Sait İşci 130190219

Inputs:
r(n)= 30 degrees.A n için + 1 1
C(0)= 0 degrees.A
delta t,Δt 0.1 sec.
Kp(Gain) 1
Ks 2

time (sec) n r(n) c*(n) e(n) m(n) ΔØ(n) Ø(n)

0 0 30 0 30 30 6 6
0.1 1 30 6 24 24 4.8 10.8 35
0.2 2 30 10.8 19.2 19.2 3.84 14.64
0.3 3 30 14.64 15.36 15.36 3.072 17.712 30
0.4 4 30 17.712 12.288 12.288 2.4576 20.1696
0.5 5 30 20.1696 9.8304 9.8304 1.96608 22.13568 25
0.6 6 30 22.13568 7.86432 7.86432 1.572864 23.70854
20
0.7 7 30 23.70854 6.291456 6.291456 1.258291 24.96684
0.8 8 30 24.96684 5.033165 5.033165 1.006633 25.97347 15
0.9 9 30 25.97347 4.026532 4.026532 0.805306 26.77877
1 10 30 26.77877 3.221225 3.221225 0.644245 27.42302 10
1.1 11 30 27.42302 2.57698 2.57698 0.515396 27.93842
1.2 12 30 27.93842 2.061584 2.061584 0.412317 28.35073 5
1.3 13 30 28.35073 1.649267 1.649267 0.329853 28.68059
0
1.4 14 30 28.68059 1.319414 1.319414 0.263883 28.94447 0 1
1.5 15 30 28.94447 1.055531 1.055531 0.211106 29.15558
1.6 16 30 29.15558 0.844425 0.844425 0.168885 29.32446
1.7 17 30 29.32446 0.67554 0.67554 0.135108 29.45957
1.8 18 30 29.45957 0.540432 0.540432 0.108086 29.56765
1.9 19 30 29.56765 0.432346 0.432346 0.086469 29.65412
2 20 30 29.65412 0.345876 0.345876 0.069175 29.7233
2.1 21 30 29.7233 0.276701 0.276701 0.05534 29.77864
2.2 22 30 29.77864 0.221361 0.221361 0.044272 29.82291
2.3 23 30 29.82291 0.177089 0.177089 0.035418 29.85833
2.4 24 30 29.85833 0.141671 0.141671 0.028334 29.88666
2.5 25 30 29.88666 0.113337 0.113337 0.022667 29.90933
2.6 26 30 29.90933 0.090669 0.090669 0.018134 29.92746
2.7 27 30 29.92746 0.072536 0.072536 0.014507 29.94197
2.8 28 30 29.94197 0.058028 0.058028 0.011606 29.95358
2.9 29 30 29.95358 0.046423 0.046423 0.009285 29.96286
3 30 30 29.96286 0.037138 0.037138 0.007428 29.97029
3.1 31 30 29.97029 0.029711 0.029711 0.005942 29.97623
3.2 32 30 29.97623 0.023768 0.023768 0.004754 29.98099
3.3 33 30 29.98099 0.019015 0.019015 0.003803 29.98479
3.4 34 30 29.98479 0.015212 0.015212 0.003042 29.98783
3.5 35 30 29.98783 0.012169 0.012169 0.002434 29.99026
3.6 36 30 29.99026 0.009736 0.009736 0.001947 29.99221
3.7 37 30 29.99221 0.007788 0.007788 0.001558 29.99377
3.8 38 30 29.99377 0.006231 0.006231 0.001246 29.99502
3.9 39 30 29.99502 0.004985 0.004985 0.000997 29.99601
4 40 30 29.99601 0.003988 0.003988 0.000798 29.99681
4.1 41 30 29.99681 0.00319 0.00319 0.000638 29.99745
4.2 42 30 29.99745 0.002552 0.002552 0.00051 29.99796
4.3 43 30 29.99796 0.002042 0.002042 0.000408 29.99837
4.4 44 30 29.99837 0.001633 0.001633 0.000327 29.99869
4.5 45 30 29.99869 0.001307 0.001307 0.000261 29.99895
4.6 46 30 29.99895 0.001045 0.001045 0.000209 29.99916
4.7 47 30 29.99916 0.000836 0.000836 0.000167 29.99933
4.8 48 30 29.99933 0.000669 0.000669 0.000134 29.99946
4.9 49 30 29.99946 0.000535 0.000535 0.000107 29.99957
5 50 30 29.99957 0.000428 0.000428 8.563E-05 29.99966
5.1 51 30 29.99966 0.000343 0.000343 6.851E-05 29.99973
5.2 52 30 29.99973 0.000274 0.000274 5.481E-05 29.99978
5.3 53 30 29.99978 0.000219 0.000219 4.385E-05 29.99982
5.4 54 30 29.99982 0.000175 0.000175 3.508E-05 29.99986
5.5 55 30 29.99986 0.00014 0.00014 2.806E-05 29.99989
5.6 56 30 29.99989 0.000112 0.000112 2.245E-05 29.99991
5.7 57 30 29.99991 8.979E-05 8.979E-05 1.796E-05 29.99993
5.8 58 30 29.99993 7.184E-05 7.184E-05 1.437E-05 29.99994
5.9 59 30 29.99994 5.747E-05 5.747E-05 1.149E-05 29.99995
 Sait İşci 130190219

c*(n)
35

30

25

20

15

10

0
0 1 2 3 4 5 6 7
Sait İşci 130190219
kp:0.5 olursa
Sait İşci 130190219