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Formule
Formule
B n (1 2 2 ) 4 4 4 2 2 ,
4
B (1 2 2 ) 4 4 4 2 2,
Ts
m arctan .
1 4
2 4
1
m 100 , M r ,
2 sin( / 2)
B 1.5 2 , n ,
4 4 1
Ts ,Tr 1.6 2.2 .
n 0.01 B
P ID regulator:
1
PID(s) K p 1 Td s .
Ts
i
Tip Kp Ti Td