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

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


EF  

٢٤٣
  ‫א‬  ٢٤٣  ‫א‬
  EF  

 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

??EF?‫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،K،‫א‬‫א‬،‫א‬‫א‬
‫א‬‫א‬‫א‬?‫א‬?W‫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(MATLAB)‫א‬‫א‬
  ‫א‬K 
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬‫א‬‫א‬
 W‫א‬‫א‬‫א‬
 ‫א‬‫א‬‫א‬‫א‬W‫א‬‫• א‬
 ‫א‬‫א‬‫א‬‫א‬W‫א‬‫• א‬
 ‫א‬‫א‬‫א‬‫א‬W‫א‬‫• א‬
 ‫א‬‫א‬‫א‬‫א‬W‫א‬‫א‬‫• א‬
 ‫א‬‫א‬‫א‬‫א‬‫א‬W‫א‬‫• א‬
 ‫א‬W‫א‬‫• א‬
 ‫א‬W‫א‬‫• א‬
‫א‬‫א‬ ‫א‬‫א‬W‫א‬‫• א‬
 PID
 W‫א‬‫• א‬
‫א‬‫א‬‫א‬‫א‬‫א‬W‫א‬‫• א‬
 ‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬W  ‫א‬‫• א‬
 ‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬W  ‫א‬‫• א‬
 PID‫א‬‫א‬
،‫א‬‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬


  ‫א‬‫א‬‫א‬
ã¹]<gè…‚jÖ]æ<ËÖ]<Üé×Ãj×Ö<íÚ^ÃÖ]<퉉ö¹]
‫א‬‫א‬‫א‬‫א‬

EF 

‫א‬‫א‬‫א‬‫א‬
 ‫א‬‫א‬‫א‬‫א‬

١
  ‫א‬‫א‬  ٢٤٣  ‫א‬
‫א‬‫א‬‫א‬‫א‬  EF  


‫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
(Power Supply)‫א‬
(Set Point Generator)‫א‬
(First Order Controlled Unit)‫א‬‫א‬
‫א‬
(Plotter)‫א‬WE
  ‫א‬‫א‬‫א‬F
(Oscilloscope)‫א‬،(Chart Recorder)

‫א‬
‫א‬ ‫א‬
‫א‬
‫א‬ ‫א‬‫א‬ 
‫א‬

‫א‬‫א‬١J ١‫א‬

-١-
  ‫א‬‫א‬  ٢٤٣  ‫א‬
‫א‬‫א‬‫א‬‫א‬  EF  


‫א‬‫א‬‫א‬
١J ١‫א‬‫א‬
E‫א‬‫א‬‫א‬‫א‬
‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬
‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬

‫א‬
E‫א‬‫א‬‫א‬F‫א‬
‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬ o

 yss=
‫א‬ o
y
G = ss =
E
‫א‬‫א‬‫א‬ o
y (τ ) = 0.63 y ss =
‫א‬‫א‬ o
 τ=





-٢-
  ‫א‬‫א‬  ٢٤٣  ‫א‬
‫א‬‫א‬‫א‬‫א‬  EF  


‫א‬‫א‬
ts‫א‬‫א‬‫א‬
 ts=

‫א‬‫א‬‫א‬‫א‬‫א‬

 ٤τ  ٣τ  ٢τ τ  ‫א‬
     ‫א‬
‫א‬‫א‬
 KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK
KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK
 KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK
 KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK
‫א‬‫א‬‫א‬
 KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK
KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK
 KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK
 KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK
 ‫א‬

-٣-
  ‫א‬‫א‬‫א‬
ã¹]<gè…‚jÖ]æ<ËÖ]<Üé×Ãj×Ö<íÚ^ÃÖ]<퉉ö¹]
‫א‬‫א‬‫א‬‫א‬

EF 

‫א‬‫א‬‫א‬‫א‬
 ‫א‬‫א‬‫א‬‫א‬

٢
  ‫א‬‫א‬  ٢٤٣  ‫א‬
‫א‬‫א‬‫א‬‫א‬  EF  
  

‫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 •
Mp‫א‬ •
 ζ ‫א‬ ω 0 ‫א‬‫א‬ •
 K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ •

‫א‬‫א‬
(Power Supply)‫א‬
(Set Point Generator)‫א‬
(Second Order Unit)‫א‬‫א‬
‫א‬
(Plotter)‫א‬WE
  ‫א‬‫א‬‫א‬F
(Oscilloscope)‫א‬،(chart (Chart Recorder)








-٤-
  ‫א‬‫א‬  ٢٤٣  ‫א‬
‫א‬‫א‬‫א‬‫א‬  EF  
  

‫א‬
‫اﻟﺪﺧﻞ‬ ‫اﻟﺨﺮج‬
‫اﻟﻤﺮﺣﻌﻲ‬
‫ﻣﻮﻟﺪ ﻧﻘﻄﺔ اﻟﺘﺸﻐﻴﻞ‬ ‫وﺣﺪة ﻣﻦ اﻟﺪرﺟﺔ اﻟﺜﺎﻧﻴﺔ‬ ‫إﻟﻰ ﺟﻬﺎز‬
‫اﻟﻌﺮض‬

‫א‬‫א‬١J ٢ ‫א‬

‫א‬‫א‬‫א‬
١J ٢‫א‬‫א‬
E‫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
E‫א‬‫א‬‫א‬FW‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬ o
 yss=
‫א‬ o
y
G = ss =
E
‫א‬‫א‬‫א‬ o
 ess=
 ‫א‬ o
-٥-
  ‫א‬‫א‬  ٢٤٣  ‫א‬
‫א‬‫א‬‫א‬‫א‬  EF  
  

td =
‫א‬ o
tr =
‫א‬ o
tp =

‫א‬‫א‬ o
ts =
‫א‬‫א‬ o
Td =
 o
Mp =

 
‫א‬‫א‬‫א‬‫ א‬o
ωd =
‫א‬ o
ζ =
‫א‬ o
ω 0=
‫א‬‫א‬‫ א‬o
KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK
 KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK
 KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK
 ‫א‬‫א‬‫ א‬o
KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK
 KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK
 KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK

-٦-
  ‫א‬‫א‬  ٢٤٣  ‫א‬
‫א‬‫א‬‫א‬‫א‬  EF  
  

‫א‬‫א‬
KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK
 KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK
KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK
KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK
 KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK
 KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK

 ‫א‬

-٧-
  ‫א‬‫א‬‫א‬
ã¹]<gè…‚jÖ]æ<ËÖ]<Üé×Ãj×Ö<íÚ^ÃÖ]<퉉ö¹]
‫א‬‫א‬‫א‬‫א‬

EF 

‫א‬‫א‬‫א‬
 ‫א‬‫א‬‫א‬

٣
  ‫א‬‫א‬  ٢٤٣  ‫א‬
 ‫א‬‫א‬‫א‬  EF  
 

 W‫א‬‫א‬
W‫א‬‫א‬
K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
K‫א‬‫א‬‫א‬‫א‬
K‫א‬‫א‬‫א‬‫א‬
 W‫א‬‫א‬
‫א‬
‫א‬


‫א‬‫א‬
‫א‬‫א‬

‫א‬
 ‫א‬، ‫א‬WE‫א‬‫א‬‫א‬F

‫א‬

‫ﺣﺎآﻢ‬ ‫إﻟﻰ‬
‫ﺗﻨﺎﺳﺒﻲ‬ ‫ﺟﻬﺎز‬
‫اﻟﻌﺮض‬
‫ﻣﻮﻟﺪ ﻧﻘﻄﺔ‬ ‫وﺣﺪة‬
‫اﻟﺘﺸﻐﻴﻞ‬ ‫ﻣﺤﻜﻮﻣﺔ‬
‫ﺣﻠﻘﺔ ﺗﺤﻜﻢ‬ ‫ﺣﺎآﻢ ﺗﻜﺎﻣﻠﻲ‬
‫ﻣﻐﻠﻘﺔ‬

‫א‬‫א‬١J ٣ ‫א‬


-٨-
  ‫א‬‫א‬  ٢٤٣  ‫א‬
 ‫א‬‫א‬‫א‬  EF  
 

 ‫א‬‫א‬‫א‬
 ١J ٣‫א‬
 K‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 KE‫א‬‫א‬
‫א‬‫א‬،Kp‫א‬‫א‬‫א‬
Ki
 K‫א‬‫א‬‫א‬
‫א‬ ‫א‬‫א‬‫א‬١J ٣‫א‬‫א‬
K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 ١J ٣
 ‫א‬‫א‬ EF‫א‬ EF‫א‬  EF‫א‬

   E

‫א‬‫א‬‫א‬ Kp‫א‬‫א‬
‫א‬‫א‬FK ‫א‬‫א‬
EKi‫א‬‫א‬
‫א‬‫א‬‫א‬Ki‫א‬‫א‬
‫א‬‫א‬FK‫א‬‫א‬
E Kp‫א‬‫א‬





-٩-
  ‫א‬‫א‬  ٢٤٣  ‫א‬
 ‫א‬‫א‬‫א‬  EF  
 


‫א‬‫א‬‫א‬‫א‬ o
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 _________________________________________________________________________________________

‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ o
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 _________________________________________________________________________________________

‫א‬PI ‫א‬‫א‬‫א‬ o
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 _________________________________________________________________________________________

‫א‬PI‫א‬‫א‬‫א‬ o
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 _________________________________________________________________________________________

‫؟‬‫א‬‫א‬
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 _________________________________________________________________________________________


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

EF 

‫א‬‫א‬‫א‬
 ‫א‬‫א‬‫א‬

٤
  ‫א‬‫א‬‫א‬  ٢٤٣  ‫א‬
 ‫א‬‫א‬‫א‬  EF  
 

 W‫א‬‫א‬
‫א‬‫א‬
K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
K‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬‫א‬

 W‫א‬‫א‬
‫א‬
‫א‬


‫א‬‫א‬
‫א‬‫א‬

‫א‬
‫א‬، ‫א‬WE‫א‬‫א‬‫א‬F

‫א‬

‫ﺣﺎآﻢ‬ ‫إﻟﻰ‬
‫ﺗﻨﺎﺳﺒﻲ‬ ‫ﺟﻬﺎز‬
‫اﻟﻌﺮض‬
‫ﻣﻮﻟﺪ ﻧﻘﻄﺔ‬ ‫وﺣﺪة‬
‫اﻟﺘﺸﻐﻴﻞ‬ ‫ﻣﺤﻜﻮﻣﺔ‬
‫ﺣﻠﻘﺔ ﺗﺤﻜﻢ‬ ‫ﺣﺎآﻢ‬
‫ﻣﻐﻠﻘﺔ‬ ‫ﺗﻔﺎﺿﻠﻲ‬

‫א‬‫א‬١J ٣ ‫א‬


-١١-
  ‫א‬‫א‬‫א‬  ٢٤٣  ‫א‬
 ‫א‬‫א‬‫א‬  EF  
 

 ‫א‬‫א‬‫א‬
 ١J ٤‫א‬
 K‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 KE‫א‬‫א‬
،Kp
  ‫א‬‫א‬‫א‬
Kd‫א‬‫א‬
 K‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬ Kp‫א‬‫א‬
K‫א‬‫א‬
‫א‬ ‫א‬‫א‬Kd‫א‬‫א‬
K‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬٣J ٤‫א‬‫א‬
K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 ٣J ٤
 ‫א‬‫א‬ EF‫א‬ EF‫א‬  EF‫א‬

   E


‫א‬‫א‬‫א‬‫א‬ o
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 _________________________________________________________________________________________

‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ o
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 _________________________________________________________________________________________

‫א‬PD‫א‬‫א‬‫א‬ o

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  ‫א‬‫א‬‫א‬  ٢٤٣  ‫א‬
 ‫א‬‫א‬‫א‬  EF  
 

_________________________________________________________________________________________
_________________________________________________________________________________________
 _________________________________________________________________________________________

‫א‬PD‫א‬‫א‬‫א‬ o
_________________________________________________________________________________________
_________________________________________________________________________________________
 _________________________________________________________________________________________

‫א‬PD‫א‬‫א‬‫א‬ o
_________________________________________________________________________________________
_________________________________________________________________________________________
 _________________________________________________________________________________________

‫א‬PD‫א‬‫א‬‫א‬ o
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_________________________________________________________________________________________
 _________________________________________________________________________________________

‫؟‬‫א‬‫א‬
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-١٣-
  ‫א‬‫א‬‫א‬
ã¹]<gè…‚jÖ]æ<ËÖ]<Üé×Ãj×Ö<íÚ^ÃÖ]<퉉ö¹]
‫א‬‫א‬‫א‬‫א‬

EF 

‫א‬‫א‬‫א‬‫א‬
 ‫א‬‫א‬‫א‬‫א‬

٥
  ‫א‬‫א‬  ٢٤٣  ‫א‬
 ‫א‬‫א‬‫א‬‫א‬  EF  
  

 W‫א‬‫א‬
‫א‬‫א‬
،‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
،‫א‬PID‫א‬‫א‬‫א‬
،‫א‬PID‫א‬‫א‬‫א‬
 K‫א‬PID‫א‬‫א‬‫א‬

 W‫א‬‫א‬
‫א‬
‫א‬


‫א‬‫א‬
‫א‬‫א‬
‫א‬‫א‬

‫א‬
‫א‬، ‫א‬WE‫א‬‫א‬‫א‬F









-١٤-
  ‫א‬‫א‬  ٢٤٣  ‫א‬
 ‫א‬‫א‬‫א‬‫א‬  EF  
  

‫א‬

‫ﺣﺎآﻢ‬
‫ﺗﻨﺎﺳﺒﻴﻲ‬
‫إﻟﻰ ﺟﻬﺎز‬
‫اﻟﻌﺮض‬

‫ﻣﻮﻟﺪ ﻧﻘﻄﺔ‬ ‫ﺣﺎآﻢ‬ ‫وﺣﺪة‬

‫اﻟﺘﺸﻐﻴﻞ‬ ‫ﺗﻨﺎﺳﺒﻴﻲ‬ ‫ﻣﺤﻜﻮﻣﺔ‬
‫ﺣﻠﻘﺔ ﺗﺤﻜﻢ‬
‫ﻣﻐﻠﻘﺔ‬

‫ﺣﺎآﻢ‬
‫ﺗﻔﺎﺿﻠﻲ‬

‫א‬١J ٥‫א‬ 
 ‫א‬‫א‬‫א‬
 ١J ٥‫א‬
 K‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 KE‫א‬‫א‬
 ‫א‬‫א‬‫א‬،Kp
   ‫א‬‫א‬‫א‬
‫א‬‫א‬Kd‫א‬‫א‬Ki
‫א‬‫א‬‫א‬‫א‬١J ٥‫א‬‫א‬
K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬


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  ‫א‬‫א‬  ٢٤٣  ‫א‬
 ‫א‬‫א‬‫א‬‫א‬  EF  
  

 ١J ٥
 ‫א‬‫א‬ EF‫א‬ EF‫א‬  EF‫א‬

   E

 Ki‫א‬‫א‬Kp‫א‬‫א‬
K‫א‬‫א‬‫א‬Kd‫א‬‫א‬
Kd‫א‬‫א‬Kp‫א‬‫א‬
 K‫א‬‫א‬‫א‬Ki‫א‬‫א‬
 Kd‫א‬‫א‬Ki‫א‬‫א‬
 K‫א‬‫א‬‫א‬Kp‫א‬‫א‬

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  ‫א‬‫א‬  ٢٤٣  ‫א‬
 ‫א‬‫א‬‫א‬‫א‬  EF  
  


‫א‬‫א‬‫א‬‫א‬‫א‬ o
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 _________________________________________________________________________________________

‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ o
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 _________________________________________________________________________________________

 ‫א‬PID ‫א‬‫א‬‫א‬
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 _________________________________________________________________________________________


‫א‬PID‫א‬‫א‬‫א‬ o
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 _________________________________________________________________________________________

‫א‬PID ‫א‬‫א‬‫א‬ o
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 _________________________________________________________________________________________


‫؟‬‫א‬‫א‬
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 _________________________________________________________________________________________


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

EF 

‫א‬
 ‫א‬

٦
  ‫א‬‫א‬  ٢٤٣  ‫א‬
 ‫א‬  EF  

 W‫א‬‫א‬
‫א‬‫א‬
DC Motor‫א‬‫א‬
‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬
 ‫א‬‫א‬

 W‫א‬‫א‬
 ‫א‬
(Input Transducer)‫א‬
(Output Transducer) ‫א‬
‫א‬
‫א‬

‫א‬
‫א‬، ‫א‬WE‫א‬‫א‬‫א‬F

‫א‬
‫اﻟﺪﺧﻞ‬ ‫وﺿﻊ‬
‫اﻟﻤﺮﺟﻌﻲ‬ ‫اﻟﻤﺤﺮك‬
Input Power
‫إﻟﻰ ﺟﻬﺎز‬
DC
Transducer Amplifier Motor ‫اﻟﻌﺮض‬

Output
Transducer

‫א‬‫א‬١J ٦‫א‬


-١٨-
  ‫א‬‫א‬  ٢٤٣  ‫א‬
 ‫א‬  EF  

 ‫א‬‫א‬‫א‬
 ١J ٦‫א‬
 K‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 ٣٠°‫א‬‫א‬‫א‬
‫א‬
‫א‬‫א‬‫א‬‫א‬
 ‫א‬ ‫א‬
١J ٦‫א‬‫א‬
‫א‬‫א‬‫א‬ ‫א‬
 ١J ٦‫א‬‫א‬‫א‬‫א‬‫א‬

‫א‬
‫א‬‫א‬‫א‬
١J ٦
 ‫א‬‫א‬ EF‫א‬ EF‫א‬‫א‬ EF‫א‬‫א‬

   ٣٠

  

  

  

-١٩-
  ‫א‬‫א‬  ٢٤٣  ‫א‬
 ‫א‬  EF  


W‫א‬‫א‬
‫א‬‫א‬ o
ts=
‫א‬ o
G=
‫א‬‫א‬‫ א‬o
 ess=
‫א‬‫א‬ o
 %e=


‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬F‫א‬‫א‬‫ א‬o
E‫א‬
‫زاوﻳﺔ اﻟﺨﺮج‬

‫زاوﻳﺔ اﻟﺪﺧﻞ‬

‫א‬‫א‬٢J ٦‫א‬


‫؟‬‫א‬‫א‬
_________________________________________________________________________________________
_________________________________________________________________________________________
_________________________________________________________________________________________
_________________________________________________________________________________________
 _________________________________________________________________________________________


-٢٠-
  ‫א‬‫א‬‫א‬
ã¹]<gè…‚jÖ]æ<ËÖ]<Üé×Ãj×Ö<íÚ^ÃÖ]<퉉ö¹]
‫א‬‫א‬‫א‬‫א‬

EF 

 ‫א‬
 ‫א‬

٧
  ‫א‬‫א‬  ٢٤٣  ‫א‬
 ‫א‬  EF  

 W‫א‬‫ א‬١J ٧
DC Motor‫א‬ •
‫א‬‫א‬‫א‬‫א‬ •
‫א‬‫א‬‫א‬‫א‬ •
‫א‬ •

 W‫א‬‫ א‬٢J ٧
‫א‬ •
DC Motor •
Tachogenerator‫א‬‫א‬ •
Power Amplifier‫א‬ •
 •
‫א‬ •
 •
‫א‬، ‫א‬WE
  ‫א‬‫א‬‫א‬F •


‫א‬ ٣J ٧

‫اﻟﺪﺧﻞ‬
‫اﻟﻤﺮﺟﻌﻲ‬ ω ‫إﻟﻰ ﺟﻬﺎز‬
Power DC Tacho-
Motor generator ‫اﻟﻌﺮض‬
Amplifier

‫א‬‫א‬١J ٧ ‫א‬

-٢١-
  ‫א‬‫א‬  ٢٤٣  ‫א‬
 ‫א‬  EF  

 ‫א‬‫א‬‫א‬ ٤J ٧
 ١J ٧‫א‬ •
 K‫א‬‫א‬‫א‬ •
‫א‬‫א‬‫א‬‫א‬‫א‬  ‫א‬ •
 K‫א‬
‫א‬ •
‫א‬‫א‬ •
E ‫א‬‫א‬‫א‬‫א‬F‫א‬
١J ٧‫א‬‫א‬
‫א‬‫א‬‫א‬‫• א‬

‫א‬ ٥J ٧
‫א‬‫א‬‫א‬ •
١J ٧
‫ﺳﺮﻋﺔ دوران اﻟﻤﺤﺮك‬ (‫ﺟﻬﺪ اﻟﺨﺮج )ﻓﻮﻟﺖ‬ (‫ﺟﻬﺪ اﻟﺪﺧﻞ )ﻓﻮﻟﺖ‬
‫دورة ﻓﻲ اﻟﺪﻗﻴﻘﺔ‬

-٢٢-
  ‫א‬‫א‬  ٢٤٣  ‫א‬
 ‫א‬  EF  

 ٦J ٧
‫א‬‫א‬‫א‬‫א‬ •
(Tachogenerator)
(‫ﺟﻬﺪ ﺧﺮج اﻟﺘﺎآﻮ )ﻓﻮﻟﺖ‬

(‫ﺟﻬﺪ اﻟﺪﺧﻞ )ﻓﻮﻟﺖ‬

‫א‬‫א‬٢J ٧ ‫א‬

‫א‬‫א‬‫א‬‫א‬ •
‫א‬‫א‬

EF‫א‬

‫א‬‫א‬‫א‬‫א‬٣J ٧ ‫א‬


-٢٣-
  ‫א‬‫א‬‫א‬
ã¹]<gè…‚jÖ]æ<ËÖ]<Üé×Ãj×Ö<íÚ^ÃÖ]<퉉ö¹]
‫א‬‫א‬‫א‬‫א‬

EF 

PID‫א‬‫א‬
PID‫א‬‫א‬


٨
  ‫א‬‫א‬  ٢٤٣  ‫א‬
PID‫א‬‫א‬  EF  
 

 W‫א‬‫א‬
W‫א‬‫א‬
K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
K‫א‬PID‫א‬‫א‬‫א‬
K‫א‬PID‫א‬‫א‬‫א‬
 K‫א‬PID‫א‬‫א‬‫א‬

 W‫א‬‫א‬
‫א‬
‫א‬


‫א‬‫א‬
‫א‬‫א‬
‫א‬‫א‬

‫א‬
‫א‬، ‫א‬WE‫א‬‫א‬‫א‬F









-٢٤-
  ‫א‬‫א‬  ٢٤٣  ‫א‬
PID‫א‬‫א‬  EF  
 

‫א‬

‫ﺣﺎآﻢ‬
‫ﺗﻨﺎﺳﺒﻴﻲ‬
‫إﻟﻰ ﺟﻬﺎز‬
‫اﻟﺪﺧﻞ‬ ‫اﻟﻌﺮض‬
‫اﻟﻤﺮﺟﻌﻲ‬

‫ﺣﺎآﻢ‬ ‫ﻣﺤﺮك‬ Tacho-

generator
‫ﺗﻨﺎﺳﺒﻴﻲ‬ DC

‫ﺣﺎآﻢ‬
‫ﺗﻔﺎﺿﻠﻲ‬

‫א‬‫א‬١J ٨ ‫א‬ 

 ‫א‬‫א‬‫א‬
 ١J ٨‫א‬
 K‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 KE‫א‬‫א‬

 ‫א‬‫א‬،Kp
  ‫א‬‫א‬‫א‬
‫א‬‫א‬Kd‫א‬‫א‬Ki
‫א‬‫א‬‫א‬‫א‬١J ٨‫א‬‫א‬
K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 ١J ٨
 ‫א‬‫א‬ EF‫א‬ EF‫א‬  EF‫א‬

   E

 Ki‫א‬‫א‬Kp‫א‬‫א‬
K‫א‬‫א‬‫א‬Kd‫א‬‫א‬
Kd‫א‬‫א‬Kp‫א‬‫א‬
 K‫א‬‫א‬‫א‬Ki‫א‬‫א‬

-٢٥-
  ‫א‬‫א‬  ٢٤٣  ‫א‬
PID‫א‬‫א‬  EF  
 

 Kd‫א‬‫א‬Ki‫א‬‫א‬
 K‫א‬‫א‬‫א‬Kp‫א‬‫א‬


‫א‬‫א‬‫א‬‫א‬‫א‬ o
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 _________________________________________________________________________________________

‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ o
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 _________________________________________________________________________________________

 ‫א‬PID ‫א‬‫א‬‫א‬ o
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 _________________________________________________________________________________________

‫א‬PID‫א‬‫א‬‫א‬ o
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_________________________________________________________________________________________
 _________________________________________________________________________________________

‫א‬PID ‫א‬‫א‬‫א‬ o
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 _________________________________________________________________________________________


-٢٦-
  ‫א‬‫א‬  ٢٤٣  ‫א‬
PID‫א‬‫א‬  EF  
 

‫؟‬‫א‬‫א‬
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 _________________________________________________________________________________________


-٢٧-
  ‫א‬‫א‬‫א‬
ã¹]<gè…‚jÖ]æ<ËÖ]<Üé×Ãj×Ö<íÚ^ÃÖ]<퉉ö¹]
‫א‬‫א‬‫א‬‫א‬

EF 

ATLAB Fundamentals ‫א‬
ATLAB Fundamentals‫א‬

٩
  ‫א‬‫א‬  ٢٤٣  ‫א‬
ATLAB Fundamentals‫א‬  EF  


 W‫א‬‫א‬
‫א‬‫א‬
MATLAB
Control Tool Box‫א‬
SIMULINK

 W‫א‬‫א‬

Control Tool BoxSimulinkMATLAB

 ‫א‬‫א‬‫א‬
‫א‬،
 
 ،(MATLAB Command Window)

 To get started, type one of these: helpwin, helpdesk, or demo.
 For product information, visit www.mathworks.com.

»
Control Tool Box‫א‬
‫א‬‫א‬‫א‬MATLABControl Tool Box
‫א‬‫א‬،
 ‫א‬‫א‬‫א‬
 KKKK‫א‬‫א‬،،‫א‬‫א‬
 W‫א‬‫א‬‫א‬‫א‬
n( s )
 G( s) =
d ( s)
 (Polynomial in s)s‫א‬‫א‬‫א‬‫א‬d(s)n(s)
 W‫א‬
 W‫א‬‫א‬
 p( s ) = s 2 + 3s + 1

-٢٨-
  ‫א‬‫א‬  ٢٤٣  ‫א‬
ATLAB Fundamentals‫א‬  EF  


 W١ ،٣ ، ١W‫א‬
 » p=[١ ٣ ١];
 »p

 p=

١ ٣ ١
 ‫א‬‫א‬
 W
 W‫א‬‫א‬
 p( s ) = s 3 + 3s + 1
 W‫א‬، s 2 
١ ٠ ٣ ١
 W
 » p=[١ ٠ ٣ ١]

 p=

١ ٠ ٣ ١

 ‫א‬‫א‬‫א‬
s +1
 G( s) =
2
s + 3s + 1
 d ( s ) = s 2 + 3s + 1 ‫א‬ n( s ) = s + 1 W‫א‬
 W
 » n=[١ ١];
 » d=[١ ٣ ١];
 W‫א‬‫א‬‫א‬‫א‬‫א‬
» step(n,d)
figure No.١‫א‬‫א‬

-٢٩-
  ‫א‬‫א‬  ٢٤٣  ‫א‬
ATLAB Fundamentals‫א‬  EF  


 W‫א‬‫א‬
» bode(n,d)
 figure No.٢‫א‬
W‫א‬‫א‬‫א‬
 » roots(d)

 ‫א‬‫א‬‫א‬
 W‫א‬‫א‬‫א‬
s +1
 G( s) =
2
s + 3s + 1
 W‫א‬‫א‬
 d ( s ) = s 2 + 3s + 1
 W‫א‬
» d=[١ ٣ ١];
 ‫א‬
» roots(d)

 W‫א‬‫א‬
 ans =

 ٢{٦١٨٠
٠{٣٨٢٠
 SIMULINK
‫א‬‫א‬
 ‫א‬‫א‬‫א‬SIMULINK
‫א‬،‫א‬‫א‬‫א‬‫א‬‫א‬
 EF
 W‫א‬‫א‬‫א‬Simulink
‫א‬‫א‬‫א‬‫א‬
SIMULINK‫א‬SIMULINK ‫א‬
Library: Simulink/Sources‫א‬Untitled 
 ‫א‬

-٣٠-
  ‫א‬‫א‬  ٢٤٣  ‫א‬
ATLAB Fundamentals‫א‬  EF  


‫א‬‫א‬(Sinks)‫א‬(Sources)‫א‬
 KKKK(Demos)(Linear)
‫א‬‫א‬‫א‬(Sources)‫א‬
 ‫א‬
‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬Linear‫א‬
K‫א‬(drag and drop)‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬(Sinks)‫א‬
 ‫א‬
K‫א‬
‫א‬‫א‬‫א‬‫א‬ ‫א‬‫א‬
K‫א‬‫א‬‫א‬
StartSimulation ‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬‫א‬‫א‬

10s + 1
 G( s) = ‫א‬E١
s 3 + 4 s 2 + 5s + 1
 
n( s )
G( s) = ‫א‬‫א‬‫א‬
d ( s)
dnW Matlab Command Widow‫א‬
d (s ) ‫א‬‫א‬

‫א‬‫א‬‫א‬
 
W ‫א‬‫א‬‫א‬E H ( s ) = 1 F‫א‬E٢
K i 10 s+2
‫א‬، G c ( s ) = = ‫א‬‫א‬‫א‬، G ( s ) =
s s s 2 + 3s + 1
 WKScope‫א‬‫א‬،‫א‬
‫א‬Simulink
‫א‬‫א‬

-٣١-
  ‫א‬‫א‬‫א‬
ã¹]<gè…‚jÖ]æ<ËÖ]<Üé×Ãj×Ö<íÚ^ÃÖ]<퉉ö¹]
‫א‬‫א‬‫א‬‫א‬

EF 

‫א‬‫א‬MATLAB‫א‬‫א‬
‫א‬‫א‬MATLAB‫א‬‫א‬

 ‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬


١٠
  ‫א‬‫א‬  ٢٤٣  ‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬MATLAB‫א‬‫ א‬ EF  
  
 
 W‫א‬‫א‬
MATLAB‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬

 W‫א‬‫א‬

 Control Tool BoxSimulinkMATLAB

 ‫א‬‫א‬‫א‬
‫א‬(MATLAB)
‫א‬،‫א‬MATLAB
W،(MATLAB Command Window)

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

For product information, visit www.mathworks.com.
»
W‫א‬‫א‬‫א‬
K n( s )
 G( s) = =
τs + 1 d ( s )
 d ( s ) = τs + 1  n( s ) = K ‫א‬

W‫א‬‫א‬‫א‬‫א‬
» K=١٠;
» tau=٠{١;
» n=k;
» d=[tau ١];
» bode(n,d)
Figure No.١‫א‬‫א‬‫א‬
‫א‬‫א‬
» hold
Current plot released

 K ‫א‬‫א‬‫א‬‫א‬‫א‬

- ٣٢ -
  ‫א‬‫א‬  ٢٤٣  ‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬MATLAB‫א‬‫ א‬ EF  
  
 
٠{١  ١٠٠  ٥٠  ١ K
W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
» hold
Current plot released
W‫א‬‫א‬‫א‬
» k=١;
» tau=١;
» n=k;
» d=[tau ١];
» bode(n,d)
» hold
Current plot held
tau‫א‬‫א‬‫א‬‫א‬‫א‬
١٠  ٥ ٠{٥ ٠{١ tau
‫א‬ ‫א‬dB ‫א‬
 
‫א‬‫א‬‫א‬‫א‬
‫א‬ ‫ א‬ ‫א‬‫א‬
 ‫א‬‫א‬‫א‬‫א‬‫א‬

‫א‬
 ‫א‬‫א‬‫א‬‫א‬
K‫א‬‫א‬‫א‬
٠{١  ١٠٠ ٥٠ ١ K
ωd

- ٣٣ -
  ‫א‬‫א‬  ٢٤٣  ‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬MATLAB‫א‬‫ א‬ EF  
  
 

‫א‬‫א‬‫א‬ o
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 _________________________________________________________________________________________

‫א‬‫א‬‫א‬‫א‬
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 ________________________________________________________________________________________
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 ________________________________________________________________________________________


‫؟‬‫א‬‫א‬
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 _____________

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 _______________

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

EF 

‫א‬‫א‬ MATLAB‫א‬‫א‬
‫א‬‫א‬ MATLAB‫א‬‫א‬

 ‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬


١١
  ‫א‬‫א‬  ٢٤٣  ‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬MATLAB‫א‬‫א‬  EF 

  

 W‫א‬‫א‬
MATLAB‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬

 W‫א‬‫א‬
 
Control Tool BoxSimulinkMATLAB
 ‫א‬‫א‬‫א‬
‫א‬(MATLAB)
‫א‬،‫א‬MATLAB
W،(MATLAB Command Window)

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W‫א‬‫א‬‫א‬‫א‬
ω 02 n( s )
 G( s) =
2
=
s + 2ζω 0 s + ω 02 d ( s)

 d ( s ) = s + 2ζω 0 s + ω 02  n( s ) = ω 02 ‫א‬
2

ζ=zeta ω0 = omegazW‫א‬‫א‬
W‫א‬‫א‬‫א‬‫א‬
» omegaz=٤;
» zeta=٢;
» n=omegaz^٢;
» d=[١ ٢*zeta*omegaz omegaz^٢];
» bode(n,d)
Figure No.١‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬
» hold
Current plot released
 EζFzeta ‫א‬‫א‬‫א‬‫א‬‫א‬
-٣٥-
  ‫א‬‫א‬  ٢٤٣  ‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬MATLAB‫א‬‫א‬  EF 

  
٠{٠٥  ٠{١  ٠{٥  ١ zeta
W‫א‬‫א‬‫א‬ ω0 ‫א‬‫א‬‫א‬
» hold
Current plot released
W‫א‬‫א‬‫א‬
» zeta=٠{١;
» omegaz=٤;
» n=omegaz^٢;
» d=[١ ٢*zeta*omegaz omegaz^٢];
» bode(n,d)
» hold
Current plot held
omegaz (ω٠)‫א‬‫א‬‫א‬‫א‬‫א‬
١٢٨  ٦٤ ١٦ ٨ Omegaz
‫א‬ ‫א‬dB ‫א‬
 
‫א‬‫א‬‫א‬‫א‬
‫א‬ ‫א‬ ‫א‬‫א‬
 ‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬
 ‫א‬‫א‬‫א‬‫א‬
‫א‬ ω0 ‫א‬
١٢٨  ٦٤ ١٦ ٨ Omegaz
ωd



-٣٦-
  ‫א‬‫א‬  ٢٤٣  ‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬MATLAB‫א‬‫א‬  EF 

  


‫א‬‫א‬‫א‬ ‫א‬ o
K‫א‬
_______________________________________________________
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 _______________________________________________________

‫א‬‫א‬‫א‬
 ‫א‬ o
K‫א‬
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 ________________________________________________________________________________________
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 ________________________________________________________________________________________


‫؟‬‫א‬‫א‬
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 _______________

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 ___________________________________________________________

-٣٧-
  ‫א‬‫א‬‫א‬
ã¹]<gè…‚jÖ]æ<ËÖ]<Üé×Ãj×Ö<íÚ^ÃÖ]<퉉ö¹]
‫א‬‫א‬‫א‬‫א‬

EF 

‫א‬‫א‬MATLAB‫א‬‫א‬
‫א‬‫א‬MATLAB‫א‬‫א‬

 PID‫א‬
PID‫א‬


١٢
  ‫א‬‫א‬  ٢٤٣  ‫א‬
PID‫א‬‫א‬‫א‬MATLAB‫א‬‫ א‬ EF  


 W‫א‬‫א‬
‫א‬‫א‬‫א‬MATLAB‫א‬‫א‬
K
K‫א‬PID‫א‬‫א‬‫א‬
K‫א‬PID‫א‬‫א‬‫א‬
 ‫א‬PID‫א‬‫א‬‫א‬

 W‫א‬‫א‬
 •
Control Tool BoxSimulinkMATLAB •

‫א‬

K
p

21.81
٥ ١
Refe K
s
0.0063s 2 + 0.379 s + 1
renc i
Sc
e op
Input e of
Transfer Function
DC Motor
K du/dt
d


١J ١٢‫א‬ 

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  ‫א‬‫א‬  ٢٤٣  ‫א‬
PID‫א‬‫א‬‫א‬MATLAB‫א‬‫ א‬ EF  
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 ‫א‬‫א‬‫א‬‫א‬SIMULINK
‫א‬Ki Kp = 1, K d = 1 ‫א‬
٢ ١ ٠{١ Ki
StartSimulation ‫א‬
Scope‫א‬‫א‬‫א‬
‫א‬Kp Ki = 1, K d = 1 ‫א‬
٢ ١ ٠{٥ Kp
StartSimulation ‫א‬
Scope‫א‬‫א‬‫א‬
‫א‬Kd Ki = 1, K p = 1 ‫א‬
٥ ٢ ١ Kd
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
‫א‬‫א‬‫א‬‫א‬‫א‬ o
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‫א‬‫א‬‫א‬‫א‬‫א‬ o
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 ‫א‬PID ‫א‬‫א‬‫א‬ o

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  ‫א‬‫א‬  ٢٤٣  ‫א‬
PID‫א‬‫א‬‫א‬MATLAB‫א‬‫ א‬ EF  
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‫א‬PID‫א‬‫א‬‫א‬ o
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‫א‬PID ‫א‬‫א‬‫א‬ o
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‫؟‬‫א‬‫א‬
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 ‫א‬  ٢٤٣  ‫א‬
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 ‫א‬ 
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 ١  ‫א‬‫א‬‫א‬‫א‬W‫א‬‫א‬
 ٤  ‫א‬‫א‬‫א‬‫א‬W‫א‬‫א‬
 ٨  ‫א‬‫א‬‫א‬W‫א‬‫א‬
 ١١  ‫א‬‫א‬‫א‬W‫א‬‫א‬‫א‬
 ١٤  ‫א‬‫א‬‫א‬‫א‬W‫א‬‫א‬
 ١٨  ‫א‬W‫א‬‫א‬
 ٢١  ‫א‬W‫א‬‫א‬
 ٢٤  PID‫א‬‫א‬‫א‬W‫א‬‫א‬
 ٢٨  W‫א‬‫א‬
 ٣٢ ‫א‬‫א‬‫א‬‫א‬‫א‬W‫א‬‫א‬
 ‫א‬‫א‬
 ٣٥ ‫א‬‫א‬‫א‬‫א‬‫א‬W‫א‬‫א‬
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 ٣٨ ‫א‬‫א‬‫א‬‫א‬W‫א‬‫א‬
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 ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬

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