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

ã¹]<gè…‚jÖ]æ<ËÖ]<Üé×Ãj×Ö<íÚ^ÃÖ]<퉉ö¹]

‫א‬‫א‬‫א‬‫א‬




٢٤٢
 ‫א‬  ‫א‬٢٤٢  ‫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  
 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      
   ‫א‬٢٤٢  ‫א‬
    


 ‫א‬‫א‬‫א‬
،،‫א‬‫א‬،‫א‬‫א‬
‫א‬‫א‬‫א‬
 ? ‫א‬?W ‫א‬
 K??،‫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K ‫א‬‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬‫א‬‫א‬
 W‫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W  ‫א‬‫א‬
 K‫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K  ‫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
 K‫א‬


   ‫א‬٢٤٢  ‫א‬
    


‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬K‫א‬‫א‬‫א‬
K ‫א‬‫א‬‫א‬‫א‬
‫א‬،‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬



  ‫א‬‫א‬‫א‬
ã¹]<gè…‚jÖ]æ<ËÖ]<Üé×Ãj×Ö<íÚ^ÃÖ]<퉉ö¹]

‫א‬‫א‬‫א‬‫א‬


‫א‬‫א‬
Meqin
 ‫א‬‫א‬

١
  ‫א‬‫א‬  ‫א‬٢٤٢  ‫א‬
‫א‬‫א‬    


W‫א‬‫א‬
 W‫א‬‫א‬‫א‬‫א‬
K‫א‬‫א‬ •
 K‫א‬‫א‬ •
 K‫א‬‫א‬‫א‬ •
K‫א‬‫א‬‫א‬ •
K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ •
K‫א‬،‫א‬،‫א‬،‫א‬W‫א‬‫א‬‫א‬ •

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  ‫א‬‫א‬  ‫א‬٢٤٢  ‫א‬
‫א‬‫א‬    


 

(Automatic Control Systems Technology)‫א‬‫א‬
،‫א‬‫א‬‫א‬‫א‬‫א‬،‫א‬‫א‬
،‫א‬‫א‬‫א‬‫א‬K
 ‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
K‫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
KK‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬
W،‫א‬‫א‬‫א‬‫א‬،
 ،‫א‬‫א‬
 ،‫א‬‫א‬‫א‬
 KKKK‫א‬‫• א‬
، ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬(Urban Planning)‫א‬‫א‬‫א‬ (Transportation Systems)‫א‬
 KKK(Environment)


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  ‫א‬‫א‬  ‫א‬٢٤٢  ‫א‬
‫א‬‫א‬    


 W‫א‬‫א‬‫א‬‫א‬

q
(t) 


q in


‫א‬W١J ١‫א‬ 

‫א‬‫א‬  
 W،‫א‬،‫א‬‫א‬
 (input flow rate)‫א‬‫א‬‫א‬‫א‬Wqin
 (output flow rate)‫א‬‫א‬‫א‬‫א‬Wqout
 (inlet valve)‫א‬WRin
(outlet valve)‫א‬WRout
K‫א‬‫א‬‫א‬‫א‬
 Manual Control‫א‬‫א‬W‫א‬‫א‬
‫א‬،‫א‬‫א‬
KE‫א‬F‫א‬‫א‬‫א‬‫א‬‫א‬






‫א‬‫א‬W٢J ١‫א‬

h


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  ‫א‬‫א‬  ‫א‬٢٤٢  ‫א‬
‫א‬‫א‬    


 W‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬W(Process to be controlled)‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬،‫א‬،‫א‬‫א‬،‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬:(Sensor)‫א‬
 K‫א‬‫א‬‫א‬،Eh‫א‬F
‫א‬‫א‬‫א‬‫א‬‫א‬W(Comparator)‫א‬
K‫א‬‫א‬‫א‬‫א‬‫א‬
،‫א‬‫א‬‫א‬‫א‬‫א‬W(Controller)‫א‬
 K‫א‬‫א‬‫א‬،‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬،‫א‬ ‫א‬‫א‬‫א‬W(Actuator)‫א‬
 ،‫א‬
‫א‬‫א‬(Final Control Element)‫א‬ ‫א‬
 K‫א‬‫א‬‫א‬‫א‬

 Mechanical Control‫א‬‫א‬W‫א‬‫א‬
،‫א‬‫א‬‫א‬ K
 ‫א‬‫א‬‫א‬،‫א‬‫א‬
‫א‬‫א‬K‫א‬‫א‬‫א‬،‫א‬‫א‬‫א‬‫א‬
،??،(Mechanical Control)‫א‬
‫א‬‫א‬‫א‬،??K
 
K







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  ‫א‬‫א‬  ‫א‬٢٤٢  ‫א‬
‫א‬‫א‬    


Pneumatic W‫א‬F‫א‬ ‫א‬‫א‬‫א‬

 KEHydraulic ControlWF‫א‬‫א‬،EControl

qi 


h



‫א‬‫א‬‫ א‬W٣J ١ ‫א‬


 (Electronic Control)‫א‬‫א‬W‫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
 K‫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
 K٤J ١‫א‬K‫א‬‫א‬‫א‬

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  ‫א‬‫א‬  ‫א‬٢٤٢  ‫א‬
‫א‬‫א‬    



 


‫א‬ 

q
‫א‬ 
()
‫ א‬

‫א‬
q 
() 
‫א‬‫א‬‫א‬W٤J ١‫א‬ 

 W‫א‬‫א‬‫א‬
‫א‬‫א‬W(Analogue)‫א‬‫א‬‫א‬‫א‬
 K٦J ١‫א‬

‫א‬‫א‬

‫א‬
‫א‬‫א‬٦J ١‫א‬




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  ‫א‬‫א‬  ‫א‬٢٤٢  ‫א‬
‫א‬‫א‬    


،‫א‬‫א‬(Digital)‫א‬‫א‬‫א‬
 K٧J ١‫א‬‫א‬


‫א‬‫א‬






‫א‬ 

‫א‬‫א‬٧J ١‫א‬

 W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬W(Analogue Control Systems)‫א‬‫א‬
K‫א‬‫א‬
،‫א‬W(Digital Control Systems)‫א‬‫א‬
‫א‬(Computer Control Systems)‫א‬‫א‬‫א‬
K‫א‬‫א‬
 W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
W(DDC: Direct Digital Control)‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬‫א‬،‫א‬
(SCADA: Supervisory Control and Data ‫א‬‫א‬‫א‬‫א‬
K‫א‬(Monitoring)‫א‬WAcquisition)
 K‫א‬‫א‬‫א‬
(DCS: Distributed Control Systems)‫א‬‫א‬
‫א‬W(PLC: Programmable Logic Controller:)‫א‬‫א‬‫א‬
‫א‬K(sequential)‫א‬‫א‬

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  ‫א‬‫א‬  ‫א‬٢٤٢  ‫א‬
‫א‬‫א‬    


،‫א‬‫א‬،‫א‬،
K

 
 System‫א‬
K ‫א‬‫א‬
‫א‬‫א‬K١J ١‫א‬‫א‬‫א‬‫א‬‫א‬،
‫א‬،‫א‬،‫א‬ ‫א‬،‫א‬‫א‬
 K‫א‬‫א‬‫א‬
 W(Control System) ‫א‬
 ‫א‬
 ‫א‬
‫א‬‫א‬‫א‬،K‫א‬
‫א‬‫א‬‫א‬K٤J ١‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬،‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬
 ‫א‬
 K‫א‬‫א‬‫א‬‫א‬‫א‬
 ‫א‬
 K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
،?Signal?،‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬،‫א‬‫א‬،‫א‬
‫א‬‫א‬‫א‬،‫א‬‫א‬،
 K‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬،‫א‬‫א‬
K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬،‫א‬‫א‬
 K‫א‬h(t)‫א‬‫א‬qin ‫א‬


-٨ -
  ‫א‬‫א‬  ‫א‬٢٤٢  ‫א‬
‫א‬‫א‬    


 W‫א‬
K‫א‬‫א‬‫א‬‫א‬
K‫א‬‫א‬‫א‬‫א‬K‫א‬‫א‬
 W‫א‬‫א‬

K‫א‬
K‫א‬‫א‬‫א‬
K‫א‬‫א‬‫א‬
K‫א‬،‫א‬،‫א‬،‫א‬

-٩ -
  ‫א‬‫א‬  ‫א‬٢٤٢  ‫א‬
‫א‬‫א‬    


 

 ‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬
W‫א‬‫א‬‫א‬
 DDC
 DCS
 SCADA
PLC

 W‫א‬
 ‫א‬
 ‫א‬
 ‫א‬
‫א‬





-١٠-
  ‫א‬‫א‬‫א‬
ã¹]<gè…‚jÖ]æ<ËÖ]<Üé×Ãj×Ö<íÚ^ÃÖ]<퉉ö¹]

‫א‬‫א‬‫א‬‫א‬


‫א‬
 ‫א‬

٢
 ‫א‬‫א‬ ‫א‬٢٤٢  ‫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‫א‬‫א‬ •


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 ‫א‬‫א‬ ‫א‬٢٤٢  ‫א‬
 ‫א‬    


 
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬K‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬‫א‬W‫א‬

 Block Diagram‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬،‫א‬‫א‬‫א‬
،‫א‬‫א‬KE‫א‬‫א‬F‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 K١J ٢‫א‬،‫א‬‫א‬‫א‬

‫א‬ 
‫א‬
‫א‬System 

In O
put utput 

 ‫א‬‫א‬١J ٢‫א‬

٣J ٢‫א‬(take off point)‫א‬‫א‬
 ٢J ٢‫א‬(summing junctions)


Z=±x±

y

٣J ٢‫א‬ 
٢J ٢‫א‬


-١٢-
 ‫א‬‫א‬ ‫א‬٢٤٢  ‫א‬
 ‫א‬    



٤J ٢‫א‬‫א‬‫א‬‫א‬‫ א‬١J ٢

q 
(t) 




‫א‬٤J ٢‫א‬ 
 W‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬، ‫א‬‫א‬‫א‬‫א‬‫א‬
 W‫א‬‫א‬،‫א‬

h(t 
qi
n(t)  ‫א‬System )




‫א‬‫א‬‫א‬ ٥J ٢‫א‬

‫א‬،‫א‬
 K‫א‬‫א‬‫א‬‫א‬

-١٣-
 ‫א‬‫א‬ ‫א‬٢٤٢  ‫א‬
 ‫א‬    



‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ ٢J ٢
٦J ٢‫א‬

  

EF 

 
‫א‬

q
() ‫א‬ 
‫א‬ 
 ‫ א‬


٦J ٢‫א‬

 W‫א‬
،Er(t)‫א‬‫א‬F‫א‬‫א‬‫א‬
Kh(t)‫א‬،‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 W‫א‬‫א‬‫א‬
h(t 
r(t
) ) 
‫א‬


‫א‬‫א‬‫א‬‫א‬٧J ٢‫א‬


 W(Subsystems)‫א‬
،‫א‬‫א‬‫א‬‫א‬،‫א‬‫א‬‫א‬‫א‬‫• א‬
،‫א‬‫א‬‫א‬‫א‬،‫• א‬

-١٤-
 ‫א‬‫א‬ ‫א‬٢٤٢  ‫א‬
 ‫א‬    


‫א‬‫א‬،‫• א‬
KE‫א‬‫א‬F‫א‬‫א‬ •
 W‫א‬‫א‬‫א‬
،‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫• א‬
،‫א‬‫א‬‫א‬‫א‬‫• א‬
،‫א‬‫א‬‫א‬ •
 W‫א‬‫א‬‫א‬‫א‬‫א‬،‫א‬


 ()
() ‫א‬ ‫א‬ ‫א‬



‫א‬ 

‫א‬‫א‬‫א‬‫א‬٨J ٢‫א‬ 


 Laplace Transforms
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
،‫א‬t‫א‬‫א‬ K‫א‬
 W،σ+jω‫א‬s
∞
E١J ٢F
 L( f (t )) = F ( s ) = ∫ f (t )e
− st
dt
0
 f(t)L(f(t))

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 ‫א‬‫א‬ ‫א‬٢٤٢  ‫א‬
 ‫א‬    



 ‫א‬‫א‬‫א‬
W‫א‬
 WA‫א‬
E٢J ٢F ⎧ A; t ≥ 0
 x (t ) = ⎨
⎩0 t<0

 W





 W،‫א‬
∞ ∞
X ( s ) = ∫ x (t )e − st dt = ∫ Ae − st dt
0 0

∞
A A
X ( s ) = − e − st =
s s
0
u(t)،A=١‫א‬‫א‬
 W‫א‬،‫א‬
A
U ( s) =
s
 ‫א‬
 W‫א‬‫א‬
E٣J ٢F 
⎧⎪ Ae at ; t ≥ 0
x (t ) = ⎨
⎪⎩ 0 t<0
 WE١J ٢F‫א‬،‫א‬

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 ‫א‬‫א‬ ‫א‬٢٤٢  ‫א‬
 ‫א‬    

∞ ∞ ∞
X ( s ) = ∫ x (t )e − st dt = ∫ Ae at e − st dt = ∫ Ae −( s −a )t dt
0 0 0

∞
A − st A
X ( s) = − e =
s−a s−a
0
 KE١J ٢F‫א‬

 ‫א‬
‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬
W‫א‬ •
E٤J ٢F  L( af (T ) + bg (t ) + = aF ( s ) + bG ( s )
 L( g (t )) = G ( s )  L( f (t )) = F ( s ) 

 K‫א‬‫א‬‫א‬
 W‫א‬‫א‬ •
،‫א‬‫א‬
 K‫א‬‫א‬‫א‬
E٥J ٢F  L(f'(t))=sF(s)-f(٠)
 W‫א‬E٥J ٢F‫א‬‫א‬
E٦J ٢F L(f''(t))=s٢F(s)-sf('(٠)-f(٠)
s‫א‬‫א‬‫?א‬W‫א‬
 K?
 ‫א‬‫א‬ ٣J ٢
 ،‫א‬‫א‬
⎧ t; t ≥ 0
 r (t ) = ⎨
⎩0; t < 0

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 ‫א‬‫א‬ ‫א‬٢٤٢  ‫א‬
 ‫א‬    


‫א‬‫א‬‫א‬ ، t = ∫0 1dt 

t

‫א‬‫א‬، r (t ) = ∫0 u(τ )dτ W

 ‫א‬
t

1
 L( r (t )) = L(u(t ))  L(u (t )) = sL(( r (t )) 
s
 W‫א‬‫א‬،
E٧J ٢F  L( r (t )) =
1
s2
 WTime Shift ‫א‬‫א‬‫א‬ •
E٨J ٢F L( f (t − T ) = e − sT F ( s )

 WFinal Value Theorem‫א‬‫א‬‫א‬ •

‫א‬‫א‬‫א‬‫א‬ lim sF ( s ) ‫א‬
s →∞
 W‫א‬f(t)
E٩J ٢F  f (0) = lim sF ( s )
s →∞
 W(final value theorem)‫א‬‫א‬ •
‫א‬‫א‬‫א‬ lim sF ( s) ‫א‬
s→0
 W‫א‬f(t)
E١٠J ٢F  lim f (t ) = lim sF ( s )
t →0 s →∞
 K‫א‬E٢J ٢F‫א‬

  Transfer Function‫א‬‫א‬
 W،‫א‬‫א‬‫א‬‫א‬
‫א‬ 
‫א‬ 
‫א‬


-١٨-
 ‫א‬‫א‬ ‫א‬٢٤٢  ‫א‬
 ‫א‬    



‫א‬،‫א‬‫א‬‫א‬
‫א‬ ‫ א‬ K‫א‬‫א‬
 ‫א‬‫א‬ 


‫א‬‫א‬‫א‬٩J ٢‫א‬ 

‫א‬‫א‬‫א‬،‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬‫א‬،‫א‬
 ‫א‬‫א‬‫א‬
‫א‬‫א‬
K‫א‬‫א‬‫א‬‫א‬‫א‬
Proportional System‫א‬‫• א‬
‫א‬،‫א‬‫א‬W ‫א‬‫ א‬o
 W‫א‬
E١١J ٢F  y(t) = Kx(t)
 K‫א‬K 
‫א‬‫א‬‫א‬W‫א‬‫א‬‫ א‬o
 W‫א‬‫א‬
y(t
x(t 
) )
K



‫א‬‫א‬‫א‬١٠J ٢‫א‬


-١٩-
 ‫א‬‫א‬ ‫א‬٢٤٢  ‫א‬
 ‫א‬    


،‫א‬‫א‬‫א‬W‫א‬‫א‬‫א‬ o
 KE١٢J ٢F‫א‬
 L( y (t )) = L( Kx(t ))
 ‫א‬‫א‬
Y(s) = KX(s)
 ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
Y ( s)
 G( s) = =K
X ( s)
W‫א‬RC ‫א‬‫א‬‫א‬‫א‬‫א‬ ٤J ٢
R1
+
+

e -
R2 v2
-

 W‫א‬
 We v٢‫א‬‫א‬‫א‬‫א‬
R
v2 = 2 e
R1
 ‫א‬
R
 V2 ( s ) = 2 E ( s )
R1

 W‫א‬‫א‬
V2 ( s ) R2
=
E ( s ) R1
 ‫א‬‫א‬‫א‬‫א‬‫א‬
y(t
x(t
) 
) R2
R1 

Derivative System‫א‬‫• א‬
 W‫א‬‫א‬،‫א‬‫א‬W‫א‬‫ א‬o

-٢٠-
 ‫א‬‫א‬ ‫א‬٢٤٢  ‫א‬
 ‫א‬    


E١٢J ٢F  y (t ) =
dx (t )
dt
‫א‬‫א‬‫א‬ W
 ‫א‬‫א‬‫ א‬o
 W‫א‬‫א‬

y

x d 
dt


‫א‬‫א‬١١J ٢‫א‬ 

،‫א‬‫א‬‫א‬W‫א‬‫א‬‫א‬ o
 KE١٢J ٢F‫א‬
 L( y (t )) = L(
dx (t )
) = L( x ' (t ))
dt
 W‫א‬‫א‬
Y(s) = sX(s)
 ‫א‬‫א‬‫א‬‫א‬‫ א‬‫א‬
Y ( s)
G( s) = =s
X ( s)

 Ks‫א‬‫א‬‫א‬

X Y x d y
s 
dt


s‫א‬‫א‬‫א‬‫א‬١٢J ٢‫א‬




-٢١-
 ‫א‬‫א‬ ‫א‬٢٤٢  ‫א‬
 ‫א‬    



W‫א‬RC ‫א‬‫א‬‫א‬‫א‬‫א‬ ٥J ٢
R

+ +
+
ei -
eo
-
-

 W‫א‬
 Weoei ‫א‬‫א‬‫א‬‫א‬
dei
eo = − RC = − RC (ei )'
dt
‫א‬‫א‬‫א‬‫א‬
 
 Eo( s ) = − RCsEi ( s )

 W‫א‬‫א‬
Eo( s )
= − RCs
Ei ( s )

 ‫א‬‫א‬‫א‬‫א‬‫א‬
y(t
x(t
) 
) − RCs


Integral System‫א‬‫• א‬
 W‫א‬‫א‬،‫א‬‫א‬W‫א‬‫ א‬o
E١٢J ٢F  t
y (t ) = ∫ x (τ )dτ
0
‫א‬‫א‬‫א‬W
 ‫א‬‫א‬‫ א‬o
W‫א‬‫א‬
 o
-٢٢-
 ‫א‬‫א‬ ‫א‬٢٤٢  ‫א‬
 ‫א‬    


y 
x
∫ 

‫א‬‫א‬١٣J ٢‫א‬ 

،‫א‬‫א‬‫א‬ 
 W
 ‫א‬‫א‬‫א‬ o
 KE١٣J ٢F‫א‬
t
 L( y (t )) = L( ∫ x (τ )dτ )
0
 ‫א‬‫א‬yxx y
 X ( s ) = sY ( s )
 ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
Y ( s) 1
G( s) = =
X ( s) s

 Ks‫א‬‫א‬‫א‬

X
1
Y x
∫
y 
s 

 ‫א‬‫א‬‫א‬١٤J ٢‫א‬

s‫א‬


-٢٣-
 ‫א‬‫א‬ ‫א‬٢٤٢  ‫א‬
 ‫א‬    



W‫א‬RC ‫א‬‫א‬‫א‬‫א‬‫א‬ ٦J ٢
C

+ +
+
ei -
eo
-
-

 W‫א‬
 Weoei ‫א‬‫א‬‫א‬‫א‬

t
eo = − RC ∫ eidt
0

‫א‬‫א‬‫א‬‫א‬
 
1
 Eo( s ) = − Ei ( s )
RC

 W‫א‬‫א‬
Eo( s ) 1
=−
Ei ( s ) RCs



 ‫א‬‫א‬‫א‬‫א‬‫א‬
y(t
x(t
) 
) 1
− 
RCs



-٢٤-
 ‫א‬‫א‬ ‫א‬٢٤٢  ‫א‬
 ‫א‬    


 Systems Interconnection‫א‬

 K  
    ‫א‬‫א‬
 
Series Connection ‫א‬‫א‬‫א‬ o
،‫א‬‫א‬‫א‬‫א‬‫א‬
 
‫א‬‫א‬‫א‬‫א‬،١٥J ٢‫א‬
 K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
E١٣J ٢F  G ( s ) = G1 ( s )G 2 ( s )

X Y Y
() G١(s) () G٢(s) () 
X 
()

‫א‬١٥J ٢ ‫א‬ 

Parallel Connection ‫א‬‫א‬‫א‬ o
‫א‬،‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬،١٦J ٢‫א‬،‫א‬
 K‫א‬‫א‬‫א‬‫א‬‫א‬
X Y 
G١(s)
X Y 
() () 
X Y 
G٢(s)


‫א‬‫א‬١٦J ٢ ‫א‬

E١٣J ٢F  G ( s ) = G1 ( s ) + G 2 ( s )

Feedback Configuration‫א‬‫א‬‫ א‬o

-٢٥-
 ‫א‬‫א‬ ‫א‬٢٤٢  ‫א‬
 ‫א‬    


 ١٧J ٢‫א‬‫א‬‫א‬‫א‬
 ‫א‬‫א‬‫א‬
 E١٤J ٢F  C ( s)
=
G(s)
R( s) 1 + G ( s ) H ( s )
‫א‬‫א‬‫א‬H(s)‫א‬‫א‬‫א‬G(s) 
R( C( 
G(



H(


‫א‬‫א‬١٧J ٢ ‫א‬ 
W‫א‬‫א‬‫א‬ ٧J ٢

X Y Y
١ (s) (s) (s)
٢
G١(s) ١ G٢(s) 
X 
٢(s)


10
 G2 ( s) =  G1 ( s ) = 1 
2s + 1 s +1


 W‫א‬
 ‫א‬‫א‬‫א‬‫א‬‫א‬،‫א‬‫א‬‫א‬
Y ( s)
G( s) = 2 = G1 ( s ) ⋅ G 2 ( s )
X 1( s )
1 10
= ⋅
s + 1 2s + 1
10
2 s 2 + 3s + 1

-٢٦-
 ‫א‬‫א‬ ‫א‬٢٤٢  ‫א‬
 ‫א‬    


 ‫א‬‫א‬‫א‬

X Y 
(s)
١ ٢ (s) 
G
(s) 



W‫א‬‫א‬‫א‬ ٨J ٢
X Y
١ (s) ١ (s)
G١(s) 
X Y

(s) (s)

X 
(s) Y
٢
٢ (s) 
G٢(s)



20
 G2 ( s) =  G1 ( s ) = 1 
0.1s + 5 0.25s + 1
 W‫א‬
 ‫א‬‫א‬‫א‬‫א‬‫א‬،‫א‬‫א‬‫א‬

-٢٧-
 ‫א‬‫א‬ ‫א‬٢٤٢  ‫א‬
 ‫א‬    


Y ( s)
G( s) = = G1 ( s ) + G 2 ( s )
X (s)
20 10
= +
s + 5 s +1
20( s + 1) 10( s + 5)
= +
( s + 5)( s + 1) ( s + 5)( s + 1)
30s + 70
=
( s + 5)( s + 1)
30s + 7
=
2
s + 6s + 5
 ‫א‬‫א‬‫א‬
X
Y 
(s)
(s) 
30s + 7
s 2 + 6s + 5 




W‫א‬‫א‬‫א‬ ٩J ٢

R(s E  C(s
 G(s



H(s

1
 H(s)=١ G ( s ) = ،
0.25s + 1


-٢٨-
 ‫א‬‫א‬ ‫א‬٢٤٢  ‫א‬
 ‫א‬    


 W‫א‬
‫א‬‫א‬،‫א‬‫א‬‫א‬
 ‫א‬
C ( s) G(s)
 =
R( s) 1 + G ( s) H ( s)

1
= 0.25s + 1
1
 1+
0.25s + 1
1
=
0.25s + 2
 ‫א‬‫א‬‫א‬

R(s) C 
(s)
1 
0.25s + 2



-٢٩-
 ‫א‬‫א‬ ‫א‬٢٤٢  ‫א‬
 ‫א‬    



 ‫א‬E١J ٢F
  ‫א‬‫א‬
A ⎧ A; t ≥ 0
u(t ) = ⎨
s ⎩ 0; t < 0
A ⎧ At; t ≥ 0
r (t ) = ⎨
⎩ 0; t < 0
2
s

e at
1
s−a
ω sin ωt
s +ω
2 2

s cos ωt
s + ω2
2




 ‫א‬E٢J ٢F
L( af (t ) + bg (t )) = aF ( s ) + bG ( s ) ‫ א‬K١

L( f ( at )) =
1 s
F( ) ‫א‬ K٢
a a

L( f (t − T )) = e − sT F ( s ) ‫א‬‫א‬‫ א‬K٣
t
L( e at f (t )) = F ( s − a ) s‫א‬‫ א‬K٤

L( f ' (t )) = sF ( s ) − f (0) ‫א‬ K٥

‫א‬
lim f (t ) = lim sF ( s ) ‫א‬‫א‬ K٦
t →∞ s →0

lim f (t ) = lim sF ( s ) ‫א‬‫א‬‫א‬ K٧

t →0 s→∞

-٣٠-
 ‫א‬‫א‬ ‫א‬٢٤٢  ‫א‬
 ‫א‬    


 W‫א‬
K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
K‫א‬‫א‬‫א‬‫א‬
K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
KE‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬F‫א‬‫א‬‫א‬‫א‬

-٣١-
 ‫א‬‫א‬ ‫א‬٢٤٢  ‫א‬
 ‫א‬    


 

‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬
 WRC‫א‬J 
R

+
+ vR(t)- 
e(t)
+
 C v(t)
-

- 

  K‫א‬‫א‬x(t)،F(t)M‫א‬‫א‬‫א‬J 

F(t)
M

 0 x(t)


Ta،‫א‬‫א‬‫א‬‫א‬T‫א‬‫א‬q(t)،J 
 K‫א‬‫א‬‫א‬

T,C T
a
q(t)
R



‫א‬‫א‬
t≥٠،x(t) = ١٠ J 

-٣٢-
 ‫א‬‫א‬ ‫א‬٢٤٢  ‫א‬
 ‫א‬    


t≥٠،x(t) = ١٠ J 
t≥٠،x(t) = ٣tJ 
t≥٠،x(t) = ٢t J 
t≥٠،z(t)=e٥t J 
t≥٠،z(t)=١٠e ٧t J 
t≥٠،x(t)=٢sin٣t J 
t≥٠،y(t)=١٠Cos٥tJ 
t≥٠،v(t)=eatCos ωt J 
t≥٠،w(t)=eatsinωt J 

W‫א‬‫א‬‫א‬
J ‫א‬
C(s)
R 
١ ١
s s
+٣


 J  
١

C(
R( ١
٠{١s t)
t) ٠
H١

٢
٠{٥s
H١  
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
E١٥J ٢‫א‬F‫א‬

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 ‫א‬‫א‬ ‫א‬٢٤٢  ‫א‬
 ‫א‬    


W‫א‬‫א‬‫א‬



R(s) C(s)
E(s) 
s+٥


١
s+١

-٣٤-
  ‫א‬‫א‬‫א‬
ã¹]<gè…‚jÖ]æ<ËÖ]<Üé×Ãj×Ö<íÚ^ÃÖ]<퉉ö¹]

‫א‬‫א‬‫א‬‫א‬


‫א‬‫א‬‫א‬
 ‫א‬‫א‬‫א‬

٣
  ‫א‬‫א‬  ‫א‬٢٤٢  ‫א‬
 ‫א‬‫א‬‫א‬    


 W‫א‬‫א‬
 W‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬ K١
 ‫א‬‫א‬‫א‬‫ א‬K٢
‫א‬‫א‬‫א‬‫א‬ K٣
‫א‬‫א‬‫א‬‫א‬ K٤
‫א‬‫א‬‫א‬‫א‬ K٥
‫א‬‫א‬ K٦
‫א‬‫א‬ K٧
‫א‬‫א‬‫א‬ K٨

-٣٥-
  ‫א‬‫א‬  ‫א‬٢٤٢  ‫א‬
 ‫א‬‫א‬‫א‬    


 
K‫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
K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬،‫א‬‫א‬،‫א‬‫א‬‫א‬

 First Order Systems‫א‬‫א‬

‫א‬‫א‬‫א‬RC‫א‬‫א‬‫א‬
 ١J ٣
‫א‬‫א‬‫ א‬K٩
 K •
R
+ 
+ vr(t) -
+ 
e(t) C v(t)
-

-

 ‫א‬RC ‫א‬١J ٣ ‫א‬ 

 W‫א‬‫א‬‫א‬‫א‬
E١J ٣F  vr (t ) + v (t ) = e(t )

 W‫א‬‫א‬‫א‬‫א‬‫א‬
E٢J ٣F  vr (t ) = Ri (t )

 W‫א‬‫א‬‫א‬‫א‬‫א‬
-٣٦-
  ‫א‬‫א‬  ‫א‬٢٤٢  ‫א‬
 ‫א‬‫א‬‫א‬    


E٣J ٣F  i ((t ) = Cv ' (t )

 WE١J ٣F‫א‬
E٤J ٣F  RCv' (t ) + v (t ) = e(t )


١J ٢‫א‬‫א‬RC‫א‬‫א‬‫א‬E٤J ٣F‫א‬
 K‫א‬‫א‬
W‫א‬‫א‬‫א‬ K١٠
 ٤J ٣‫א‬،‫א‬‫א‬‫א‬
E٥J ٣F  L( RCv' (t ) + v (t )) = L( e(t ))

 ،L(v(t))=V(s)L(e(t))=E(s)
 ٥J ٣‫א‬L(v'(t))=sV(s)،‫א‬
E٦J ٣F  RCsV ( s ) + V ( s ) = E ( s )

 W‫א‬‫א‬‫א‬
E٧J ٣F  G( s) =
V ( s)
=
1
E ( s ) RCs + 1
‫א‬W ‫א‬‫א‬ ‫א‬‫א‬
‫א‬‫א‬‫א‬،
  ‫א‬  ‫א‬
‫א‬‫א‬K
 ‫א‬‫א‬‫א‬‫א‬K‫א‬
 K‫א‬‫א‬s‫א‬


-٣٧-
  ‫א‬‫א‬  ‫א‬٢٤٢  ‫א‬
 ‫א‬‫א‬‫א‬    


 ‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
E٨J ٣F  τy ' (t ) + y (t ) = Gx (t )

 W
‫א‬Wx(t)
‫א‬Wy(t)
‫א‬‫א‬Wτ
‫א‬WG
 WE٨J ٣F‫א‬‫א‬‫א‬
،‫א‬K١y(t)‫א‬
،G‫א‬x(t)‫א‬
τ‫א‬‫א‬y'(t)‫א‬

 ‫א‬‫א‬‫א‬‫א‬
 W‫א‬‫א‬‫א‬
E٨J ٣F  G( s) =
Y (S )
=
G
X ( s ) τs + 1

 ‫א‬‫א‬‫א‬‫א‬
 W‫א‬‫א‬‫א‬
⎧E, t ≥ 0
 x (t ) = ⎨
⎩0 t<0
W‫א‬
E٩J ٣F  y (t ) = y 0 e − t /τ + GE (1 − e −t /τ )

 
E‫א‬‫א‬‫א‬F‫א‬‫א‬‫א‬y(٠)=y٠
‫א‬‫א‬E

-٣٨-
  ‫א‬‫א‬  ‫א‬٢٤٢  ‫א‬
 ‫א‬‫א‬‫א‬    


 W‫א‬‫א‬‫א‬


yss


y(t


٠{٦

٠{٥ 




٠

٠ t

 ‫א‬‫א‬‫א‬‫א‬٣J ٣‫א‬

y٠=٠ 

 ‫א‬‫א‬‫א‬ •
‫א‬Output Steady State Value‫א‬‫א‬‫א‬
٩J ٣‫א‬‫א‬‫א‬
E∞Ft‫א‬

E١٠J ٣F  y ss = lim y (t )
t →∞

،‫א‬‫א‬Time Constant‫א‬‫א‬
 ١‫א‬E٩J ٢F‫א‬

-٣٩-
  ‫א‬‫א‬  ‫א‬٢٤٢  ‫א‬
 ‫א‬‫א‬‫א‬    


t=τy(t)‫א‬‫א‬‫א‬‫א‬
 E‫א‬‫א‬‫א‬‫א‬F
E١١J ٣F  y (τ ) = GE (1 − e −1 ) = 0.63GE = 0.63 y ss

٪٩٨‫א‬‫א‬‫א‬ Settling Time‫א‬‫א‬

 W،‫א‬‫א‬
E١٢J ٣F t s = 4τ

Gain Coefficient‫א‬
 ‫א‬‫א‬‫א‬‫א‬ •
E١٣J ٣F y
G = ss
E
‫א‬‫א‬
0 .1 y ' ( t ) + y ( t ) = 2 x ( t )
y ( 0) = 0
⎧5 ≥ 0
x (t ) = ⎨
⎩0 t < 0
‫א‬‫א‬
‫א‬
y(t) ‫א‬
‫א‬‫א‬‫א‬
‫א‬‫א‬
 ‫א‬
y'‫א‬‫ א‬K١
τ = 0.1
‫א‬ K٢
y'(t)=٠y(t)‫א‬‫א‬‫א‬
 ‫א‬ y ss = 2 x ‫א‬
y ss
 G= =2
x
‫ א‬K٣

-٤٠-
  ‫א‬‫א‬  ‫א‬٢٤٢  ‫א‬
 ‫א‬‫א‬‫א‬    


 E=٥،y٠=٠ ،G=٢W‫א‬E٩J ٣F‫א‬

 
 y (t ) = y 0 e −t / τ + GE (1 − e −t / τ )

 y (t ) = 10(1 − e − t /τ )
‫א‬‫א‬‫א‬ K٤
 y ss = lim y (t ) = GE = 10
t →∞
‫א‬ K٥

-٤١-
  ‫א‬‫א‬  ‫א‬٢٤٢  ‫א‬
 ‫א‬‫א‬‫א‬    



١٠

y(t) 
t





٠ 

{١ {٢ {٣ {٤

‫א‬‫א‬‫א‬٤J ٣‫א‬‫א‬‫א‬
KR‫א‬‫א‬A،‫א‬
 W‫א‬

q
h(t) (t)


  ٤J ٣ ‫א‬

‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 qi ( t ) = q s ( t ) + qo (t )
 W

-٤٢-
  ‫א‬‫א‬  ‫א‬٢٤٢  ‫א‬
 ‫א‬‫א‬‫א‬    


 ،‫א‬‫א‬‫א‬Wqi(t) K١١
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬Wqs(t) K١٢
E V (t ) = Ah(t ) F ‫א‬‫א‬‫א‬، q s (t ) = dV (t )
dt
dh(t )
 q s (t ) = A
dt
EF qo (t ) = 1 h(t ) ،‫א‬‫א‬‫א‬Wqo(t) K١٣
R
 R‫א‬ A dh(t ) + 1 h(t ) = qi (t ) 
dt R
E١٤J ٣F  AR
dh (t )
+ h(t ) = Rqi (t )
dt
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 W
 E١٥J ٣F  τ
dh(t )
+ h(t ) = Rqi (t )
dt
‫א‬‫א‬،τ = AR ‫א‬‫א‬
 K‫א‬
E٤J ٣F‫א‬RC‫א‬‫א‬‫א‬E١٥J ٣F‫א‬
،‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬،C‫א‬A‫א‬‫א‬
 K‫א‬‫א‬‫א‬

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  ‫א‬‫א‬  ‫א‬٢٤٢  ‫א‬
 ‫א‬‫א‬‫א‬    


 Second Order Systems‫א‬‫א‬

‫א‬‫א‬‫א‬LRC‫א‬‫א‬‫א‬ K
 ٤J ٣

R L

+
+ vr(t)- + vl(t)-
+
e(t) v(t)
- C

 ‫א‬RLC ‫א‬٤J ٣‫א‬

‫א‬‫א‬‫ א‬K١٤
 W‫א‬‫א‬K
E١٦J ٣F  vr (t ) + vl (t ) + v (t ) = e(t )

 W
 vr (t ) = Ri (t )
di (t )
 vl (t ) = L = Li' (t )
dt

 i ((t ) = Cv' (t )

 W i(t)vl(t)،vr(t)E١٦J ٣F‫א‬

E١٧J ٣F  LCv ' ' ( t ) + RCv ' ( t ) + v ( t ) = e ( t )
  RLC‫א‬‫א‬‫א‬E١٧J ٣F
 K‫א‬‫א‬
W‫א‬RLC‫א‬‫א‬‫א‬ K١٥

-٤٤-
  ‫א‬‫א‬  ‫א‬٢٤٢  ‫א‬
 ‫א‬‫א‬‫א‬    


J ٣F‫א‬،‫א‬‫א‬‫א‬
،‫א‬،L(v(t))=V(s)L(e(t))=E(s)KE١٧
 ١٧J ٣‫א‬L(v"(t))=s٢V(s)L(v'(t))=sV(s)

E١٨J ٣F  LCs 2V ( s ) + RCsV ( s ) + V ( s ) = E ( s )

E١٩J ٣F  [ LCs 2 + RCs + 1]V ( s ) = E ( s )

 W‫א‬‫א‬‫א‬
E٢٠J ٣F  G( s) =
V ( s)
=
1
2
E ( s ) LCs + RCs + 1
K ‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬،
 ‫א‬‫א‬ ‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬K‫א‬‫א‬
s‫א‬،‫א‬‫א‬K‫א‬‫א‬
 K‫א‬‫א‬
 ‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
E٢١J ٣F 1 α
 y" ( t ) + 2 y ' (t ) + y (t ) = Gx (t )
ω2 ω 02
0

 W
‫א‬Wx(t)
‫א‬Wy(t)
‫א‬WG
‫א‬Wω٠
‫א‬Wα
 WE٢١J ٢F‫א‬‫א‬‫א‬
‫א‬،‫א‬‫א‬K١y(t)‫א‬


-٤٥-
  ‫א‬‫א‬  ‫א‬٢٤٢  ‫א‬
 ‫א‬‫א‬‫א‬    


،G‫א‬x(t)‫א‬
α
2 y'(t)‫א‬
ω 02
1
‫א‬‫א‬y"(t)‫א‬‫א‬
ω02

 ‫א‬‫א‬‫א‬‫א‬
 ‫א‬‫א‬‫א‬‫א‬
E٢٣J ٣F  G( s) =
Y (S )
=
G
=
Gω 02
X ( s) 1 α s 2 + 2ζω 0 s + ω 02
s2 + 2 s +1
ω 02 ω 02

 ‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 W‫א‬‫א‬‫א‬‫א‬‫א‬E
1 α
y" ( t ) + 2 y ' (t ) + y (t ) = Gx (t )
ω2 ω 02
0
 y ( 0) = y 0 ; y ' ( 0) = y ' 0
x (t ) = E
 K‫א‬‫א‬‫א‬y'٠y٠ 
  ‫א‬‫א‬‫א‬
 E٢٢J ٣F‫א‬‫א‬‫א‬
E٢٣J ٣F  s 2 + 2αs + ω 02 = 0

،s‫א‬‫א‬E٢٣J ٣F‫א‬
 ω0α‫א‬
Wα>ω0‫א‬‫א‬
W‫א‬‫א‬
 r1,2 = −α ± α 2 − ω 2
0

 W‫א‬‫א‬‫א‬
 y (t ) = GE + Ae r1t + Be r2t

-٤٦-
  ‫א‬‫א‬  ‫א‬٢٤٢  ‫א‬
 ‫א‬‫א‬‫א‬    


‫א‬‫א‬‫א‬‫א‬‫א‬
 K٦J ٣‫א‬،‫א‬‫א‬

Wω0Zα‫א‬‫א‬
W‫א‬‫א‬
 r1 = r2 = −α
 W‫א‬‫א‬‫א‬
 y (t ) = GE + ( A + Bt )e −αt

‫א‬‫א‬‫א‬‫א‬‫א‬
 ٧J ٣‫א‬،

Wα<ω0‫א‬‫א‬
W‫א‬‫א‬‫א‬
 r1,2 = −α ± j ω 2 − α 2
0

 W‫א‬‫א‬‫א‬
 y (t ) = GE + Ae −αt sin(ω d t + φ )
 W
Damped Frequency‫א‬‫א‬W ω d = ω 2 − α 2 K١٦
0
α
 φ = cos −1 K١٧
ωn
‫א‬‫א‬‫א‬‫א‬
 K٨J ٣‫א‬،

W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬،α=0W
 r1,2 = ± jω0
 W‫א‬
 y (t ) = GE − A cos ω 0 t

-٤٧-
  ‫א‬‫א‬  ‫א‬٢٤٢  ‫א‬
 ‫א‬‫א‬‫א‬    


‫א‬(No Damping)‫א‬
(Sustained Oscillation)‫א‬
 K٩J ٣‫א‬
‫א‬BA‫א‬‫א‬‫א‬‫א‬
 K(y(٠), y('٠))‫א‬‫א‬

-٤٨-
  ‫א‬‫א‬  ‫א‬٢٤٢  ‫א‬
 ‫א‬‫א‬‫א‬    




G
E 



α>ω0
y(٠)=٠), 



١ ‫א‬
٢ ٦J ٣ ‫א‬
٣ t



G
E

αZω0
y(٠)=٠),

٠
t
٧J ٣ ‫א‬

-٤٩-
  ‫א‬‫א‬  ‫א‬٢٤٢  ‫א‬
 ‫א‬‫א‬‫א‬    


(t) 


E 
α<ω0 
y(٠)=٠), 
'( ) 



٨J ٣ 



αZ ٠
y(٠)=٠),
(t)
'( )

٠ ‫א‬٩J ٣ ‫א‬

-٥٠-
  ‫א‬‫א‬  ‫א‬٢٤٢  ‫א‬
 ‫א‬‫א‬‫א‬    


E٤J ٣‫א‬FRLC‫א‬‫א‬‫א‬‫א‬
 W‫א‬
E١٨J ٣F‫א‬‫א‬‫א‬RLC‫א‬‫א‬‫א‬
‫א‬E٢٢J ٣F‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 α=
1
R
C
‫א‬ ω0 = 1
2 L LC

M  ‫א‬E١٣J ٣‫א‬F‫א‬‫א‬
‫א‬KB‫א‬(Damper)،K

F
B
x

١٤J ٣

 F(t)
 W‫א‬
‫א‬،‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬
 W،‫א‬
E٢٤J ٣F  ∑ F =F (t ) − FK − FB = M
d 2 x (t )
dt 2
 W
FK=Kx(t)‫א‬‫א‬‫א‬‫א‬WFK K١٨
dx (t )
FB = B ‫א‬‫א‬WFB K١٩
dt
 
E٢٥J ٣F  M
d 2 x (t )
+B
dx (t )
+ Kx (t ) = F (t )
dt 2 dt
-٥١-
  ‫א‬‫א‬  ‫א‬٢٤٢  ‫א‬
 ‫א‬‫א‬‫א‬    


 W‫א‬
E٢٦J ٣F  M B 1
x ' ' (t ) + x ' (t ) + x (t ) = F (t )
K K K
E١٤J ٣F‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬،، ‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬،
 K
‫א‬،RLC‫א‬‫א‬‫א‬،E٢٦J ٣F‫א‬‫א‬
‫א‬‫א‬‫א‬E٢٦J ٣F‫א‬KE١٨J ٣F
 W‫א‬،‫א‬
1 α
 y" ( t ) + 2 y ' (t ) + y (t ) = Gx (t )
ω2 ω 02
0
1 B K
 α= ‫א‬ ω0 = ‫א‬
2M M

‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬(Noninteracting Two Capacity System)
 K١٥J ٣‫א‬
 W‫א‬
 W‫א‬‫א‬‫א‬ K٢٠
 τ1h1' (t ) + h1(t ) = R1qi (t )

-٥٢-
  ‫א‬‫א‬  ‫א‬٢٤٢  ‫א‬
 ‫א‬‫א‬‫א‬    


qi
(t)
τ 1 = R1 A1
R τ 2 = R2 A2
h q

q
h R o(t)

٢(t)

‫א‬١٥J ٣ ‫א‬

 W‫א‬‫א‬‫א‬ K٢١
 h1 (t ) = R1q1 (t )
 
h1' (t ) = R1 q1' (t )
 W‫א‬‫א‬‫א‬ K٢٢
 τ 2 h2' (t ) + h2 (t ) = R2 q1 (t )
 q1' (t ) =
1
R2
[
τ 2 h2" (t ) + h2' (t ) ] q1 (t) = R1 [τ 2 h2' (t) + h2 (t)]
2
 q1' (t ) q١(t)‫א‬‫א‬‫א‬
 W‫א‬
 τ 1τ 2h2" (t ) + (τ 1 + τ 2 )h2' (t ) + h2 (t ) = R1 R2 qi (t )


W١٦J ٣‫א‬‫א‬‫א‬‫א‬‫א‬


-٥٣-
  ‫א‬‫א‬  ‫א‬٢٤٢  ‫א‬
 ‫א‬‫א‬‫א‬    


+ ١

(t)
- ١ ()
٢

‫א‬‫א‬١٦J ٣‫א‬

 W‫א‬
 W‫א‬‫א‬
 τ 1τ 2v " (t ) + (τ 1 + τ 2 )v ' (t ) + v (t ) = e(t )
 
τ 1 = R1C1
      
τ 2 = R2 C 2

 W‫א‬
‫א‬K  ‫א‬‫א‬‫א‬‫א‬
K‫א‬‫א‬‫א‬‫א‬
K‫א‬،‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬
 K‫א‬

-٥٤-
  ‫א‬‫א‬  ‫א‬٢٤٢  ‫א‬
 ‫א‬‫א‬‫א‬    


 

‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬
١٠KΩ‫א‬‫א‬RC‫א‬‫א‬‫א‬‫א‬
K٢٠µF‫א‬
‫א‬‫א‬،١J ٣‫א‬‫א‬‫א‬RC‫א‬
٠{٠٨٣ ‫א‬‫א‬‫א‬‫א‬،١٠µF
‫א‬‫א‬،‫א‬RL‫א‬  ‫א‬‫א‬‫א‬‫א‬
K‫א‬
+
٢m
+
e
-
H ٥K v(t
(t) )
Ω
- 
‫א‬‫א‬
10 y ' (t ) + y (t ) = 2 x (t )
y ( 0) = 0
⎧1 ≥ 0
x (t ) = ⎨
⎩0 t < 0
‫א‬‫א‬
‫א‬
y(t) ‫א‬
‫א‬‫א‬‫א‬
‫א‬‫א‬
R=٢٥KΩ‫א‬٤J ٣‫א‬‫א‬‫א‬‫א‬
C=٤٠µF،L=٤mH،

-٥٥-
  ‫א‬‫א‬  ‫א‬٢٤٢  ‫א‬
 ‫א‬‫א‬‫א‬    


١٠٠Ω٠{٠٤H‫א‬RLC‫א‬
٤µF
K‫א‬‫א‬‫א‬ 
K‫א‬‫א‬‫א‬‫א‬ 
K‫א‬‫א‬‫א‬‫א‬‫א‬
K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ 
١٥J ٣‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
١٥J ٣‫א‬‫א‬
 τ١=τ٢=٣٠٠ seconds
R٢=١٠٠ seconds/m٢
‫א‬‫א‬
 y" ( t ) + 2 y ' ( t ) + 2 y ( t ) = 2 x ( t )
‫א‬‫א‬ 
‫א‬ 
‫א‬ 
‫א‬ 
‫א‬ ‫א‬‫א‬‫ א‬
‫א‬

J ٣‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
C٢=٠{٨µF،C١=٠{١µ F،R٢=٣٠٠Ω،R١=١٠٠Ω١٦
،M=٢٥Kg،١٤J ٣‫א‬‫א‬
B=٤٢N-second،K=١٤٥٠N/m
‫א‬‫א‬ 
‫א‬‫א‬ 
‫א‬ 
‫א‬ 
‫א‬ 
-٥٦-
  ‫א‬‫א‬‫א‬
ã¹]<gè…‚jÖ]æ<ËÖ]<Üé×Ãj×Ö<íÚ^ÃÖ]<퉉ö¹]

‫א‬‫א‬‫א‬‫א‬


‫א‬
 ‫א‬

٤
  ‫א‬‫א‬‫א‬  ‫א‬٢٤٢  ‫א‬
 ‫א‬    


 W‫א‬‫א‬
 W‫א‬‫א‬‫א‬‫א‬
 ‫א‬‫א‬
‫א‬‫א‬
‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
W‫א‬‫א‬
‫א‬‫ƒ א‬
‫א‬‫ƒ א‬
‫א‬‫ƒ א‬
‫א‬‫א‬‫ƒ א‬
‫א‬‫א‬‫ƒ א‬
 ‫א‬‫א‬‫א‬‫ƒ א‬

- ٥٧ -
  ‫א‬‫א‬‫א‬  ‫א‬٢٤٢  ‫א‬
 ‫א‬    


 
‫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،‫א‬‫א‬
KKK‫א‬‫א‬
 ‫א‬
،‫א‬‫א‬‫א‬‫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
 K‫א‬‫א‬
 ( Open Lop Control Systems)‫א‬‫א‬
K١J ٤‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬ ،
 K‫א‬‫א‬‫א‬K
 K(Set Point)‫א‬‫א‬‫א‬
‫א‬(timers)‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬


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  ‫א‬‫א‬‫א‬  ‫א‬٢٤٢  ‫א‬
 ‫א‬    


‫א‬ ‫א‬ ‫א‬

‫א‬  ‫א‬

‫א‬

‫א‬‫א‬١J ٤‫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KEKKK ،F‫א‬
K  ‫א‬‫א‬‫א‬
،‫א‬،
K،
،،،‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬K
  ‫א‬
‫א‬‫א‬K ‫א‬
K
 ‫א‬‫א‬‫א‬
،––W‫א‬K،
 K‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬


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  ‫א‬‫א‬‫א‬  ‫א‬٢٤٢  ‫א‬
 ‫א‬    


 (Closed Loop Control Systems)‫א‬‫א‬

(Feedback Control Systems)‫א‬‫א‬
 K٢J ٤‫א‬‫א‬

‫א‬   
‫א‬r(t ‫ א‬ ‫א‬
‫א‬ ‫א‬
‫א‬‫א‬ ‫א‬‫א‬‫א‬
(t)


‫א‬
‫א‬
‫א‬
Feedback ‫א‬‫א‬٢J ٤‫א‬
Signal


‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
p(t) ‫א‬‫א‬e(t)‫א‬K‫א‬
‫א‬‫א‬‫א‬‫א‬K
 K‫א‬‫א‬‫א‬‫א‬‫א‬
 W‫א‬‫א‬
‫א‬‫א‬‫א‬W(Forward Path)‫א‬‫א‬
،‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬


،‫א‬‫א‬W(Feedback Path)‫א‬‫א‬
،c(t)(Variable to be Controlled)‫א‬‫א‬‫א‬‫א‬

- ٦٠ -
  ‫א‬‫א‬‫א‬  ‫א‬٢٤٢  ‫א‬
 ‫א‬    


‫א‬‫א‬‫א‬‫א‬Wr(t)(Reference Input)‫א‬‫א‬
،(Set Point)‫א‬،‫א‬
‫א‬‫א‬Wb(t)(Feedback Signal)‫א‬‫א‬
،‫א‬
‫א‬‫א‬KWe(t)(Error Signal)‫א‬
K
  ‫א‬‫א‬E  ‫א‬‫א‬‫א‬F‫א‬
K‫א‬(Comparator)‫א‬
‫א‬Wp(t)(Control Signal)‫א‬
 K‫א‬‫א‬
‫א‬،‫א‬
K Td
‫א‬‫א‬‫א‬ Ta ‫א‬‫א‬‫א‬‫א‬‫א‬
K،‫א‬‫א‬ Ta ≥ Td
،‫א‬‫א‬‫א‬‫א‬،‫א‬‫א‬‫א‬‫א‬
،‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
K‫א‬‫א‬،‫א‬
،‫א‬‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬‫א‬K‫א‬
 ‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 K‫א‬
 Two Position Controller‫א‬‫א‬
K ،‫א‬ ‫א‬‫א‬‫א‬‫א‬
 W‫א‬‫א‬‫א‬‫א‬‫א‬

 W‫א‬‫א‬‫ƒ א‬
‫א‬‫א‬W‫א‬‫א‬  ‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬

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  ‫א‬‫א‬‫א‬  ‫א‬٢٤٢  ‫א‬
 ‫א‬    


‫א‬‫א‬‫א‬،P‫א‬(ON)
K‫א‬(OFF)‫א‬‫א‬‫א‬
 W‫א‬‫א‬
E١J ٤F ⎧P e > 0
 p(t ) = ⎨
⎩0 e < 0
 ‫א‬‫א‬‫א‬‫א‬






‫א‬‫א‬٣J ٤‫א‬ 

W‫א‬‫א‬‫ƒ א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 ٣J ٣‫א‬

(t) (t)

‫א‬‫א‬٤J ٤‫א‬ 
‫א‬ 

‫א‬‫א‬‫א‬، 
‫א‬‫א‬(ON)‫א‬‫א‬
K(OFF)‫א‬‫א‬‫א‬


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  ‫א‬‫א‬‫א‬  ‫א‬٢٤٢  ‫א‬
 ‫א‬    


(chattering)‫א‬،‫א‬‫א‬‫א‬‫א‬
،‫א‬‫א‬،‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
e=–E‫א‬،٥J ٤‫א‬
،e(t)  ‫א‬‫א‬e=+Ee(t)  ‫א‬

e(t p(t

‫א‬‫א‬٥J ٤‫א‬

 ،٦J ٤‫א‬
 ‫א‬‫א‬‫א‬


-E ٠ +E e(t)

‫א‬
p ‫א‬‫א‬٦J ٤‫א‬ 




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  ‫א‬‫א‬‫א‬  ‫א‬٢٤٢  ‫א‬
 ‫א‬    



 Proportional Controller‫א‬‫א‬
‫א‬‫א‬‫ƒ א‬
‫א‬‫א‬‫א‬‫א‬
E٢J ٤F  p ( t ) = K p e( t )

‫א‬E٢J ٤F ‫א‬‫א‬،‫א‬KP،

 K‫א‬
‫א‬‫א‬‫א‬٧J ٤‫א‬
 K‫א‬KP‫א‬

p(t)

٠ e(t)
Meq

 ‫א‬‫א‬‫א‬٧J ٤‫א‬




- ٦٤ -
  ‫א‬‫א‬‫א‬  ‫א‬٢٤٢  ‫א‬
 ‫א‬    



‫א‬‫א‬‫ƒ א‬
 ٨J ٤‫א‬‫א‬‫א‬‫א‬


e(t)

p(t)

K




‫א‬‫א‬٨J ٤‫א‬ 


‫א‬‫א‬‫א‬ ƒ
‫א‬،‫א‬‫א‬‫א‬
 E٢J ٤F
 P( s) = K p E ( s)

 W‫א‬‫א‬‫א‬
E٣J ٤F  Gc ( s) =
P( s )
= Kp
E ( s)
‫א‬‫א‬‫א‬‫א‬‫א‬‫ƒ א‬
‫א‬٩J ٤‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 K‫א‬
R2
R1
 +
+
e(t)  p(t)
-  -


‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬٩J ٤‫א‬



- ٦٥ -
  ‫א‬‫א‬‫א‬  ‫א‬٢٤٢  ‫א‬
 ‫א‬    



R
 Kp =− 2
R2

‫א‬‫א‬‫א‬ ƒ
‫א‬‫א‬‫א‬‫א‬
 K‫א‬
 Integral Controller‫א‬‫א‬
‫א‬‫א‬‫ƒ א‬
‫א‬‫א‬‫א‬‫א‬‫א‬
E٤J ٤F 
t
p (t ) = K I ∫ e(τ )dτ
0
 K‫א‬KI،
‫א‬‫א‬‫ƒ א‬
 ١٠J ٤‫א‬‫א‬‫א‬‫א‬

e p

‫א‬‫א‬١٠J ٤‫א‬

‫א‬‫א‬‫א‬ ƒ
‫א‬،‫א‬‫א‬‫א‬
 E٤J ٤F
E
 P( s) = K I
s
 W‫א‬‫א‬‫א‬
E٥J ٤F  Gc ( s) =
P( s ) K I
=
E ( s) s
‫א‬‫א‬‫א‬‫א‬‫א‬‫ƒ א‬

- ٦٦ -
  ‫א‬‫א‬‫א‬  ‫א‬٢٤٢  ‫א‬
 ‫א‬    


١١J ٤‫א‬‫א‬
C‫א‬‫א‬‫א‬‫א‬‫א‬
R  K‫א‬‫א‬
+  +

-  -
(t)
(t)


‫א‬‫א‬‫א‬‫א‬١١J ٤‫א‬

‫א‬‫א‬


KI 1
 Gc ( s) = =−
s RCs

‫א‬‫א‬‫א‬ ƒ
،‫א‬‫א‬‫א‬‫א‬‫א‬
 K(Cycling)‫א‬
 Derivative Controller‫א‬‫א‬
‫א‬‫א‬‫ƒ א‬
‫א‬‫א‬‫א‬‫א‬‫א‬
E٦J ٤F  p (t ) = K D
de(t )
dt
 K‫א‬KD،
‫א‬‫א‬‫ƒ א‬
 ١٢J ٤‫א‬‫א‬‫א‬‫א‬

e p 


‫א‬‫א‬١٢J ٤‫א‬ 

‫א‬‫א‬‫א‬ ƒ
- ٦٧ -
  ‫א‬‫א‬‫א‬  ‫א‬٢٤٢  ‫א‬
 ‫א‬    


‫א‬،‫א‬‫א‬‫א‬
 E٤J ٤F
 P ( s ) = K D sE ( s )
 W‫א‬‫א‬‫א‬
E٧J ٤F  Gc ( s) =
P( s)
=K Ds
E ( s)
‫א‬‫א‬‫א‬‫א‬‫א‬‫ƒ א‬
١٣J ٤‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
K‫א‬‫א‬


 R

C
+ +
e(t)  p(t)
-
 -


‫א‬‫א‬‫א‬‫א‬ ١٣J ٤‫א‬
 ‫א‬‫א‬

 G c ( s ) = K D s = − RCs

‫א‬‫א‬‫א‬ ƒ
‫א‬‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬

‫א‬‫א‬،‫א‬‫א‬‫א‬‫א‬‫א‬
 K


- ٦٨ -
  ‫א‬‫א‬‫א‬  ‫א‬٢٤٢  ‫א‬
 ‫א‬    


 PI Controller‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫ƒ א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
E٧J ٤F 
t
p(t ) = K P e(t ) + K I ∫ e(τ )dτ
0
 K

‫א‬‫א‬‫א‬‫ƒ א‬
‫א‬‫א‬‫א‬‫א‬‫א‬
 ١٣J ٤

Kp
e
p

1
Ki Sum
s

‫א‬‫א‬‫א‬١٣J ٤‫א‬ 

‫א‬‫א‬‫א‬ ƒ
،‫א‬‫א‬‫א‬‫א‬
 E٧J ٤F‫א‬
E ( s)
 P( s) = K P E ( s) + K I
s
 W‫א‬‫א‬‫א‬‫א‬
E٨J ٤F  Gc ( s) =
P( s) K
= K P+ I
E ( s) s


- ٦٩ -
  ‫א‬‫א‬‫א‬  ‫א‬٢٤٢  ‫א‬
 ‫א‬    


‫א‬‫א‬‫א‬‫א‬‫א‬‫ƒ א‬
١٣J ٤‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬



٢

١ R R

R
C 
(t) (t)
R 

‫א‬‫א‬‫א‬‫א‬١٤J ٤‫א‬

‫א‬

R
 KP = 2 ; KI =
1
R1 RC
‫א‬‫א‬‫א‬‫א‬ ƒ
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 K‫א‬
 PD Controller‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬ ƒ
 W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
E٩J ٤F  p ( t ) = K P e( t ) + K D
de(t )
dt

- ٧٠ -
  ‫א‬‫א‬‫א‬  ‫א‬٢٤٢  ‫א‬
 ‫א‬    


‫א‬‫א‬‫א‬‫א‬ ƒ



e(t  p

d/dt 

‫א‬‫א‬‫א‬١٥J ٤‫א‬ 

‫א‬‫א‬‫א‬‫א‬ ƒ

 ،‫א‬‫א‬‫א‬‫א‬
 E٩J ٤F‫א‬
 P ( s ) = K P E ( s ) + K D sE ( s )
 W‫א‬‫א‬‫א‬‫א‬
E٨J ٤F  Gc ( s) =
P( s )
= K P+ K D s
E ( s)
‫א‬‫א‬‫א‬‫א‬‫ƒ א‬
١٦J ٤‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬

R2
R1 
 R R
 R
e(t) R p(t)
C 



‫א‬‫א‬‫א‬‫א‬‫א‬١٦J ٤‫א‬

- ٧١ -
  ‫א‬‫א‬‫א‬  ‫א‬٢٤٢  ‫א‬
 ‫א‬    



R
 K P = 2 ; K D = RC
R1
 PID Controller‫א‬‫א‬‫א‬‫א‬
،‫א‬‫א‬‫א‬‫א‬‫א‬
 K‫א‬E‫א‬،‫א‬،‫א‬F‫א‬‫א‬
‫א‬‫א‬‫א‬‫ƒ א‬
 W‫א‬‫א‬‫א‬‫א‬
E١٠J ٤F 
t
p (t ) = K P e(t ) + K I ∫ e(τ )dτ + K D
de(t )
0 dt
‫א‬‫א‬‫א‬‫ƒ א‬
 ‫א‬‫א‬


K
P

(t)
e p
(t)
K ∫
I

K d
D dt

‫א‬‫א‬‫א‬‫א‬١٧J ٤‫א‬

- ٧٢ -
  ‫א‬‫א‬‫א‬  ‫א‬٢٤٢  ‫א‬
 ‫א‬    


 W

‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ ƒ
،‫א‬‫א‬‫א‬‫א‬‫א‬
 E١٠J ٤F‫א‬
E ( s)
 P( s) = K P E ( s) + K I + K D sE ( s )
s
 W‫א‬‫א‬‫א‬‫א‬‫א‬
E١١J ٤F  Gc ( s) =
P( s ) K
= K P+ + I + K D s
E ( s) s

 ‫א‬‫א‬‫א‬‫א‬‫א‬‫ƒ א‬

- ٧٣ -
  ‫א‬‫א‬‫א‬  ‫א‬٢٤٢  ‫א‬
 ‫א‬    


 W‫א‬‫א‬‫א‬
R2 

R1 

R R

Ci  R
Ri  p(t)
e(t)


Cd R

Rd 



‫א‬‫א‬‫א‬‫א‬‫א‬ ١٨J ٤‫א‬

‫א‬

‫א‬‫א‬‫א‬‫א‬‫א‬W
 K‫א‬‫א‬
 ‫א‬
K  ‫א‬‫א‬‫א‬‫א‬K‫א‬‫א‬
،‫א‬‫א‬‫א‬K  ‫א‬‫א‬‫א‬
‫א‬‫א‬‫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



- ٧٤ -
  ‫א‬‫א‬‫א‬  ‫א‬٢٤٢  ‫א‬
 ‫א‬    


 

‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬
F‫א‬‫א‬‫א‬‫א‬
‫א‬E
F‫א‬‫א‬‫א‬‫א‬
‫א‬E
‫א‬‫א‬‫א‬
،‫א‬‫א‬‫א‬‫א‬‫א‬٩J ٤‫א‬
‫א‬،R٢=٥KΩ R١=١٠KΩ‫א‬
KP‫א‬
‫א‬‫א‬‫א‬
‫א‬‫א‬
،‫א‬‫א‬‫א‬‫א‬‫א‬٩J ٤‫א‬
KKP= ٧‫א‬R٢‫א‬R١=١٠KΩ‫א‬
‫א‬‫א‬‫א‬‫א‬
C=١µF R=١٠KΩ‫א‬، ‫א‬‫א‬‫א‬
‫א‬
KI‫א‬
‫א‬‫א‬‫א‬
‫א‬‫א‬

- ٧٥ -
  ‫א‬‫א‬‫א‬  ‫א‬٢٤٢  ‫א‬
 ‫א‬    



C

R
+ +
e(t) p(t)
- -

‫א‬‫א‬‫א‬‫א‬١٣J ٤‫א‬
‫א‬KC=٢µF R=٥KΩ‫א‬،‫א‬
KD‫א‬
‫א‬‫א‬‫א‬
‫א‬‫א‬
‫א‬،‫א‬‫א‬‫א‬‫א‬١٤J ٤‫א‬
‫א‬R٢=٤٠KΩR١=٢٠KΩC=٢µF R=٥KΩ
KP‫א‬KI‫א‬
‫א‬‫א‬
‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬١٧J ٤‫א‬
‫א‬،‫א‬‫א‬
KP=٢ 
KI=٥s
١

KD=٤s
‫א‬‫א‬
‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬


- ٧٦ -
     ‫א‬‫א‬‫א‬
ã¹]<gè…‚jÖ]æ<ËÖ]<Üé×Ãj×Ö<íÚ^ÃÖ]<퉉ö¹]

‫א‬‫א‬‫א‬‫א‬


‫א‬‫א‬
 ‫א‬‫א‬

- ٥٧ -
 ‫א‬‫א‬  ‫א‬٢٤٢  ‫א‬
 ‫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 •

- ٧٧ -
  ‫א‬‫א‬  ‫א‬٢٤٢  ‫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
 K‫א‬‫א‬‫א‬
 ‫א‬‫א‬ ١J ٥
 W١J ٥‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
،‫א‬(Signal Conversion)‫א‬ •
‫א‬ ‫א‬‫א‬‫א‬‫א‬ •
،‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫• א‬
 K(Control Valve)‫א‬
 Transducers‫א‬ ٢J ٥
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 ‫א‬‫א‬‫א‬‫א‬‫א‬K‫א‬‫א‬‫א‬
٤ ٢٠ mA  •
٣ ١٥ psi‫א‬(Pneumatic Signal)‫א‬ •
TTL‫א‬ •


- ٧٨ -
  ‫א‬‫א‬  ‫א‬٢٤٢  ‫א‬
 ‫א‬‫א‬    




‫א‬ ‫א‬ ‫א‬

‫א‬
‫א‬

‫א‬

‫א‬‫א‬‫א‬١J ٥‫א‬

 Actuators‫ א‬٣J ٥
 ‫א‬‫א‬‫א‬‫א‬‫א‬
Pneumatic Actuators‫א‬‫א‬‫• א‬
Electrical Actuators‫א‬‫• א‬
 Hydraulic Actuators‫א‬‫• א‬
 ‫א‬‫א‬‫א‬ ١J ٣J ٥
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 ‫א‬‫א‬K‫א‬‫א‬‫א‬
F=(P١-P٢)A
 
 (Pa)‫א‬W(P١-P٢)
 m٢‫א‬(Diaphragm Area)‫א‬WA 
(N)‫א‬‫א‬WF 
،‫א‬‫א‬‫א‬‫א‬‫א‬،
‫א‬‫א‬‫א‬‫א‬‫א‬K‫א‬
- ٧٩ -
  ‫א‬‫א‬  ‫א‬٢٤٢  ‫א‬
 ‫א‬‫א‬    



K‫א‬‫א‬‫א‬‫א‬‫א‬،‫א‬
 K،Air Motors‫א‬‫א‬
 WAir Motors‫א‬‫א‬‫א‬
،‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
،‫א‬٤J ٥‫א‬K‫א‬‫א‬‫א‬
‫א‬‫א‬،‫א‬‫א‬‫א‬‫א‬
 K‫א‬K‫א‬


 ‫א‬٤J ٥‫א‬


 Electric Actuators‫א‬‫א‬ ٢J ٣J ٥
K‫א‬‫א‬‫א‬‫א‬‫א‬
 W
 KDC Motor Actuators‫א‬ •
 KAC Motor Actuators‫א‬ •

 W‫א‬‫א‬‫א‬‫א‬‫א‬ ١J ٢J ٣J ٥
 W‫א‬
Filed-Controlled DC Motor •
 ٦J ٥‫א‬

- ٨٠ -
  ‫א‬‫א‬  ‫א‬٢٤٢  ‫א‬
 ‫א‬‫א‬    



٦J ٥‫א‬
 

‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬(armature winding)‫א‬‫א‬‫א‬‫א‬
K ‫א‬‫א‬‫א‬‫א‬،
“If”‫א‬‫א‬“vf”‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬(magnetic field flux)‫א‬‫א‬،‫א‬‫א‬
،“Ia”‫א‬(armature flux)‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬(Torque)‫א‬
 K‫א‬‫א‬‫א‬
‫א‬“If”‫א‬“T”‫א‬‫א‬
 “Ia”‫א‬‫א‬
  
“ω”‫א‬‫א‬“Ia”‫א‬
‫א‬‫א‬‫א‬،‫א‬“If”‫א‬
‫א‬ ‫א‬،“If”‫א‬
‫א‬‫א‬٧J ٥‫א‬K“If”‫א‬“vf”‫א‬‫א‬
 




- ٨١ -
  ‫א‬‫א‬  ‫א‬٢٤٢  ‫א‬
 ‫א‬‫א‬    




If T ω
vf
‫א‬‫א‬‫א‬ ‫א‬ ‫א‬ 
  ‫א‬‫א‬‫א‬‫א‬  ‫א‬ 
  ‫א‬
‫א‬  ‫א‬‫א‬ 
‫א‬‫א‬
‫א‬ 

‫א‬‫א‬٧J ٥‫א‬ 
 
‫א‬‫א‬‫א‬‫א‬ •
Armature-Controlled DC Motor
‫א‬‫א‬‫א‬،If‫א‬vf‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬،‫א‬‫א‬‫א‬‫א‬  
K٨J ٥


‫א‬‫א‬٨J ٥‫א‬

 K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬

 AC Electrical Actuators‫א‬‫א‬ ٢J ٢J ٣J ٥
‫א‬‫א‬‫א‬K‫א‬
(Asynchronous AC ‫א‬‫א‬‫א‬‫א‬(Synchronous AC Motor)‫א‬‫א‬
 KMotor)

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  ‫א‬‫א‬  ‫א‬٢٤٢  ‫א‬
 ‫א‬‫א‬    




 ‫א‬ ٣J ٢J ٣J ٥
K‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬K‫א‬‫א‬‫א‬‫א‬‫א‬K‫א‬‫א‬
،‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬  ،‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬٩J ٥‫א‬K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬



S
N N

S S
N

Pulse
Input

S١
Switch
Sequencer

DC S٢
Voltage
‫א‬٩J ٥ ‫א‬


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  ‫א‬‫א‬  ‫א‬٢٤٢  ‫א‬
 ‫א‬‫א‬    
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 Hydraulic Actuators‫א‬‫א‬ ٣J ٣J ٥
،‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬(Linear Hydraulic Actuators)
 K(Rotary Hydraulic Actuators)
 ‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬
‫א‬، ‫א‬
 K‫א‬‫א‬K‫א‬
EJ ١٠J ٥F(Single-Acting Actuator)‫א‬‫• א‬
‫א‬ ‫א‬‫א‬‫א‬(Piston)‫א‬
K‫א‬‫א‬‫א‬‫א‬(Push Rod)
Operating MediumE‫א‬F‫א‬‫א‬‫א‬
،‫א‬‫א‬‫א‬“A”‫א‬
‫א‬“A”‫א‬‫א‬
K‫א‬
Double Acting Actuator with ‫א‬‫א‬‫א‬‫א‬‫• א‬
‫א‬‫א‬،EJ ١٠J ٦FSingle Rod
“B”“A”‫א‬
KEForward or Reverse Motion)
Double Acting Actuator with ‫א‬‫א‬‫• א‬
‫א‬‫א‬‫א‬‫א‬‫א‬Double Rod
،EJ ١٠J ٦F،‫א‬‫א‬
K‫א‬‫א‬
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  ‫א‬‫א‬  ‫א‬٢٤٢  ‫א‬
 ‫א‬‫א‬    
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
 ‫א‬
 ‫א‬‫א‬١٠J ٥‫א‬

 Rotary Hydraulic Actuator‫א‬‫א‬‫א‬‫א‬ ١J ٣J ٣J ٥
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
K‫א‬‫א‬K،‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬،‫א‬
 KMachine-Tool Control Systems‫א‬‫א‬
‫א‬‫א‬١١J ٥
،Fixed-Stroke Hydraulic Motor‫א‬Variable Stroke Pump
 K‫א‬‫א‬‫א‬‫א‬


‫א‬١١J ٥ ‫א‬ 
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  ‫א‬‫א‬  ‫א‬٢٤٢  ‫א‬
 ‫א‬‫א‬    
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 ‫א‬‫א‬ ٤J ٥
K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬،‫א‬‫א‬‫א‬‫א‬‫א‬
Pneumatic Control Valves‫א‬‫א‬‫א‬K‫א‬‫א‬
‫א‬‫א‬‫א‬،‫א‬١٢J ٥‫א‬
 W‫א‬‫א‬
‫• א‬
Valve Body‫א‬ •




‫א‬‫א‬‫א‬١٢J ٥‫א‬

‫א‬،‫א‬‫א‬
 K‫א‬‫א‬‫א‬‫א‬‫א‬
 ‫א‬‫א‬‫א‬١٣J ٥‫א‬

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  ‫א‬‫א‬  ‫א‬٢٤٢  ‫א‬
 ‫א‬‫א‬    



‫א‬Direct Action Valves‫א‬ •

‫א‬‫א‬
‫א‬Reverse Action Valves‫א‬ •
 ‫א‬



‫א‬‫א‬‫א‬١٣J ٥‫א‬ 

 Control Valve Sizing‫א‬‫א‬‫א‬ ٥J ٥
‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬?‫א‬?K‫א‬‫א‬
‫א‬K١psi‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬Cv=٥‫א‬
 K١psi‫א‬،
 K‫א‬‫א‬‫א‬١J ٥‫א‬


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 ‫א‬‫א‬  ‫א‬٢٤٢  ‫א‬
 ‫א‬‫א‬    




‫א‬‫א‬١J ٥‫א‬ 

Cv‫א‬  ‫א‬
 ٠{٣  ٠٢٥
 ٣  ٠{٥
 ١٤  ١
 ٣٥  ١{٥
 ٥٥  ٢
 ١٠٨  ٣
 ١٧٤  ٤
 ٤٠٠ ٦
 ٧٢٥  ٨
 ١١٠٠  ١٠

 W‫א‬‫א‬‫א‬‫א‬
P1 − P2
 QL = Cv W‫א‬ •
GL
( P1 + P2 )( P1 − P2 )
 QG = 960C v W‫א‬ •
G R (T + 460)
P1 − P2
 W = 90C v W •
V1 + V2
 W
 Valve Flow Coefficient‫א‬WCV
Gas Specific Gravity‫א‬WGR
 Liquid Specific Gravity‫א‬‫א‬WGL
(lb/hour)Steam Flow Rate‫א‬WW
(psi)Valve Inlet Pressure‫א‬‫א‬WP١
 (psi)Valve Outlet Pressure(psi) ‫א‬‫א‬WP٢
 (ft٣/hour at ١٤{٧psia and ٦٠°F )Gas Flow Rate‫א‬WQG
(Gallon/min)Liquid Flow Rate‫א‬WQL
(Degree F)Gas Temperature‫א‬‫א‬WT

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  ‫א‬‫א‬  ‫א‬٢٤٢  ‫א‬
 ‫א‬‫א‬    



Steam Specific Volume at the Valve  ‫א‬‫א‬‫ א‬WV١

 (ft٣/lb) Inlet
Steam Specific Volume at the Valve  ‫א‬‫א‬‫ א‬WV٢
 (ft٣/lb)Outlet

 W

 ‫א‬‫א‬‫א‬
Safety ‫א‬،P١-P٢=٦٠psi،Qmax=٣٢٠Galon/lmin،GL=٠{٩٢
 QL=١{٢٥QmaxFactor=٠{٢٥
 ‫א‬
P1 − P2
 QL = Cv W‫א‬
GL
GL
 Cv = QL 
P1 − P2
١J ٥‫א‬،Cv=٤٩{٥QLP١-P٢
٢ inches‫א‬
 ‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬،‫א‬K‫א‬‫א‬
،‫א‬‫א‬‫א‬K‫א‬‫א‬
K‫א‬‫א‬‫א‬

- ٨٩ -
  ‫א‬‫א‬  ‫א‬٢٤٢  ‫א‬
 ‫א‬‫א‬    





‫א‬‫א‬‫א‬ ١J ٥
‫א‬‫א‬‫א‬‫א‬‫א‬ ٢J ٥
 ‫א‬ ٣J ٥
 ‫א‬‫א‬ ٤J ٥
 ‫א‬‫א‬ ٥J ٥
 ‫א‬‫א‬‫א‬ ٦J ٥
 ‫א‬‫א‬‫א‬ ٧J ٥
‫א‬‫א‬‫א‬ ٨J ٥
‫א‬‫א‬‫א‬ ٩J ٥
‫א‬ ‫א‬‫א‬ ١٠J ٥
Safety ‫א‬،P١-P٢=٣٠psi،Qmax=٦٤٠Galon/lmin،GL=٠{٩٢
QL=١{٢٥QmaFactor=٠{٢٥

- ٩٠ -
  ‫א‬  ‫א‬٢٤٢  ‫א‬
    



 ‫א‬


 ‫א‬‫א‬
EF، 6
EF، 10
EF، 1 EF، 22 EF، −23 EF، − 10 EF، 10 EF١J ٢
s2 + 9 s+7 s−5 s s s s
10s

s 2 + 25
ω s+a
 EF، EF
(s + a) 2 + ω 2
(s + a) 2 + ω 2

C ( s) 5.2 s + 12
 = EF، C ( s ) = 1 EF٤J ٢
R( s ) (0.1s + 1)(0.5s + 1) R ( s ) s ( s + 3)

C ( s) s +1
 =
2
٦J ٢
R( s ) s + 6s + 6


 0.2v ' (t ) + v (t ) = e(t ) ٤J ٣



 R = 8.3KΩ ٥J ٣


 0.2 × 10 −6 i ' (t ) + i (t ) = 0.2e(t ) ٦J ٣


 y (t ) = 2(1 − e −10t ) EF، G = 2 EF، τ = 10 EF٧J ٣

 α = 1250 ، ω 0 = 2500 ٨J ٣

 R = 100Ω EF⇐ α < ω 0  α = 1250 ، ω 0 = 2500 EF٩J ٣

 9 × 10 4 h" (t ) + 600h (t ) + h (t ) = 100q(t ) ١١J ٣

2
 α = 1.414 ، ω 0 = 1.414 EF، G ( s ) =
2
EF١٢J ٢
s + 2s + 2


- ٩١ -
 ‫א‬  ‫א‬٢٤٢  ‫א‬
    



 ‫א‬‫א‬‫א‬

 G c ( s ) = 0.2 ، p(t ) = −0.2e(t 0 EF، Kp = −0.2 EF٧J ٤

 R2 = 70 KΩ ٨J ٤

t
100
 Gc ( s) = − ، p(t ) = −100∫ e(τ )dτ EF، Ki = −100 EF١٠J ٤
s
0

 G c ( s ) = −0.01s ، p(t ) = −0.01e' (t ) EF، Kd = −0.01 EF١١J ٣

2 s + 100
 Gc ( s) = ، p(t ) = −0.01e' (t ) EF، Kp = 2 , Ki = 100 EF١٢J ٢
s

 ‫א‬‫א‬

 ٢inches‫א‬١٠J ٥



- ٩٢ -
 ‫א‬  ‫א‬٢٤٢  ‫א‬
    



 ‫א‬

AC Motor  
Actuator  
Analog  
Armature  ‫א‬
Automation  ‫א‬
Block Diagram  
Bode Diagram  
Cascade  
Characteristic Equation  ‫א‬‫א‬
Characteristics  
Chart Recorder  
Closed Loop  
Compensator  
Control system  
Control Valve  
Controlled Variable  ‫א‬‫א‬‫א‬‫א‬
Controller  
Critical Damping  
Cutoff Frequency  ‫א‬
Damping  
DC Motor  
Delay Time  ‫א‬
Derivative  
Derivative Controller  
Design  

- ٩٣ -
 ‫א‬  ‫א‬٢٤٢  ‫א‬
    



Digital  
Disturbance  ‫א‬‫א‬
Dynamic  ،
Error  
Feedback  
Feedback Path  
Final Control Element  ‫א‬‫א‬
Flow Meter  
Flow rate  
Forward Path  
Frequency Response  ‫א‬
Gain  
Gain Crossover  ‫א‬
Frequency
Gain Margin  ‫א‬
Hydraulic  
Input  
Integral  
Integral Controller  
Lag Compensator  
Laplace Transform  
Lead Compensator  
Level  
Magnitude  
Manual Control  
Matrix  
Motor  
Open Loop  
- ٩٤ -
 ‫א‬  ‫א‬٢٤٢  ‫א‬
    



Oscilloscope  ‫א‬
Output  
Over Damping  ‫א‬
Overshoot  
Parallel  ‫א‬
Peak Time  ‫א‬
Performance  ‫א‬
Permanent Response  ‫א‬‫א‬
Phase Crossover Frequency  ‫א‬
Phase Margin  ‫א‬
Phase Shift  ‫א‬‫א‬
Pneumatic  ،‫א‬
polynomial  ‫א‬
Potentiometer  ‫א‬
Process  
Programmable Logic  ‫א‬‫א‬
Control
Proportional  
Proportional Controller  
Reference Input  
Resonance Frequency  ‫א‬
Response  ‫א‬
Response Curve  ‫א‬
Rise Time  ‫א‬
Root  
Sensor  
Series  ‫א‬
Set Point  ‫א‬،‫א‬
- ٩٥ -
 ‫א‬  ‫א‬٢٤٢  ‫א‬
    



Settling Time  ‫א‬‫א‬

Signal Conditioning  ‫א‬
Signal Conversion  ‫א‬
Simulation  
Specification  ‫א‬
Stability  ‫א‬‫א‬
Stability Criteria  ‫א‬‫א‬
Step Input  ‫א‬
Stepper Motor  ‫א‬
Summing Junction  
System  
Tachometer  ،‫א‬
Take off Point  
Time Constant  ‫א‬‫א‬
Time Domain Response  ‫א‬
Transducer  
Transfer Function  ‫א‬
Transient response  ‫א‬
Two Position Control  ‫א‬
Underdamping  
Unit step  ‫א‬
Unity Feedback  

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  ‫א‬‫א‬  ‫א‬٢٤٢  ‫א‬
    



 ‫א‬‫א‬

١. Johnson, C. D. Process Control Instrumentation Technology, Prentice Hall,
٢٠٠٢
٢. Bateson, R. N. Introduction to Control Systems Technology, Prentice Hall, ٢٠٠٢

٣. Ogata, K. Modern control Engineering, Prentice Hall, ١٩٩٧

٤. Dorf, R. C. and Bishop, R. H. Modern Control Systems, Addisson Wesley, ١٩٩٨

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

- ٩٧ -
  ‫א‬  ‫א‬٢٤٢  ‫א‬
    



 ‫א‬

 ١  ‫א‬‫א‬W‫א‬‫א‬
 ١ ‫א‬‫א‬
 ٢  
 ٣  ‫א‬‫א‬‫א‬‫א‬١J ١
 ٣   ‫א‬‫א‬W‫א‬‫א‬ ١J ١J ١
 ٤  ‫א‬‫א‬W‫א‬‫א‬ ٢J ١J ١
 ٥   ‫א‬‫א‬W‫א‬‫א‬ ٣J ١J ١
 ٨   ٢J ١
 ٨  ‫א‬ ١J ٢J ١
 ٨   ‫א‬ ٢J ٢J ١
 ٨  ‫א‬ ٣J ٢J ١
 ٨  ‫א‬ ٤J ٢J ١
 ٩  ‫א‬
 ١٠  
 ١١  ‫א‬W‫א‬‫א‬
 ١١ ‫א‬‫א‬
 ١٢  
 ١٢  ‫א‬‫א‬١J ٢
 ١٥  ٢J ٢
 ١٦  ‫א‬‫א‬‫א‬ ١J ٢J ٢
 ١٧  ‫א‬ ٢J ٢J ٢
 ١٨  ‫א‬‫א‬٣J ٢
 ١٩  ‫א‬‫א‬‫א‬ ١J ٣J ٢
 ٢٥  ‫א‬ ٢J ٣J ٢
 ٣١  ‫א‬
  ‫א‬  ‫א‬٢٤٢  ‫א‬
    



 ٣٢  
 ٣٥  ‫א‬‫א‬‫א‬W‫א‬‫א‬
 ٣٥  ‫א‬‫א‬
 ٣٦  
 ٣٦  ‫א‬‫א‬١J ٣
 ٣٨  ‫א‬‫א‬‫א‬‫א‬ ١J ١J ٣
 ٣٨  ‫א‬‫א‬‫א‬‫א‬ ٢J ١J ٣
 ٣٨ ‫א‬‫א‬‫א‬ ٣J ١J ٣
 ‫א‬
 ٣٩  ‫א‬‫א‬‫א‬ ٤J ١J ٣
 ٤٤  ‫א‬‫א‬٢J ٣
 ٤٥  ‫א‬‫א‬‫א‬‫א‬ ١J ٢J ٣
 ٤٦  ‫א‬‫א‬‫א‬‫א‬ ٢J ٢J ٣
 ٤٦   ‫א‬‫א‬‫א‬‫א‬ ٣J ٢J ٣
 ٥٤  ‫א‬
 ٥٥  
 ٥٧  ‫א‬W‫א‬‫א‬‫א‬
 ٥٧  ‫א‬‫א‬
 ٥٨  
 ٥٨   ‫א‬١J ٤
 ٥٨   ‫א‬‫א‬ ١J ١J ٤
 ٦٠  ‫א‬‫א‬ ٢J ١J ٤
 ٦١  ‫א‬٢J ٤
 ٦١  ‫א‬‫א‬ ١J ٢J ٤
 ٦٤  ‫א‬‫א‬ ٢J ٢J ٤
 ٦٦  ‫א‬‫א‬ ٣J ٢J ٤
 ٦٧  ‫א‬‫א‬٤J ٢J ٤
  ‫א‬  ‫א‬٢٤٢  ‫א‬
    



 ٦٩  ‫א‬‫א‬‫א‬ ٥J ٢J ٤
 ٧٠  ‫א‬‫א‬‫א‬ ٦J ٢J ٤
 ٧٢  ‫א‬‫א‬‫א‬‫א‬ ٧J ٢J ٤
 ٧٤  ‫א‬
 ٧٥  
 ٧٧  ‫א‬‫א‬W‫א‬‫א‬
 ٧٧  ‫א‬‫א‬
 ٧٨  
 ٧٨  ‫א‬‫א‬١J ٥
 ٧٨   ‫א‬٢J ٥
 ٧٩  ‫א‬٣J ٥
 ٧٩  ‫א‬‫א‬‫א‬ ١J ٣J ٥
 ٨٠  ‫א‬‫א‬ ٢J ٣J ٥
 ٨٤  ‫א‬‫א‬ ٣J ٣J ٥
 ٨٦  ‫א‬‫א‬٤J ٥
 ٨٧  ‫א‬‫א‬‫א‬٥J ٥
 ٨٩  ‫א‬
 ٩٠  
 ٩٢  ‫א‬‫א‬
 ٩٣  
 ٩٧  ‫א‬‫א‬
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 ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬

 ‫א‬E‫א‬F‫א‬‫א‬

 GOTEVOT appreciates the financial support provided by BAE SYSTEMS

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