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 ‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬
Essrae1568
 W‫א‬‫א‬
  ‫א‬‫א‬

 ‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬
٠
 ‫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‫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
? J‫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
 K‫א‬‫א‬
‫؛‬‫א‬‫א‬‫א‬‫א‬ 
 K‫א‬
 ‫א‬‫א‬‫א‬‫א‬
 
١
 ‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬
 ‫א‬
 
‫א‬ ‫א‬
٣ 
٤ MATLAB W‫א‬‫א‬
٥ MATLAB‫א‬‫א‬W‫א‬‫א‬
٩ ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬W‫א‬‫א‬
١٠  ‫א‬‫א‬‫א‬W‫א‬‫א‬
١٥ ‫א‬‫א‬W‫א‬‫א‬
١٨ ‫א‬‫א‬‫א‬W‫א‬‫א‬
٢١ ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬W‫א‬‫א‬
٢٢ P- Controller‫א‬‫א‬W‫א‬‫א‬
٢٧   I- Controller‫א‬‫א‬W‫א‬‫א‬
٣١   PI- Controller‫א‬‫א‬‫א‬W‫א‬‫א‬
٣٥ PID- Controller‫א‬‫א‬‫א‬‫א‬W‫א‬‫א‬‫א‬
 ‫א‬‫א‬‫א‬‫א‬‫א‬W‫א‬‫א‬
٤٠ Automatic Speed Control‫א‬‫א‬
 
 ‫א‬‫א‬‫א‬‫א‬‫א‬W‫א‬‫א‬
٤٢  Automatic Light Control‫א‬‫א‬‫א‬
 
٤٤  ‫א‬‫א‬
  
٢
 ‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬
 
 
‫א‬،K،‫א‬‫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
 K‫א‬Matlab‫א‬‫א‬‫א‬K‫א‬‫א‬
 K‫א‬
 W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬K‫א‬LeyboldCom3Lab
K‫א‬K‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬K‫א‬
 K
 
 
 
 
 
 
 
 
 
 
٣
 ‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬
 
 
 
  
‫א‬‫א‬
MATLAB
٤
 ‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬
 MATLAB‫א‬‫א‬
 
 W‫א‬‫א‬
W‫א‬‫א‬  J
KMATLAB  J
SIMULINK  J
 W‫א‬‫א‬
  J
‫א‬‫א‬‫א‬‫א‬‫א‬SimulinkMATLAB  J
KControl Tool Box‫א‬‫א‬‫א‬‫א‬
 
W‫א‬‫א‬‫א‬

 W‫א‬‫א‬
 
n(s)
  G( s) 
d ( s)
 ‫א‬‫א‬d(s)K‫א‬‫א‬n(s)W
 (Polynomial in s)s‫א‬‫א‬
 W‫א‬
 W‫א‬‫א‬
p(s)  s 2  3s  1
 WMATLAB  1،3 ،1Wp(s)
 
 » p=[1 3 1];
 
٥
 ‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬
 
  p(s)  s 3  3s  1 W‫א‬‫א‬W
 » p=[1 0 3 1];W‫א‬، s 2 
 
s 2  2s  1
  G ( s)  W‫א‬‫א‬‫א‬W
s 3  4s 2  2s  1
 
»n=[1 2 1]; W
»d=[1 4 2 1];
 
»Tf(n,d) W‫א‬‫א‬‫א‬‫א‬
»roots(n) W‫א‬‫א‬
 
 W‫א‬‫א‬
 Zans
 
-1
 -1
 W‫א‬‫א‬
 »roots(d)
 ‫א‬‫א‬
 ans=
-3.5115
-0.2442 + 0.4745i
-0.2442 – 0.4745i
 WE١ J١F‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 
 
٦
 ‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬
 
»rlocus(n,d)
 
 
 
 ‫א‬‫א‬W١ J١
 
 »clf‫א‬‫א‬‫א‬
»clc ‫א‬‫א‬‫א‬
  
  »step(n,dF‫א‬‫א‬‫א‬‫א‬
 
‫א‬SIMULINK‫א‬
 K
 WSimulink
Simulink   J
Simulink‫א‬‫ א‬ J
LinearSinksSources‫א‬‫א‬‫א‬‫ א‬ J
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬  J
StartSimulation ‫א‬  J
٧
 ‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬
 K‫א‬Scope‫א‬‫א‬  J
 
 
 
 W‫א‬‫א‬‫א‬
s 1
  G( s)   J١
s(s  2)(s  3)
2
  G ( s)   J٢
s(s  1)(s  2)
 
K‫א‬ MATLAB‫א‬‫א‬‫א‬
 Simulink‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
٨
 ‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬
 
 
 
 
 
 
 
 
‫א‬‫א‬
 ‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬
٩
 ‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬
 ‫א‬‫א‬
‫א‬‫א‬‫א‬
 
W‫א‬‫א‬
 W‫א‬‫א‬  J
Com3Lab‫א‬‫א‬‫ א‬ J
 K‫א‬‫א‬‫א‬‫א‬‫א‬  J
K‫א‬‫א‬‫ א‬ J
K‫א‬‫א‬‫א‬  J
‫א‬‫א‬
(Power Supply)‫א‬  J
K‫א‬‫ א‬ J
Function Generator  J
(Controlled Unit)  J
 Multimeter‫א‬  J
‫א‬‫א‬‫א‬
K‫א‬‫א‬‫א‬‫א‬‫א‬  J
KE٣ J٢F‫א‬‫א‬  J
K‫א‬‫א‬  J
K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬  J
‫א‬‫א‬‫א‬ w = 7 v‫ א‬ J
X0‫א‬‫א‬‫א‬‫א‬200s
E5v‫א‬F‫א‬‫א‬  J
X01‫א‬‫א‬‫א‬‫א‬
 
 
 
 
١٠
 ‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬
 
 ‫א‬WE3-2F‫א‬
 ‫א‬
 W‫א‬Z=0 v W
 
 X0 = ……. v
 
 ‫א‬‫א‬‫א‬
 
 
 E٤ J٢F
 
 ‫א‬Z = 5 vW
 X01 = …… v
 
 ‫؟‬‫א‬،‫א‬
KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK
 KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK
 ‫؟‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 
١١
 ‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬E٥ J٢F‫א‬
‫א‬‫א‬‫א‬٣‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬
 
 
 ‫א‬E٥ J٢F‫א‬
 
 
٧ ٦ ٥ ٤ ‫א‬
 y (v)
‫א‬
x (v)
 
 
Characteristic ‫א‬‫א‬y‫א‬x ‫א‬‫א‬ J
 Com3Lab‫א‬curve plotter
 ‫؟‬‫א‬‫א‬
 KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK
 
 
 
 
 
١٢
 ‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬
 
 
 ‫א‬WE٦ J٢F‫א‬
 
 
 Kp‫א‬‫א‬
 W‫א‬‫א‬
 
∆y = y2 – y1 ∆x= x2 – x1
 ∆y=…….. – ……...∆x= ……... – …….….
∆y=………. ∆x= ……….
Kp= …….
 
 ‫؟‬‫א‬‫א‬Kp‫א‬‫א‬
 KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK
 
 
 
 
١٣
 ‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

‫؟‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ J
‫؟‬‫א‬‫א‬ J
‫؟‬‫א‬E‫א‬F‫א‬ J

‫؟‬‫א‬‫א‬‫א‬ J
 
 
 
 
 
 
 
 
 
 
 
 
١٤
 ‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬
 ‫א‬‫א‬
‫א‬‫א‬
 
 
W‫א‬‫א‬
 W‫א‬‫א‬  J
Com3Lab‫א‬‫א‬‫ א‬ J
E‫א‬‫א‬PT1F‫א‬‫א‬  J
‫א‬‫א‬‫א‬‫א‬‫ א‬ J
 
 W‫א‬‫א‬
EPower Supply)‫א‬  J
COM3LABK‫א‬‫ א‬ J
‫א‬‫א‬FPT1‫א‬‫א‬  J
E‫א‬‫א‬
 
 W‫א‬‫א‬‫א‬
PT1‫א‬E١ J٢F‫א‬‫א‬  J
K‫א‬
K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬  J
Y1‫א‬5s 10v‫א‬‫א‬  J
K‫א‬‫א‬Y2
K  J
 
 
 
 
١٥
 ‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬
 
 
 ‫א‬WE٢ J١F‫א‬
 ‫א‬
 ‫א‬‫א‬‫א‬‫א‬
‫؟‬‫א‬
 KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK
 
 K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬  ‫א‬ ‫א‬‫א‬‫א‬‫ א‬‫א‬

T   Ks = X0 / Y0 Y0   X0
       
Es‫א‬‫א‬‫א‬‫א‬F‫א‬‫א‬
G(s) = ……………………….
 
SIMULINK‫א‬‫א‬
 ‫א‬
 
KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK
 KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK
١٦
 ‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

‫א‬‫א‬‫א‬–
 
 
 
 
 
 
 
 
 
 
‫؟‬‫א‬‫א‬‫א‬‫א‬ J
 
 
 
 
 ‫؟‬‫א‬‫א‬ J
 
 
 
 
 
١٧
 ‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬
 ‫א‬‫א‬
‫א‬‫א‬‫א‬
 
W‫א‬‫א‬
 W‫א‬‫א‬  J
Com3Lab‫א‬‫א‬‫ א‬ J
‫א‬‫א‬  J
‫א‬‫א‬  J
‫א‬‫א‬‫א‬‫ א‬ J
 
 W‫א‬‫א‬
EPower SupplyF‫א‬  J
K‫א‬‫ א‬ J
COM3LAB‫א‬‫א‬  J
‫א‬  J
 W‫א‬‫א‬‫א‬
E٢ J٢F‫א‬‫א‬‫א‬‫א‬  J
K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬  J
K١‫א‬٥‫א‬‫א‬‫א‬‫א‬‫ א‬ J
K‫א‬‫א‬Y2Y1‫א‬‫א‬  J
K  J
 
 
 
 
 
١٨
 ‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬
 
 
 ‫א‬WE٢ J٢F‫א‬
 
 
 ‫א‬
 ‫א‬‫א‬‫א‬‫א‬
 KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK‫؟‬‫א‬
 
K‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬  ‫א‬ ‫א‬‫א‬‫א‬‫ א‬ ‫א‬

T Ks = X0 / Y0 Y0   X0
       
 
 
Es‫א‬‫א‬‫א‬‫א‬F‫א‬‫א‬‫א‬
 
G(s) = ……………………….
 
 
١٩
 ‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 
‫א‬‫א‬‫א‬–
 
 
 
 
 
 
 
 
 
‫؟‬‫א‬‫א‬‫א‬‫א‬ J
 
 
‫؟‬‫א‬،‫א‬‫א‬‫א‬‫א‬–
 
 
 
 ‫؟‬‫א‬‫א‬ J
٢٠
 ‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬
 
 
 
 
 
 
 
 
  
‫א‬‫א‬
 ‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬
٢١
 ‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬
 ‫א‬‫א‬
P- Controller‫א‬‫א‬
 
 
 
W‫א‬‫א‬
 W‫א‬‫א‬  J
Com3Lab‫א‬‫א‬‫ א‬ J
K‫א‬‫א‬‫א‬‫ א‬ J
ts‫א‬‫א‬e ‫א‬  J
 
 W‫א‬‫א‬
K‫א‬‫ א‬ J
E‫א‬،F‫א‬‫א‬  J
 
 W‫א‬‫א‬‫א‬
K‫א‬  J
‫א‬‫א‬‫א‬FKE١ J٣F‫א‬‫א‬  J
KEPT1‫א‬
 
 
 
 
 
 
٢٢
 ‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬
 
  
 ‫א‬WE١ J٣F‫א‬
 
‫א‬‫א‬‫א‬‫א‬‫א‬
5s w0=5v Y2Y1‫א‬‫א‬‫א‬
KKp‫א‬E٥٠١٠١FKp ‫א‬‫א‬K
 
 
 ‫א‬‫א‬‫א‬
 
 ‫א‬ ‫א‬‫א‬  ‫א‬ ‫א‬
ts (s)
 
e= w0 – x0EvF x0EvF  ‫א‬
Kp  
    Kp=1  
      Kp=10  
      Kp=50  
 
 
 ‫؟‬‫א‬
 
 
 
٢٣
 ‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬
 
‫א‬‫א‬‫א‬‫א‬E٢ J٣FSimulink‫א‬‫א‬
  ‫א‬‫א‬kp
 
 ‫א‬WE٢ J٣F
 
 
 ‫א‬ ‫א‬‫א‬  ‫א‬ ‫א‬  
e= w0 – x0EvF ts (s) x0EvF  ‫א‬  
Kp
Kp=1  
   
Kp=10
 
     
 
      Kp=50
 
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
Simulink
 
 
 
 
 
٢٤
 ‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬
 
 E٣ J٣F‫א‬200s7v‫א‬‫א‬‫א‬‫א‬
 
 
 WE٣ J٣F‫א‬
 
 ‫א‬
 W‫א‬‫א‬‫א‬Z=0 v W
 X0 = ……. v
 
 W‫א‬‫א‬Z = 5 vW
 X01= …… v
 ‫؟‬‫א‬،‫א‬
 
 ‫؟‬‫א‬‫א‬‫א‬‫א‬
 
‫؟‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 
٢٥
 ‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

E‫א‬F‫א‬‫א‬‫א‬–
 
 
 
 
 
 
 
 
 ‫؟‬‫א‬‫א‬‫א‬–
 
‫؟‬‫א‬‫א‬‫א‬‫א‬–
 
 ‫؟‬Kp‫א‬‫א‬‫א‬‫א‬‫א‬ J
 
 ‫؟‬‫א‬‫א‬ J
 
 ‫؟‬‫א‬‫א‬‫א‬‫א‬–
٢٦
 ‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬
 ‫א‬‫א‬
 (I-Controller)‫א‬‫א‬
 
W‫א‬‫א‬
 W‫א‬‫א‬  J
Com3Lab‫א‬‫א‬‫ א‬ J
PT1‫א‬‫א‬‫א‬‫ א‬ J
Step FunctionPT1‫א‬‫ א‬ J
 
 W‫א‬‫א‬
K‫א‬‫ א‬ J
(Function Generator)  J
PT1‫א‬‫א‬  J
KCom3Lab  J
K‫א‬  J
 W‫א‬‫א‬‫א‬
K‫א‬‫א‬‫א‬‫א‬‫א‬  J
Out‫א‬‫א‬‫א‬‫א‬‫א‬‫ א‬ J
K
PT1‫א‬FE٤ J٣F‫א‬‫א‬  J
KE‫א‬‫א‬
K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬  J
Y2Y1‫א‬10s5v‫א‬  J
K‫א‬‫א‬
 
 
 
٢٧
 ‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬
 
 WE٤ J٣F‫א‬
 
 
 ‫א‬
‫א‬‫א‬‫א‬E101FKI‫א‬‫א‬
 W‫א‬‫א‬
 
 ‫א‬ ‫א‬ ‫ א‬‫א‬ ‫א‬ ‫א‬‫א‬
 e (v)  tp (s) Mp (v) tr (s) td (s) KI
           ١
           ١٠
 
 
 ‫؟‬‫א‬‫א‬‫א‬‫א‬KI‫א‬‫א‬
 
 
 
 
 
 
٢٨
 ‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬
 E٥ J٣F‫א‬‫א‬‫א‬SIMULINK ‫א‬‫א‬

 
 
 ‫א‬E٥ J٣F‫א‬
 
 
 ‫א‬‫א‬‫א‬‫א‬‫א‬
 
 ‫א‬ ‫א‬ ‫ א‬‫א‬ ‫א‬ ‫א‬‫א‬
 e (v)  tp (s) Mp (v) tr (s) td (s) KI
           ٠{٥
           ١
           ٢
 
 ‫א‬‫א‬‫א‬‫א‬‫א‬
 
 ‫؟‬‫א‬
 
٢٩
 ‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬
 
 ‫א‬‫א‬‫א‬
 
 
 
 
 
 
 
 
 
 ‫؟‬‫א‬‫א‬‫א‬‫א‬
 
K‫א‬‫א‬‫א‬‫א‬
 ‫؟‬
 
 ‫؟‬‫א‬‫א‬
٣٠
 ‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬
 ‫א‬‫א‬
PI- Controller‫א‬‫א‬‫א‬
 
W‫א‬‫א‬
 W‫א‬‫א‬  J
Com3Lab‫א‬‫א‬‫ א‬ J
PT1‫א‬‫א‬‫א‬‫א‬‫ א‬ J
 Step Function‫א‬PT1‫א‬‫ א‬ J
 W‫א‬‫א‬
(Power SupplyF‫א‬  J
K‫א‬‫ א‬ J
 (Function Generator)  J
‫א‬‫א‬PT1‫א‬‫א‬  J
K(Oscilloscope) ‫א‬  J
K‫א‬  J
 W‫א‬‫א‬‫א‬
K‫א‬‫א‬‫א‬‫א‬‫א‬  J
K  J
KE٦ J٣F‫א‬‫א‬  J
K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬  J
‫א‬10 s  w0=5 v ‫א‬  J
K‫א‬‫א‬Y2Y1‫א‬
K  J
 
 
 
 
 
 
 
٣١
 ‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬
 
 ‫א‬‫א‬‫א‬WE٦ J٣F‫א‬
 
 ‫א‬
E50, 10, 1FKp‫א‬‫א‬‫א‬  J
‫א‬Kp  J
 
‫א‬‫א‬  ‫א‬  ‫א‬ ‫א‬  ‫א‬
ts e = W0 – X0 W0 X0 Kp
        1
         ١٠
         ٥٠
‫؟‬‫א‬  J
KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK
 KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK
‫؟‬‫א‬  J
 
٣٢
 ‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬
 E٧ J٣F‫א‬‫א‬‫א‬simulink ‫א‬‫א‬

 
 
 E٧ J٣F‫א‬
 ‫א‬
 ‫א‬‫א‬KIKp =1
2 1 0.1 KI
 
‫؟‬‫א‬
‫؟‬‫א‬
 ‫א‬‫א‬KpKI =1
2 1 0.1 Kp
 
‫؟‬‫א‬  J
‫؟‬‫א‬  J
٣٣
 ‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬

 E‫א‬F‫א‬‫א‬‫א‬ J 
 
 
 
 
 
 
 
 
 
 ‫؟‬‫א‬‫א‬‫א‬‫א‬‫א‬  J
 
 KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK
 
 
 
 
 
 
 
 
 
 
 
٣٤
 ‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬
 ‫א‬‫א‬‫א‬
PID- Controller ‫א‬‫א‬‫א‬‫א‬
 
 
 W‫א‬‫א‬
 
‫א‬‫א‬MATLAB‫א‬‫ א‬ J
KPID‫א‬
K‫א‬‫א‬‫א‬PID‫א‬‫א‬‫א‬  J
،‫א‬‫א‬‫א‬PID‫א‬‫א‬‫א‬  J
K‫א‬‫א‬‫א‬PID‫א‬‫א‬‫א‬  J
‫א‬‫א‬‫א‬‫ א‬ J
W‫א‬‫א‬
21.81
  G ( s) 
0.0063s 2  0.379s  1
 
 W‫א‬‫א‬
  J
Control Tool BoxSimulinkMATLAB  J
 
 
 W‫א‬‫א‬‫א‬
MATLAB  J
SIMULINK  J
SimulinkE٨ J٣F‫א‬‫א‬  J
 W‫א‬‫א‬‫א‬‫א‬  J
 
 
٣٥
 ‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬
 W‫א‬
 
 E٨ J٣F‫א‬
W‫א‬‫א‬KpKi =0 Kd =0 
 ‫א‬  ‫א‬ ‫א‬ ‫א‬ ‫א‬

Mp e X0 tr (s) tr (s) Kp
          ٠{١
          ٠{٥
           ٢
 
 ‫؟‬‫א‬
 ‫؟‬‫א‬
 
 ‫؟‬‫א‬‫א‬‫א‬
KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK
٣٦
 ‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬
 
W‫א‬‫א‬KiKd = 0 Kp = 0.1 W
 ‫א‬  ‫א‬ ‫א‬ ‫א‬ ‫א‬

Mp e X0 tr (s) tr (s) Ki
          ٠{٠٥
          ٠{١
          ٠{٥
           ١
 
 
 ‫؟‬‫א‬
 
 ‫؟‬‫א‬
 
 
 ‫؟‬‫א‬‫א‬‫א‬
٣٧
 ‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬
 
W‫א‬‫א‬KdKi =0 Kp =0.5 W
 ‫א‬  ‫א‬ ‫א‬ ‫א‬ ‫א‬

Mp e X0 tr (s) tr (s) Kd
          ٠{١
          ٠{٥
           ١
 
 ‫؟‬‫א‬
 ‫؟‬‫א‬
 
 
 ‫؟‬‫א‬‫א‬‫א‬
٣٨
 ‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬
 
‫؟‬‫א‬PID ‫א‬‫א‬‫א‬  J
KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK
 KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK
 
 
‫؟‬‫א‬PID‫א‬‫א‬‫א‬‫א‬  J
 
‫؟‬‫א‬PID ‫א‬‫א‬‫א‬‫א‬  J
 
 
‫؟‬‫א‬‫א‬‫א‬‫א‬‫א‬  J
 
 
 
 
 
 
٣٩
 ‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬
 ‫א‬‫א‬
 ‫א‬‫א‬‫א‬‫א‬‫א‬
Automatic Speed Control‫א‬‫א‬
 
 
 
  
W‫א‬‫א‬
 W‫א‬‫א‬
Com3Lab‫א‬‫א‬‫א‬  J
K‫א‬‫א‬‫א‬‫א‬‫א‬  J
Kxs‫א‬‫א‬‫א‬  J
 Ks,Tu,Tg‫א‬‫א‬‫א‬  J
،‫א‬‫א‬‫א‬‫א‬PID‫א‬  J
K‫א‬‫א‬‫א‬
W‫א‬‫א‬
K‫א‬‫ א‬ J
Speed Control Unit‫א‬‫א‬  J
KOscilloscope‫א‬  J
Function Generator‫א‬  J
‫א‬،EF‫א‬‫ א‬ J
COM3LAB‫א‬‫א‬‫א‬
 W‫א‬‫א‬‫א‬
K‫א‬‫א‬‫א‬‫א‬‫א‬  J
F‫א‬‫א‬‫א‬‫א‬E٨ J٣F‫א‬‫א‬  J
KCOM3LAB‫א‬‫א‬EH
KY1‫א‬‫א‬‫א‬‫א‬‫ א‬ J
٤٠
 ‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬  J
K‫א‬
K‫א‬‫א‬Y1‫א‬‫א‬  J
 
 
 ‫א‬‫א‬‫א‬WE٨ J٣F‫א‬
 ‫א‬
K‫א‬‫א‬‫א‬‫א‬  J١
KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKs ‫א‬‫א‬  J٢
KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKTu ‫א‬‫א‬  J٣
KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKTg ‫א‬‫א‬  J٤
 
 ‫؟‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬  J١
 K‫א‬‫א‬‫ א‬ J
 K‫א‬‫א‬‫א‬‫ א‬ J
K‫א‬‫א‬‫ א‬ J
 
‫؟‬Kp‫א‬‫א‬  J٢
 
٤١
 ‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬
 ‫א‬‫א‬
 ‫א‬‫א‬‫א‬‫א‬‫א‬
 Automatic Light Control‫א‬‫א‬‫א‬
 
W‫א‬‫א‬
 W‫א‬‫א‬
Com3Lab‫א‬‫א‬‫א‬  J
K‫א‬‫א‬‫א‬‫א‬‫א‬  J
Kxs‫א‬‫א‬‫א‬  J
 Ks,Tu,Tg‫א‬‫א‬‫א‬  J
K‫א‬‫א‬‫א‬‫א‬‫א‬PID‫א‬  J
 
W‫א‬‫א‬
K‫א‬‫ א‬ J
Light Control Unit‫א‬‫א‬  J
KOscilloscope‫א‬  J
Function Generator‫א‬  J
 W‫א‬‫א‬‫א‬
K‫א‬‫א‬‫א‬‫א‬‫א‬  J
KE٩ J٣F‫א‬‫א‬  J
KY1‫א‬‫א‬‫א‬‫א‬‫ א‬ J
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬  J
K‫א‬
K‫א‬‫א‬Y1‫א‬‫א‬  J
  
 
٤٢
 ‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬
 
 
 ‫א‬‫א‬WE٩ J٣F‫א‬
 ‫א‬
K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬  J١
K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬  J٢
K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬  J٣
 ‫؟‬‫א‬
 ‫؟‬‫א‬
 
 ‫؟‬‫א‬‫א‬‫א‬‫א‬‫א‬‫ א‬ J١
 K‫א‬‫א‬‫ א‬ J
 K‫א‬‫א‬‫א‬‫ א‬ J
 K‫א‬‫א‬‫ א‬ J
 
‫؟‬Kp‫א‬‫א‬  J٢
 
٤٣
 ‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬
 
 ‫א‬‫א‬
 
 ‫א‬  ‫א‬‫א‬
R. C. Dorf, Edison Wesley, 1990 Modern Control System
C. T. Chen, Saunders College
Control System Design
Publishing, 1993
John Van De Vegta, Prentice Hall,
Feedback Control System,
1990
B. Kuo, Prentice Hall Automatic Control Systems
Johnson, C. D. Process Control
Prentice Hall, 2002 Instrumentation Technology,
 
Bateson, R. N. Introduction to Control
Prentice Hall, 2002
Systems Technology,
Ogata, K. Modern control Engineering,
Prentice Hall, 1997
Dorf, R. C. and Bishop, R. H. Modern

Addisson Wesley, 1998
Control Systems,
‫א‬،‫א‬‫א‬،
‫א‬ ،‫א‬‫א‬‫א‬‫א‬
١٩٩١
 
٤٤

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‫א‬‫א‬  ‫א‬ ‫א‬‫א‬‫א‬‫ א‬‫א‬

‫א‬‫א‬  ‫א‬ ‫א‬‫א‬‫א‬‫ א‬ ‫א‬

 E٥ J٣F‫א‬‫א‬‫א‬SIMULINK ‫א‬‫א‬

 E٧ J٣F‫א‬‫א‬‫א‬simulink ‫א‬‫א‬

 ‫א‬  ‫א‬ ‫א‬ ‫א‬ ‫א‬

W‫א‬‫א‬KiKd = 0 Kp = 0.1 W

 ‫א‬  ‫א‬ ‫א‬ ‫א‬ ‫א‬

W‫א‬‫א‬KdKi =0 Kp =0.5 W

 ‫א‬  ‫א‬ ‫א‬ ‫א‬ ‫א‬

Dorf, R. C. and Bishop, R. H. Modern

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