Teoria sistemelor ANEXA

ELEMENTE DE TRANSFER TIPIZATE yσ P

ET MM-II f.d.t, H(s) Răspunsul indicial u(t)  σ t  K

P y(t)  K  u(t) , K>0 K y   K , t0 0 Ti t

D yσ I
y(t)  K D  u (t), K D  0 KDs
t KI y σ (t)  K I  t, t  0 1
I y(t)  K I   u( )d, K I  0
0 s
0 Ti t
PD y(t)  K  u(t)  Td  u (t)  K, Td  0 K  1  Td  s 
yσ PI
 1 t   1   t 
PI y(t)  K   u(t) 
 Ti 0 u()d , K , Ti  0 K1 
 Tis 
 y σ (t)  K  1 
 Ti
, t  0

2K
K
Tm y(t)  K  u(t  Tm ), K, Tm  0 K eTms 0 Ti t
K 
t yσ PT1
PT1 T y (t)  y(t)  K  u(t), K, T  0 y σ (t)  K  (1  e T
), t  0
Ts  1
K
K s t 0.632K
DT1 T y (t)  y(t)  K  u (t), K, T  0 K 
y σ (t)  e T
, t  0
T s 1 T
0 T t
 T 
t

Td s  1 y  (t )  K  1  ( d  1)e T , t  0
PDT1 T y ( t )  y ( t )  K  u ( t )  Td  u ( t ) , K , T , Td  0 K  T 

Ts  1

1  1 
Ti 
PID y (t )  K [u (t )   u (t )dt  Td  u (t )], K , Ti , Td  0 K 1   Td  s 
 Ti s 
K
T 2 y(t )  2T y (t )  y (t )  K  u (t ), K,,T  0
T  s  2  T  s 1
2 2

P T2 y(t )  2  y (t )   2  y (t )  K   2  u (t ), K , ,  0 K  2
  1/ T s 2  2    s   2