬‫א‬‫א‬‫א‬
 KI‫א‬‫א‬‫א‬،v٥‫א‬‫א‬‫א‬

‫א‬‫א‬‫א‬‫א‬
 ‫א‬‫א‬E‫א‬F

‫א‬، ‫א‬‫א‬
،‫א‬K‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬ ‫א‬‫א‬FKis‫א‬‫א‬
 E‫א‬FTuE‫א‬






-٩٢-
 ‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬‫א‬‫א‬  -‫א‬‫א‬ ‫א‬
 ‫א‬‫א‬

    W‫א‬   W‫א‬    W‫א‬‫א‬


 W‫א‬‫א‬


 ‫؟‬‫א‬‫א‬‫א‬‫א‬ K١


 K‫א‬ K٢


 ‫؟‬ K٣


 W‫א‬

-٩٣-
 ‫א‬‫א‬‫א‬

‫א‬‫א‬‫א‬‫א‬
 -‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬

١٣
 ‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬‫א‬‫א‬‫א‬  -‫א‬‫א‬ ‫א‬
 ‫א‬‫א‬‫א‬‫ א‬W‫א‬‫א‬

 ‫א‬‫א‬
PID‫א‬‫א‬‫א‬‫א‬
 ‫א‬‫א‬‫א‬‫א‬
Automatic Control of Controlled Systems Without Compensation
W‫א‬‫א‬
 W‫א‬‫א‬
Com3Lab‫א‬‫א‬‫• א‬
K‫א‬‫א‬‫א‬‫א‬‫א‬ •
K‫א‬‫א‬‫א‬ •
K‫א‬‫• א‬
K،‫א‬‫א‬‫א‬‫א‬ •
KisE ‫א‬‫א‬‫א‬‫א‬F
 ‫א‬‫א‬ •
Tu‫א‬
PPID‫א‬ •
‫א‬IT1F
  •
K‫א‬‫א‬
K‫א‬‫א‬‫א‬ •
KOvershoot‫א‬ •
K‫א‬ •
W‫א‬‫א‬
K‫א‬‫• א‬
IPT1KOscilloscope‫א‬ •
- ٩٤ -
 ‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬‫א‬‫א‬‫א‬  -‫א‬‫א‬ ‫א‬
W‫א‬‫א‬‫א‬
K‫א‬‫א‬‫א‬‫א‬‫א‬ •
K٢‫א‬‫א‬ •
KY1‫א‬‫א‬‫א‬‫א‬‫• א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ •
K‫א‬
K‫א‬‫א‬Y1‫א‬‫א‬ •

‫א‬‫א‬‫א‬‫א‬
 W‫א‬‫א‬‫א‬EF

،‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬K
 ‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬


‫א‬‫א‬‫א‬‫א‬
 ‫א‬

PID‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 IT1F
K ‫א‬‫א‬‫א‬E  
ETuFE‫א‬‫א‬FKis‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬



- ٩٥ -
 ‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬‫א‬‫א‬‫א‬  -‫א‬‫א‬ ‫א‬

 ‫א‬‫א‬W١‫א‬

‫א‬‫א‬‫א‬‫א‬
 W

 ‫א‬Kis = 1.07‫א‬‫א‬‫א‬
 K‫א‬Tu = 0.95 sec

‫א‬‫א‬‫א‬‫א‬
 ‫א‬

PID‫א‬‫א‬E‫א‬F
 ComLab3K‫א‬‫א‬K‫א‬

‫א‬‫א‬‫א‬‫א‬
 

Tn = 2 secK‫א‬‫א‬Kp = 1.2WPID‫א‬‫א‬‫א‬
 K‫א‬‫א‬Tv = 0.4 sec‫א‬


- ٩٦ -
 ‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬‫א‬‫א‬‫א‬  -‫א‬‫א‬ ‫א‬
‫א‬‫א‬‫א‬‫א‬
 ‫א‬‫א‬‫א‬

‫א‬PID‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 K

 K‫א‬‫א‬W٢‫א‬

‫א‬‫א‬‫א‬‫א‬
 
 K‫א‬Overshoots‫א‬‫א‬‫א‬‫א‬

‫א‬‫א‬‫א‬‫א‬
 
،EF‫א‬‫א‬
‫א‬‫א‬KI‫א‬‫א‬‫א‬‫א‬
‫א‬KPID‫א‬‫א‬‫א‬‫א‬‫א‬PD
 K‫א‬‫א‬


- ٩٧ -
 ‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬‫א‬‫א‬‫א‬  -‫א‬‫א‬ ‫א‬
 ‫א‬‫א‬



   W‫א‬   W‫א‬     W‫א‬‫א‬


 W‫א‬‫א‬

 ‫؟‬‫א‬‫א‬ K١


 K K٢


 K K٣


W‫א‬
- ٩٨ -
 ‫א‬‫א‬‫א‬

‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬
‫א‬‫א‬‫א‬
 ‫א‬‫א‬‫א‬
١٤
 ‫א‬‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬‫א‬‫א‬  -‫א‬‫א‬ ‫א‬
 ‫א‬‫א‬‫א‬W‫א‬‫א‬‫א‬
 ‫א‬‫א‬‫א‬
 ‫א‬‫א‬‫א‬
 Automatic Control With Discontinuous Controllers

W‫א‬‫א‬
 W‫א‬‫א‬
Com3Lab‫א‬‫א‬‫• א‬
K‫א‬‫א‬‫א‬‫א‬‫א‬ •
K‫א‬‫א‬‫א‬ •
K‫א‬‫א‬‫א‬ •
K‫א‬‫א‬‫א‬‫א‬‫• א‬
KPI‫א‬‫א‬ •
K‫א‬‫א‬‫א‬ •
K‫א‬ •
W‫א‬‫א‬
K‫א‬‫• א‬
Digital Control Line •
Speed Control‫א‬‫א‬ •
W‫א‬‫א‬‫א‬
K‫א‬‫א‬‫א‬‫א‬‫א‬ •
K٢‫א‬‫א‬ •
KY2,Y1،‫א‬‫א‬‫א‬‫א‬‫• א‬
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 ‫א‬‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬‫א‬‫א‬  -‫א‬‫א‬ ‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ •
K‫א‬
K‫א‬‫א‬Y1‫א‬‫א‬ •


‫א‬‫א‬‫א‬
 W‫א‬‫א‬

Discontinuous Controllers‫א‬‫א‬‫א‬‫א‬
‫א‬KTwo-Position Controller‫א‬‫א‬PID‫א‬‫א‬
EOff‫א‬‫א‬On‫א‬‫א‬F
‫א‬‫א‬‫א‬K ‫א‬‫א‬‫א‬
 K‫א‬

 W‫א‬

y y = 0‫א‬،‫א‬On/Off‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬K ‫א‬‫א‬= max
‫א‬?rattling‫?א‬
 E
 ‫א‬‫א‬F‫א‬‫א‬
K

 W

Xsd FF‫א‬
‫א‬ On/Off‫א‬‫א‬KHysteresis
 K‫א‬‫א‬‫א‬K‫א‬
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 ‫א‬‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬‫א‬‫א‬  -‫א‬‫א‬ ‫א‬
 W‫א‬‫א‬

‫א‬‫א‬Xsd‫א‬On/Off‫א‬
‫א‬K‫א‬‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬K‫א‬‫א‬

 W‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬
 KComLab3‫א‬‫א‬‫א‬‫א‬K


 ‫א‬‫א‬‫א‬W١‫א‬
  
 W

K‫א‬‫א‬
‫א‬‫א‬K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 KEF‫א‬

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 ‫א‬‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬‫א‬‫א‬  -‫א‬‫א‬ ‫א‬
 W

‫א‬F‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬KE‫א‬
 K‫א‬K‫א‬



























- ١٠٢ -
 ‫א‬‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬‫א‬‫א‬  -‫א‬‫א‬ ‫א‬
 ‫א‬‫א‬‫א‬


   W‫א‬    W‫א‬    W‫א‬‫א‬


 W‫א‬‫א‬

 W‫א‬
 K
 K‫א‬EF‫א‬‫ א‬K١
V١٠–V١٠H‫א‬‫א‬‫ א‬K٢
 K‫א‬‫א‬‫ א‬K٣

 W‫א‬
 ‫؟‬‫א‬‫א‬‫א‬‫א‬‫א‬

 K‫א‬‫ א‬K١
K‫א‬‫ א‬K٢
K‫א‬‫א‬‫א‬EHysteresisF‫א‬‫א‬ K٣
 K‫א‬ K٤

 W‫א‬

- ١٠٣ -
 ‫א‬‫א‬‫א‬

‫א‬‫א‬‫א‬‫א‬
 -‫א‬‫א‬
‫א‬
 ‫א‬
١٥
‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬  -‫א‬‫א‬ ‫א‬
 ‫א‬W‫א‬‫א‬
 ‫א‬‫א‬
 ‫א‬
Fault Simulation

W‫א‬‫ א‬١J ١
 W‫א‬‫א‬
Com3Lab‫א‬‫א‬‫• א‬
K‫א‬‫א‬‫א‬‫א‬‫א‬ •
K‫א‬‫א‬ •
K‫א‬ •
K،‫א‬‫א‬‫א‬‫א‬ •
K‫א‬ •
K‫א‬‫א‬‫א‬‫א‬‫א‬ •
W‫א‬‫ א‬٢J ١
K‫א‬‫• א‬
Analog Controller •
PT1 •
W‫א‬‫א‬‫א‬ ٣J ١
K‫א‬‫א‬‫א‬‫א‬‫א‬ •
K١‫א‬‫א‬ •
KY2,Y1،‫א‬‫א‬‫א‬‫א‬‫• א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ •
K‫א‬
K‫א‬‫א‬Y2Y1‫א‬‫א‬ •
- ١٠٤ -
‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬  -‫א‬‫א‬ ‫א‬

‫א‬
 ‫א‬‫א‬

 ‫א‬‫א‬‫א‬W١‫א‬

‫א‬K ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 KPI‫א‬‫א‬‫א‬‫א‬‫א‬

 ‫א‬
v٣{٥EFEOffsetF‫א‬،‫א‬‫א‬
E‫א‬F‫א‬‫א‬KXs‫א‬
 K‫א‬

‫א‬
 ‫א‬




- ١٠٥ -
‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬  -‫א‬‫א‬ ‫א‬

 ‫א‬‫א‬‫א‬W٢‫א‬

‫א‬‫א‬K
 ‫א‬
 KPT1‫א‬‫א‬KPI

‫א‬
 ‫א‬

EBreakF‫א‬‫א‬K‫א‬‫א‬‫א‬
Ex‫א‬F‫א‬‫א‬K‫א‬‫א‬‫א‬K ‫א‬‫א‬
‫א‬KEeF ‫א‬‫א‬K‫א‬‫א‬
 K‫א‬‫א‬‫א‬‫א‬X‫א‬‫א‬









- ١٠٦ -
‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬  -‫א‬‫א‬ ‫א‬
 ‫א‬‫א‬


    W‫א‬   W‫א‬   W‫א‬‫א‬


 W‫א‬‫א‬


 ‫؟‬‫א‬‫א‬ K١

 ‫؟‬‫א‬‫א‬ K٢

 K‫א‬‫א‬‫א‬‫א‬ K٣

 ‫؟‬‫א‬‫א‬ K٤

 K‫א‬‫א‬‫א‬‫ א‬K١
KESF‫א‬F‫א‬‫א‬‫א‬ K٢
 K‫א‬EY‫א‬F‫א‬‫א‬ K٣

W‫א‬

- ١٠٧ -
 ‫א‬‫א‬‫א‬

‫א‬‫א‬‫א‬‫א‬
 -‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬
١٦
- ٩١ -
 ‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬‫א‬‫א‬‫א‬  -‫א‬‫א‬ ‫א‬
 ‫א‬‫א‬‫א‬‫א‬W‫א‬‫א‬
 ‫א‬‫א‬
  ‫א‬‫א‬‫א‬‫א‬
MATLAB Software Fundamentals in Control Systems

 W‫א‬‫א‬
K‫א‬‫א‬‫א‬
K‫א‬MATLAB •
SIMULINK •
 W‫א‬‫א‬
 •
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬SimulinkMATLAB •
KControl Tool Box‫א‬‫א‬‫א‬


 W‫א‬‫א‬

n( s )
 G( s) =
d ( s)
 K‫א‬‫א‬n(s)W
(Polynomial in s‫א‬‫א‬‫א‬‫א‬d(s)
 s)
 W‫א‬

-١٠٨-
 ‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬‫א‬‫א‬‫א‬  -‫א‬‫א‬ ‫א‬
 W‫א‬‫א‬
p ( s ) = s 2 + 3s + 1

 W1 ،3 ، 1Wp(s)
» p=[1 3 1];

 K‫א‬‫א‬‫א‬
 
 W‫א‬‫א‬W
 p( s ) = s 3 + 3s + 1
 W‫א‬،‫א‬ s 2 
 W
 » p=[1 0 3 1];

 W‫א‬‫א‬‫א‬W
s 2 + 2s + 1
 G(s) = 3
s + 4s 2 + 2s + 1

 W
 »n=[1 2 1];
 »d=[1 4 2 1];
 F»roots(n

 Zans

 -1
 -1

 »roots(d)

-١٠٩-
 ‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬‫א‬‫א‬‫א‬  -‫א‬‫א‬ ‫א‬
 ans=
-3.5115
-0.2442 + 0.4745i
-0.2442 – 0.4745i



W‫א‬‫א‬‫א‬‫א‬ o
 »n=[1 2 1]
 »d=[1 4 2 1]
 »sys=tf(n,d]

s2 + 2 s + 1
• Transfer function:  3
s + 4 s2 + 2 s + 1


       
-١١٠-
 ‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬‫א‬‫א‬‫א‬  -‫א‬‫א‬ ‫א‬
 W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬

 rlocus(n,d) »
 K‫א‬‫א‬‫א‬
   @ERoots(n      
 @Eroots(d      
  @Erlocus(n      
 @Erlocus(d   
 @
    @ clf   W‫א‬‫א‬
 @ clc W‫א‬‫א‬
 W‫א‬‫א‬‫א‬
‫؛‬xn=[1 2@
Ed=[1 4 3]; »step(n,d@     
 SIMULINK‫א‬
SIMULINK
 K‫א‬

 WSimulink
 W

 K‫א‬‫א‬W




-١١١-
 ‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬‫א‬‫א‬‫א‬  -‫א‬‫א‬ ‫א‬
SIMULINK  SIMULINKW
‫א‬‫א‬Library: Simulink/Sources‫א‬Untitled 
 KKKK(Demos)(Linear)‫א‬‫א‬(Sinks)‫א‬(Sources)
‫א‬‫א‬Sinks(Sources) ‫א‬W
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬LinearK‫א‬
K ‫א‬(drag and drop)‫א‬‫א‬‫א‬
K‫א‬‫א‬
StartSimulation ‫א‬W‫א‬
‫א‬Scope‫א‬‫א‬W
 K

W
G(s)= (s+1)/s(s+2)(s+3)W‫א‬‫א‬‫א‬J ١
 G(s)= 2/(s+1)(s+2)J ٢
K‫א‬‫א‬‫א‬ •
 Simulink‫א‬‫א‬‫א‬‫א‬‫א‬


-١١٢-
 ‫א‬‫א‬‫א‬

‫א‬‫א‬‫א‬‫א‬
 -‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬
 ‫א‬‫א‬‫א‬‫א‬
١٧
 ‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬‫א‬‫א‬‫א‬  -‫א‬‫א‬ ‫א‬
 ‫א‬‫א‬‫א‬‫א‬W‫א‬‫א‬
 ‫א‬‫א‬
 ‫א‬‫א‬‫א‬‫א‬

        W‫א‬‫א‬
 W‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫• א‬
 ‫א‬‫א‬‫א‬‫א‬‫א‬ •
‫א‬‫א‬‫א‬ •
 ‫א‬‫א‬‫א‬‫א‬ •
‫א‬‫א‬‫א‬‫א‬ •
 K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ •

‫א‬‫א‬
(Power Supply)‫א‬ •
(Set Point Generator)‫א‬ •
(First Order Controlled Unit)‫א‬‫א‬ •
‫א‬ •
(Plotter)‫א‬WE ‫א‬‫א‬‫א‬F •
(Oscilloscope)‫א‬،(Chart Recorder)
K •

- ١١٣ -
 ‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬‫א‬‫א‬‫א‬  -‫א‬‫א‬ ‫א‬
W‫א‬
‫اﻟﺪﺧﻞ‬ ‫اﻟﺨﺮج‬
‫اﻟﻤﺮﺟﻌﻲ‬
‫ﻣﻮﻟﺪ ﻧﻘﻄﺔ اﻟﺘﺸﻐﻴﻞ‬ ‫وﺣﺪة ﻣﻦ اﻟﺪرﺟﺔ اﻷوﻟﻰ‬ ‫إﻟﻰ ﺟﻬﺎز‬

‫اﻟﻌﺮض‬
‫ ﻣﺨﻄﻂ اﻟﺘﺠﺮﺑﺔ اﻷوﻟﻰ‬١-١ ‫اﻟﺸﻜﻞ‬

W‫א‬‫א‬‫א‬
١J ١‫א‬‫א‬ •
‫א‬‫א‬‫א‬‫• א‬
E
‫א‬ •
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ •
‫א‬
W‫א‬

W‫א‬‫א‬‫א‬ •
W‫א‬‫א‬‫א‬ o

 yss=
W‫א‬ o
y
G = ss =
E
W‫א‬‫א‬‫א‬ o
y (τ ) = 0.63 y ss =
‫א‬‫א‬ o
 τ=
- ١١٤ -
 ‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬‫א‬‫א‬‫א‬  -‫א‬‫א‬ ‫א‬
‫א‬‫א‬
ts‫א‬‫א‬‫א‬
 ts=

‫א‬‫א‬‫א‬‫א‬‫א‬

 4τ  3τ  2τ τ  ‫א‬
     ‫א‬

 W‫א‬‫א‬
 ‫א‬D‫א‬Z‫א‬‫א‬

n(s)
G(s) =
d(s)
(s + 2)
G(s) =
(s + 4s + 3)
2
n=[1 2];
d=[1 4 3];
step(n,d)
 Simulink‫א‬‫א‬
 step
 Fcn
 scope
‫א‬‫א‬‫א‬‫א‬
 K‫א‬
 StartSimulation
 K‫א‬‫א‬scope
- ١١٥ -
 ‫א‬‫א‬‫א‬

‫א‬‫א‬‫א‬‫א‬
 -‫א‬‫א‬
 ‫א‬‫א‬‫א‬MATLAB‫א‬‫א‬
‫א‬‫א‬MATLAB ‫א‬‫א‬
18
 ‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬‫א‬‫א‬MATLAB‫א‬‫א‬  -‫א‬‫א‬ ‫א‬
 ‫א‬‫א‬‫א‬MATLAB‫א‬‫א‬W‫א‬‫א‬
 ‫א‬‫א‬
 ‫א‬‫א‬‫א‬MATLAB‫א‬‫א‬
 ‫א‬‫א‬‫א‬‫א‬


 W‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬MATLAB‫א‬‫• א‬
K‫א‬‫א‬


 W‫א‬‫א‬
 •
Control Tool BoxSimulinkMATLAB •

(MATLAB Command ‫א‬MATLABW
W،Window)
 To get started, type one of these: helpwin, helpdesk, or demo.

 For product information, visit www.mathworks.com.

           
W‫א‬‫א‬‫א‬‫א‬

K n( s )
 G( s) = =
τs + 1 d ( s )
 G ( s) = K = 10 /(1S + 1) = n( s)
τs + 1 d (s)
- ١١٧ -
 ‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬‫א‬‫א‬MATLAB‫א‬‫א‬  -‫א‬‫א‬ ‫א‬
W‫א‬‫א‬‫א‬‫א‬‫א‬
 » K=10;
 » tau=1;
 » n=k;
 » d=[tau 1];
 » bode(n,d)
 K‫א‬‫א‬τ
 K‫א‬K
Figure No.1‫א‬‫א‬
‫א‬
 » hold
Current plot released

 WK‫א‬
0.1  50 20  1 K

W‫א‬
 » hold

 W‫א‬‫א‬‫א‬

W» k=1;
 » tau=1;
 » n=k;
 » d=[tau 1];
 » bode(n,d)
 » hold
         
Current plot held       
 
- ١١٨ -
 ‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬‫א‬‫א‬MATLAB‫א‬‫א‬  -‫א‬‫א‬ ‫א‬
 K‫א‬tau
5  2  0.5  0.1 Tau


‫א‬DB‫א‬
  K‫א‬‫א‬K‫א‬
‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬

K‫א‬‫א‬‫• א‬
•
K  1  50  100 0.1
ωd

 
‫؟‬‫א‬‫א‬‫א‬ o

 ‫؟‬‫א‬‫א‬tau‫א‬‫א‬

 W‫א‬‫א‬

 W‫א‬‫א‬‫א‬‫א‬
ω 02 n( s)
 G ( s) = =
s 2 + 2ζω 0 s + ω02 d ( s)
 n( s ) = ω 02 W‫א‬
 d ( s ) = s 2 + 2ζω 0 s + ω02 W‫א‬

- ١١٩ -
 ‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬‫א‬‫א‬MATLAB‫א‬‫א‬  -‫א‬‫א‬ ‫א‬

 W‫א‬‫א‬
 ω0 = Omegaz
ζ =zeta
 » omegaz=4;
 » zeta=2;
 » n=omegaz^2;
 » d=[1 2*zeta*omegaz + omegaz^2];
 » bode(n,d)


Figure 1‫א‬
 » hold


 EζFzeta‫א‬ W‫א‬‫א‬‫א‬‫א‬
0.05  0.1  0.5  1  ζ


W‫א‬‫א‬‫א‬ ω0 ‫א‬‫א‬‫א‬
 » hold
 » zeta=0.1;
 » omegaz=4;
» n=omegaz^2;
 » d=[1 2*zeta*omegaz + omegaz^2];
» bode(n,d)
 » hold
Current plot held
 omegaz (ω0)‫א‬‫א‬‫א‬

128  64  16  8 ω0
- ١٢٠ -
 ‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬‫א‬‫א‬MATLAB‫א‬‫א‬  -‫א‬‫א‬ ‫א‬
‫א‬‫א‬dB  ‫א‬

‫א‬‫א‬‫א‬‫א‬
‫א‬‫ א‬ ‫א‬‫א‬

 ‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬
 ‫א‬‫א‬‫א‬‫• א‬
‫א‬ ω0 ‫א‬ •
128  64  16  8 ω0
ωd


‫א‬‫א‬ o
K‫א‬‫א‬‫א‬
‫א‬‫א‬ o
K‫א‬‫א‬‫א‬

 ‫؟‬‫א‬‫א‬

- ١٢١ -
 ‫א‬‫א‬‫א‬

‫א‬‫א‬‫א‬‫א‬
 -‫א‬‫א‬
PID‫א‬‫א‬‫א‬‫א‬
 PID‫א‬‫א‬‫א‬‫א‬
١٩
 ‫א‬‫א‬  ٢٣٣ ‫א‬
PID‫א‬‫א‬‫א‬‫א‬  -‫א‬‫א‬ ‫א‬
 PID‫א‬‫א‬‫א‬‫א‬W‫א‬‫א‬
 ‫א‬‫א‬
PID‫א‬‫א‬‫א‬‫א‬

 W‫א‬‫א‬
PID, PD, PI‫א‬‫א‬‫א‬‫א‬ •
K‫א‬PI‫א‬ •
K‫א‬PD‫א‬ •
K‫א‬PID‫א‬ •
 W‫א‬‫א‬
‫א‬ •
K •
K •
K •
‫א‬‫א‬ •
‫א‬‫א‬ •
K‫א‬‫א‬ •
 •
‫א‬ •
K‫א‬ •

PIW‫א‬‫א‬‫א‬
 K‫א‬J ‫א‬‫א‬‫א‬
- ١٢٢ -
 ‫א‬‫א‬  ٢٣٣ ‫א‬
PID‫א‬‫א‬‫א‬‫א‬  -‫א‬‫א‬ ‫א‬
W‫א‬
‫ﺣﺎآﻢ‬
‫ﺟﻬﺎز‬
‫ﺗﻨﺎﺳﺒﻲ‬ ‫ﻗﻴﺎس‬
‫ﻣﻮﻟﺪ‬ ‫ﻧﻈﺎم‬
‫اﻹﺷﺎرة‬ ‫ﻣﺘﺤﻜﻢ‬
‫ﺣﺎآﻢ ﺗﻜﺎﻣﻠﻲ‬ ‫ﻓ‬
‫ ﻣﺨﻄﻂ اﻟﺤﺎآﻢ اﻟﺘﻨﺎﺳﺒﻲ اﻟﺘﻜﺎﻣﻠﻲ ﻋﻠﻰ اﻟﺘﻮازي‬١- ‫اﻟﺸﻜﻞ‬



 W‫א‬‫א‬‫א‬
K‫א‬ •
 K١‫א‬‫א‬ •
 KE‫א‬ •
‫א‬،Kp ‫א‬‫א‬ •
KKi‫א‬
K‫א‬‫א‬‫א‬ •
K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ •

‫א‬‫א‬ EF‫א‬ EF‫א‬  EF‫א‬
  
‫א‬‫א‬ Kp‫א‬‫א‬ •
K‫א‬‫א‬KI‫א‬
Ki‫א‬‫א‬ •
K‫א‬‫א‬‫א‬‫א‬
- ١٢٣ -
 ‫א‬‫א‬  ٢٣٣ ‫א‬
PID‫א‬‫א‬‫א‬‫א‬  -‫א‬‫א‬ ‫א‬
W
‫א‬PI‫א‬‫א‬‫א‬ o
K‫א‬PI ‫א‬‫א‬‫א‬ o
‫א‬PI‫א‬‫א‬‫א‬ o

 ‫א‬
PDW‫א‬‫א‬‫א‬
 W‫א‬‫א‬‫א‬

W‫א‬
‫ﺣﺎآﻢ‬
‫ﺟﻬﺎز‬
‫ﺗﻨﺎﺳﺒﻲ‬ ‫ﻗﻴﺎس‬
‫اﻟﻌﺮض‬
‫ﻣﻮﻟﺪ‬ ‫ﻧﻈﺎم‬
‫اﻹﺷﺎرة‬ ‫ﻣﺘﺤﻜﻢ‬
‫ﺣﺎآﻢ‬ ‫ﻓ‬
‫اﻟﺘﻔﺎﺿﻠﻲ ﻋﻠﻰ اﻟﺘﻮازي‬-‫ ﻣﺨﻄﻂ اﻟﺤﺎآﻢ اﻟﺘﻨﺎﺳﺒﻲ‬-٢ ‫اﻟﺸﻜﻞ‬



 W‫א‬‫א‬‫א‬
K‫א‬ •
 K١‫א‬‫א‬ •
 KE‫א‬ •
‫א‬‫א‬،Kp‫א‬‫א‬ •
KKd
K‫א‬‫א‬‫א‬ •
K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ •
- ١٢٤ -
 ‫א‬‫א‬  ٢٣٣ ‫א‬
PID‫א‬‫א‬‫א‬‫א‬  -‫א‬‫א‬ ‫א‬

 ‫א‬‫א‬ EF‫א‬ EF‫א‬ EF‫א‬
  
‫א‬‫א‬ Kp‫א‬‫א‬ •
K‫א‬‫א‬Kd‫א‬
Kd‫א‬‫א‬ •
K‫א‬‫א‬Ki‫א‬‫א‬

W
‫؟‬‫א‬PD‫א‬‫א‬‫א‬ o
‫؟‬‫א‬PD‫א‬‫א‬‫א‬ o
‫؟‬‫א‬PD‫א‬‫א‬‫א‬ o

 ‫א‬

- ١٢٥ -
 ‫א‬‫א‬  ٢٣٣ ‫א‬
PID‫א‬‫א‬‫א‬‫א‬  -‫א‬‫א‬ ‫א‬
 PID‫א‬‫א‬‫א‬‫א‬
 W‫א‬
‫ﺣﺎآﻢ‬
‫ﺗﻨﺎﺳﺴﺒﻲ‬
‫ﺟﻬﺎز‬
‫ﻗﻴﺎس‬
‫ﻣﻮﻟﺪ‬ ‫ﺣﺎآﻢ ﺗﻜﺎﻣﻠﻲ‬ ‫ﻧﻈﺎم‬

‫إﺷﺎرة‬ ‫ﻣﺘﺤﻜﻢ ﻓﻴﻪ‬
‫ﺣﺎآﻢ‬
‫ ﻋﻠﻰ اﻟﺘﻮازي‬PID ‫ ﻣﺨﻄﻂ‬-٣ ‫اﻟﺸﻜﻞ‬

‫א‬‫א‬ EF‫א‬ EF‫א‬ EF‫א‬
   E
Kd‫א‬‫א‬Kp‫א‬‫א‬ •
 K‫א‬‫א‬Ki‫א‬‫א‬
‫א‬‫א‬Ki‫א‬‫א‬ •
 K‫א‬‫א‬Kp‫א‬‫א‬Kd
- ١٢٦ -
 ‫א‬‫א‬  ٢٣٣ ‫א‬
PID‫א‬‫א‬‫א‬‫א‬  -‫א‬‫א‬ ‫א‬

‫؟‬‫א‬‫א‬‫א‬‫א‬‫א‬ o


 ‫؟‬‫א‬PID ‫א‬‫א‬‫א‬ o

‫؟‬‫א‬PID‫א‬‫א‬‫א‬ o

‫؟‬‫א‬PID ‫א‬‫א‬‫א‬ o


‫א‬








- ١٢٧ -
 ‫א‬‫א‬  ٢٣٣ ‫א‬
PID‫א‬‫א‬‫א‬‫א‬  -‫א‬‫א‬ ‫א‬
 
 PID‫א‬‫א‬‫א‬MATLAB‫א‬‫א‬


 W‫א‬‫א‬
‫א‬‫א‬MATLAB‫א‬‫• א‬
KPID‫א‬
K‫א‬‫א‬‫א‬PID‫א‬‫א‬‫א‬ •
K‫א‬‫א‬‫א‬PID‫א‬‫א‬‫א‬ •
K‫א‬‫א‬‫א‬PID‫א‬‫א‬‫א‬ •

 W‫א‬‫א‬
 •
Control Tool BoxSimulinkMATLAB •

 W‫א‬
Kp
21.81
5 1
Reference Ki
s
0.0063s 2 + 0.379 s + 1
Input Scope
Transfer Function of
DC Motor
Kd du/
dt
Simulink ‫ ﻣﺨﻄﻂ اﻟﺘﺠﺮﺑﺔ‬-٤ ‫اﻟﺸﻜﻞ‬
- ١٢٨ -
 ‫א‬‫א‬  ٢٣٣ ‫א‬
PID‫א‬‫א‬‫א‬‫א‬  -‫א‬‫א‬ ‫א‬
 W‫א‬‫א‬‫א‬
،(MATLAB Command Window)‫א‬،
 W‫א‬‫א‬FF‫א‬
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FF
 SIMULINK
Simulink‫א‬‫א‬‫א‬

W‫א‬‫א‬Ki Kp = 1, K d = 1 W

5 1 0.1 Ki

 StartSimulation 
 Scope‫א‬‫א‬
W‫א‬‫א‬Kp Ki = 1, K d = 1 

5 1 0.5 Kp
StartSimulation  J ١
Scope J ٢

 W‫א‬‫א‬Kd Ki = 1, K p = 1 

5 2 1 Kd




- ١٢٩ -
 ‫א‬‫א‬  ٢٣٣ ‫א‬
PID‫א‬‫א‬‫א‬‫א‬  -‫א‬‫א‬ ‫א‬


‫؟‬‫א‬‫א‬‫א‬‫א‬‫א‬ o

 ‫؟‬‫א‬PID ‫א‬‫א‬‫א‬ o

‫؟‬‫א‬PID‫א‬‫א‬‫א‬ o

 ‫؟‬‫א‬PID ‫א‬‫א‬‫א‬ o


 ‫א‬
- ١٣٠ -
 ‫א‬‫א‬‫א‬

‫א‬‫א‬‫א‬‫א‬
 -‫א‬‫א‬
Dc MOTOR‫א‬
Dc ‫א‬
٢٠
- ٩١ -
 ‫א‬‫א‬  ٢٣٣ ‫א‬
Dc MOTOR‫א‬  -‫א‬‫א‬ ‫א‬
 Dc MOTOR‫א‬W‫א‬‫א‬
 ‫א‬‫א‬
Dc MOTOR‫א‬

 W‫א‬‫א‬
‫א‬DC Motor‫• א‬
K‫א‬ •
K‫א‬‫א‬ •
‫א‬‫א‬ •
 W‫א‬‫א‬
‫א‬ •
(Input Transducer)‫א‬ •
(Output Transducer) ‫א‬ •
 •
‫א‬ •
 •
K‫א‬ •

W‫א‬
-١٣١-
 ‫א‬‫א‬  ٢٣٣ ‫א‬
Dc MOTOR‫א‬  -‫א‬‫א‬ ‫א‬
‫اﻟﺪﺧﻞ‬ ‫وﺿﻊ‬
‫اﻟﻤﺮﺟﻌﻲ‬ ‫اﻟﻤﺤﺮك‬
Input Power
‫إﻟﻰ ﺟﻬﺎز‬
DC
Transducer Amplifier Motor ‫اﻟﻌﺮض‬
Output
Transducer
DC ‫ ﻣﺨﻄﻂ ﺗﺠﺮﺑﺔ اﻟﻤﺤﺮك‬-١ ‫اﻟﺸﻜﻞ‬
 W‫א‬‫א‬‫א‬
K‫א‬‫א‬ •
 K‫א‬‫א‬‫א‬‫א‬ •
K‫א‬‫א‬ •
K‫א‬‫א‬‫א‬‫א‬‫א‬ •
K‫א‬‫א‬‫א‬ •
K‫א‬‫א‬‫א‬‫א‬ •

W‫א‬
W‫א‬‫א‬‫א‬
 ‫א‬‫א‬ EF‫א‬ EF‫א‬‫א‬ EF‫א‬‫א‬
   30
  
  
  
-١٣٢-
 ‫א‬‫א‬  ٢٣٣ ‫א‬
Dc MOTOR‫א‬  -‫א‬‫א‬ ‫א‬
 W

 W‫א‬‫א‬
ts =      W‫א‬‫א‬ •
G =      W‫א‬ •
 ess =    W‫א‬‫א‬‫• א‬

 Ze٪     W‫א‬‫א‬ •

E‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬F‫א‬‫א‬

‫زاوﻳﺔ اﻟﺨﺮج‬
‫زاوﻳﺔ اﻟﺪﺧﻞ‬
‫ ﻣﻮاﺻﻔﺎت اﻟﻤﺤﺮك‬- ٢ ‫اﻟﺸﻜﻞ‬
 ‫א‬‫א‬

-١٣٣-
 ‫א‬‫א‬  ٢٣٣ ‫א‬
Dc MOTOR‫א‬  -‫א‬‫א‬ ‫א‬
 

 PID‫א‬‫א‬‫א‬MATLAB‫א‬‫א‬

 W‫א‬‫א‬
‫א‬‫א‬‫א‬MATLAB‫א‬‫• א‬
KPID
K‫א‬‫א‬‫א‬PID‫א‬‫א‬‫א‬ •
K‫א‬‫א‬‫א‬PID‫א‬‫א‬‫א‬ •
K‫א‬‫א‬‫א‬PID‫א‬‫א‬‫א‬ •
 W‫א‬‫א‬
 •
Control Tool BoxSimulinkMATLAB •


 W‫א‬
Kp
21.81
5 1
2
Reference Ki
s
0.0063s + 0.379 s + 1
Input Scope
Transfer Function of
DC Motor
Kd du/
dt
Simulink ‫ ﻣﺨﻄﻂ اﻟﺘﺠﺮﺑﺔ‬-٤ ‫اﻟﺸﻜﻞ‬


-١٣٤-
 ‫א‬‫א‬  ٢٣٣ ‫א‬
Dc MOTOR‫א‬  -‫א‬‫א‬ ‫א‬
 ‫א‬‫א‬‫א‬
(MATLAB Command ‫א‬،W
 W‫א‬‫א‬FF‫א‬،Window)
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FF
 SIMULINKW
 K‫א‬‫א‬‫א‬W

WKi K p = 1, K d = 1  J ٣

5 1 0.1 Ki

 StartSimulation 
 Scope‫א‬‫א‬
WKp K i = 1, K d = 1  J ٤

5 1 0.5 Kp
StartSimulation  J ٥
Scope J ٦
‫א‬Kd K i = 1, K p = 1 J ٧
5 2 1 Kd

-١٣٥-
 ‫א‬‫א‬  ٢٣٣ ‫א‬
Dc MOTOR‫א‬  -‫א‬‫א‬ ‫א‬

‫؟‬‫א‬‫א‬‫א‬‫א‬‫א‬

 ‫؟‬‫א‬PID ‫א‬‫א‬‫א‬

‫؟‬‫א‬PID‫א‬‫א‬‫א‬

 ‫؟‬‫א‬PID ‫א‬‫א‬‫א‬


 ‫א‬

-١٣٦-
 ‫א‬‫א‬‫א‬

‫א‬‫א‬‫א‬‫א‬
 -‫א‬‫א‬
‫א‬
 ‫א‬
٢١
 ‫א‬‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬  -‫א‬‫א‬ ‫א‬

 ‫א‬W‫א‬‫א‬‫א‬
 ‫א‬‫א‬‫א‬
 ‫א‬

 W‫א‬‫א‬
KDC Motor‫א‬ •
‫א‬‫א‬‫א‬‫א‬ •
‫א‬‫א‬‫א‬‫א‬ •
‫א‬ •
 W‫א‬‫א‬
‫א‬ •
DC Motor •
Tachogenerator‫א‬‫א‬ •
Power Amplifier‫א‬ •
 •
‫א‬ •
 •
K •
-١٣٧-
 ‫א‬‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬  -‫א‬‫א‬ ‫א‬

 W‫א‬
‫اﻟﻤﺮﺟﻌﻲ‬ ω ‫إﻟﻰ ﺟﻬﺎز‬
Power Tacho-
DC generator ‫اﻟﻌﺮض‬
Amplifier Motor
‫ ﻣﺨﻄﻂ ﺗﺠﺮﺑﺔ اﻟﺘﺤﻜﻢ ﻓﻲ ﺳﺮﻋﺔ‬١ ‫اﻟﺸﻜﻞ‬


 W‫א‬‫א‬
 K‫א‬١‫א‬‫א‬ •
K‫א‬ •
EK‫א‬‫א‬‫א‬ •
١‫א‬‫א‬ •
K‫א‬‫א‬ •
 ‫א‬‫א‬ EF‫א‬  EF‫א‬
‫א‬
  0
  5
  10
  30
  50
  60
١
-١٣٨-
 ‫א‬‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬  -‫א‬‫א‬ ‫א‬

W‫א‬
(Tachogenerator)‫א‬‫א‬‫א‬‫א‬ •

(‫ﺟﻬﺪ ﺧﺮج اﻟﺘﺎآﻮ )ﻓﻮﻟﺖ‬
(‫ﺟﻬﺪ اﻟﺪﺧﻞ )ﻓﻮﻟﺖ‬
‫ ﻣﻨﺤﻨﻰ ﻣﻮاﺻﻔﺎت اﻟﺘﺎآﻮ‬٢-‫ﺷﻜﻞ‬
‫א‬‫א‬‫א‬‫א‬ •

Matlab‫א‬‫א‬
‫اﻟﻤﺮﺟﻌﻲ‬ ω ‫إﻟﻰ ﺟﻬﺎز‬
10 (50s+50)/ 2/(s^2 +2s+4)
(s+0.01) ‫اﻟﻌﺮض‬
‫ اﻟﺘﺤﻜﻢ ﻓﻲ اﻟﺴﺮﻋﺔ‬٣ ‫اﻟﺸﻜﻞ‬
-١٣٩-
 ‫א‬‫א‬‫א‬  ٢٣٣ ‫א‬
‫א‬  -‫א‬‫א‬ ‫א‬

 W‫א‬
 WMatlab‫א‬
 KSimulink‫א‬‫א‬●
 KStep‫א‬●
 K‫א‬‫א‬‫א‬PID‫א‬‫א‬●

‫א‬‫א‬‫א‬



-١٤٠-
 ‫א‬‫א‬  ٢٣٣ ‫א‬
 -‫א‬‫א‬ ‫א‬
 ‫א‬‫א‬

1. Modern Control System, R. C. Dorf, Edison Wesley, 1990

2. Control System Design, C. T. Chen, Saunders College Publishing,
1993.
3. Feedback Control System, John Van De Vegta, Prentice Hall, 1990.
4. Automatic Control Systems, B. Kuo, Prentice Hall.
5. Johnson, C. D. Process Control Instrumentation Technology,
Prentice Hall, 2002
6. Bateson, R. N. Introduction to Control Systems Technology, Prentice
Hall, 2002
7. Ogata, K. Modern control Engineering, Prentice Hall, 1997
8. Dorf, R. C. and Bishop, R. H. Modern Control Systems, Addisson
Wesley, 1998
‫א‬‫א‬،‫א‬‫א‬،‫א‬ K٩
١٩٩١،‫א‬‫א‬‫א‬


- ١٤١ -
 ‫א‬  ٢٣٣ ‫א‬
 -‫א‬‫א‬ ‫א‬
 ‫א‬
 K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K 
 K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K  
 ١ K K K K K K K K K K K K K K K K K K K K K K  ‫א‬‫א‬‫א‬W‫א‬‫א‬
 ١٢ K K K K K K K K K K K K K K K K K K K K K K  ‫א‬‫א‬‫א‬W ‫א‬‫א‬
 ٢٢ K K K K K K K K K K K K K K K K K K K K K K K  ‫א‬W ‫א‬‫א‬
 ٣٠ K K K K K K K K K K K K K K K K K K K K K 
 ‫א‬‫א‬W ‫א‬‫א‬‫א‬
 ٣٨ K K K K K K K K K K K K K K  ‫א‬‫א‬‫א‬‫א‬W ‫א‬‫א‬
 ٥٧ K K K K K K K K K K K K K K K K K K K K 
 ‫א‬‫א‬W ‫א‬‫א‬
 ٤٨ K K K K K K K K K K K K K K K K K K K K K K E
 ‫א‬F‫א‬W ‫א‬‫א‬
 ٦٣K K K K K K K K K K K K K K K K K K K K K K K  ‫א‬‫א‬‫א‬W ‫א‬‫א‬
 ٧٠ K K K K K K K K K K K K K K K K K K K K  ‫א‬‫א‬‫א‬W ‫א‬‫א‬
 ٧٥ K K K K K K K K K K K K K K K K PID‫א‬‫א‬ ‫א‬‫א‬W ‫א‬‫א‬
 ٨٣ K K K K K K K K K K K K K K K K K K K K  ‫א‬‫א‬‫א‬W‫א‬‫א‬
 ٨٩ K K K K K K K K K K K K K K K K K K K K  ‫א‬‫א‬‫א‬W ‫א‬‫א‬
 ٩٤ K K K K K K K K K K K K K K 
 ‫א‬‫א‬‫א‬‫א‬W ‫א‬‫א‬
 ٩٩ K K K K K K K K K K K K K K K K K K  ‫א‬‫א‬‫א‬W ‫א‬‫א‬‫א‬
 ١٠٤ K K K K K K K K K K K K K K K K K K K K K K  ‫א‬W ‫א‬‫א‬
 ١٠٨ K K K K K K K K K K K K  ‫א‬‫א‬‫א‬‫א‬W ‫א‬‫א‬
 ١١٣ K K K K K K K K K K K K K 
 ‫א‬‫א‬‫א‬‫א‬W ‫א‬‫א‬
 ١١٧ K K K K K K K K K  ‫א‬‫א‬‫א‬MATLAB‫א‬‫א‬W ‫א‬‫א‬
 ١٢٢ K K K K K K K K K K K K PID‫א‬‫א‬‫א‬‫א‬W ‫א‬‫א‬
 ١٣١ K K K K K K K K K K K K Dc MOTOR ‫א‬W ‫א‬‫א‬
 ١٣٧ K K K K K K K K K K K K K K K  ‫א‬W ‫א‬‫א‬‫א‬
 ١٤١ K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K  ‫א‬‫א‬



-١٤٢-

 ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 ‫א‬E‫א‬F‫א‬‫א‬
 GOTEVOT appreciates the financial support provided by BAE SYSTEMS

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تقنية التحكم الالى عملى PDF

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 ‫א‬‫א‬‫א‬

‫ﻣﺨﻄﻂ اﻟﺤﻠﻘﺔ اﻟﻤﻔﺘﻮﺣﺔ‬

‫ﻣﻮﻟﺪ إﺷﺎرة اﻟﺪﺧﻞ‬ ‫درﺟﺔ اﻟﺤﺮارة‬ ‫اﻟﺠﻬﺪ‬

‫ﻣﺨﻄﻂ ﺗﺤﻠﻴﻞ اﻟﻨﻈﻢ اﻟﻤﺘﺤﻜﻢ ﻓﻴﻬﺎ‬

‫ ﻋﻠﻰ اﻟﺘﻮازي‬PI ‫اﻟﺘﻜﺎﻣﻠﻲ‬-‫اﻟﺤﺎآﻢ اﻟﺘﻨﺎﺳﺒﻲ‬

‫ ﻋﻠﻰ اﻟﺘﻮازي‬PD‫ﺣﺎآﻢ ﺗﻨﺎﺳﺒﻲ ﺗﻔﺎﺻﻠﻲ‬

 PID‫א‬J ‫א‬J ‫א‬‫א‬

‫ﻣﻮﻟﺪ ﻧﻘﻄﺔ‬  ‫ﺣﺎآﻢ‬

Optimization Guidelines for PID Controllers

  PID PI  ‫א‬ ٤

‫א‬‫א‬‫ א‬:‫ א‬‫א‬

‫ﻣﻮﻟﺪ ﻧﻘﻄﺔ اﻟﺘﺸﻐﻴﻞ‬ ‫وﺣﺪة ﻣﻦ اﻟﺪرﺟﺔ اﻷوﻟﻰ‬ ‫إﻟﻰ ﺟﻬﺎز‬

‫ ﻣﺨﻄﻂ اﻟﺘﺠﺮﺑﺔ اﻷوﻟﻰ‬١-١ ‫اﻟﺸﻜﻞ‬

 To get started, type one of these: helpwin, helpdesk, or demo.

5  2  0.5  0.1 Tau

 d ( s ) = s 2 + 2ζω 0 s + ω02 W‫א‬

0.05  0.1  0.5  1  ζ

‫ ﻣﺨﻄﻂ اﻟﺤﺎآﻢ اﻟﺘﻨﺎﺳﺒﻲ اﻟﺘﻜﺎﻣﻠﻲ ﻋﻠﻰ اﻟﺘﻮازي‬١- ‫اﻟﺸﻜﻞ‬

‫א‬‫א‬ EF‫א‬ EF‫א‬  EF‫א‬

‫اﻟﺘﻔﺎﺿﻠﻲ ﻋﻠﻰ اﻟﺘﻮازي‬-‫ ﻣﺨﻄﻂ اﻟﺤﺎآﻢ اﻟﺘﻨﺎﺳﺒﻲ‬-٢ ‫اﻟﺸﻜﻞ‬

‫ﻣﻮﻟﺪ‬ ‫ﺣﺎآﻢ ﺗﻜﺎﻣﻠﻲ‬ ‫ﻧﻈﺎم‬

‫ ﻋﻠﻰ اﻟﺘﻮازي‬PID ‫ ﻣﺨﻄﻂ‬-٣ ‫اﻟﺸﻜﻞ‬

Simulink ‫ ﻣﺨﻄﻂ اﻟﺘﺠﺮﺑﺔ‬-٤ ‫اﻟﺸﻜﻞ‬

DC ‫ ﻣﺨﻄﻂ ﺗﺠﺮﺑﺔ اﻟﻤﺤﺮك‬-١ ‫اﻟﺸﻜﻞ‬

 ‫א‬‫א‬ EF‫א‬ EF‫א‬‫א‬ EF‫א‬‫א‬

‫ ﻣﻮاﺻﻔﺎت اﻟﻤﺤﺮك‬- ٢ ‫اﻟﺸﻜﻞ‬

Simulink ‫ ﻣﺨﻄﻂ اﻟﺘﺠﺮﺑﺔ‬-٤ ‫اﻟﺸﻜﻞ‬

‫ ﻣﺨﻄﻂ ﺗﺠﺮﺑﺔ اﻟﺘﺤﻜﻢ ﻓﻲ ﺳﺮﻋﺔ‬١ ‫اﻟﺸﻜﻞ‬

(‫ﺟﻬﺪ اﻟﺪﺧﻞ )ﻓﻮﻟﺖ‬

‫ ﻣﻨﺤﻨﻰ ﻣﻮاﺻﻔﺎت اﻟﺘﺎآﻮ‬٢-‫ﺷﻜﻞ‬

‫ اﻟﺘﺤﻜﻢ ﻓﻲ اﻟﺴﺮﻋﺔ‬٣ ‫اﻟﺸﻜﻞ‬

1. Modern Control System, R. C. Dorf, Edison Wesley, 1990

 GOTEVOT appreciates the financial support provided by BAE SYSTEMS

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