MAK3002 OTOMATK KONTROL

2011-2012 BAHAR
devin Konusu
Matlab Simulink Program Yardmyla PID Tipi
Denetim Organnn Ayarnn Yaplmas

devi Yapan rencinin;

Ad - Soyad

: mer Esmer / Hasan Batan

Numaras

: 030920130F / 030920128

mzas

Teslim Tarihi

:10/05/2012

[rgn]

Prof.Dr. brahim YKSEL

Yrd.Do.Dr. Grsel EFKAT
Yrd.Do.Dr. Elif TOPU
Yrd.Do.Dr. Zeliha KOCABIAK
r.Gr.Dr. Mesut ENGRGN

Denetlenen Sistem Transfer Fonksiyonu ;

() =

1
S 3 + 4S 2 + 3S

Denetleyici Transfer Fonksiyonu Formu;

() = Kp(1 +

>> gp=tf(1,[1 4 3 0])

Ti s

+ Td s)

Transfer function:
1
----------------s^3 + 4 s^2 + 3 s
>> gd=Kp;
??? Undefined function or variable 'Kp'.
>> Kp=1
Kp = 1
>> gd=Kp
gd = 1
>> god=gd*gp
Transfer function:
1
----------------s^3 + 4 s^2 + 3 s
>> gkd=feedback(god,1)
Transfer function:
1
--------------------s^3 + 4 s^2 + 3 s + 1

>> step(gkd)
>> grid

Kp=1 iin grafik;

Basamak Cevab
1.4

1.2

Genlik

0.8

0.6

0.4

0.2

10

5
Zaman (sec)

>> Kp=6
Kp =6
>> gd=Kp
gd =6
>> god=gd*gp
Transfer function:
6
----------------s^3 + 4 s^2 + 3 s
>> gkd=feedback(god,1)
Transfer function:
6
---------------------

15

s^3 + 4 s^2 + 3 s + 6
>> step(gkd)

Kp=6 iin grafik;

>> grid

Basamak Cevab
1.6
1.4

1.2

Genlik

0.8

0.6

0.4

0.2

10

15

Zaman
(
)

>> Kp=12
Kp = 12
>> gd=Kp
gd = 12
>> god=gd*gp
Transfer function:
12
----------------s^3 + 4 s^2 + 3 s
>> gkd=feedback(god,1)
Transfer function:
12

20

25

30

---------------------s^3 + 4 s^2 + 3 s + 12
>> step(gkd)

Kp=Kpmax=12 iin grafik;

>> grid

Basamak Cevab

2
1.8
1.6
1.4

Genlik

1.2
1
0.8
0.6
0.4
0.2
0

10

20

30

40

Zaman (sec)

>> [t1 y1]=ginput(1)

t1 =2.0578
y1 =1.9164
>> [t2 y2]=ginput(1)
t2 =5.6973
y2 =1.9164
>> pu=t2-t1
pu =3.6395

(Srekli Titreimli hal iin periyod deeri)

>> Kpmax=12;
>> gd=Kp*tf([Td*Ti Ti 1] , [0 Ti 0])
??? Undefined function or variable 'Td'.

50

60

>> Kp=0.6*Kpmax
Kp =7.2000
>> Ti=0.5*pu
Ti =1.8197
>> Td=0.125*pu
Td = 0.4549
>> gd=Kp*tf([Td*Ti Ti 1] , [0 Ti 0])
Transfer function:
5.961 s^2 + 13.1 s + 7.2
-----------------------1.82 s
>> god=gd*gp
Transfer function:
5.961 s^2 + 13.1 s + 7.2
-------------------------------1.82 s^4 + 7.279 s^3 + 5.459 s^2
>> gkd=feedback(god,1)
Transfer function:
5.961 s^2 + 13.1 s + 7.2
----------------------------------------------1.82 s^4 + 7.279 s^3 + 11.42 s^2 + 13.1 s + 7.2
>> step(gkd)

Denetim organ ayar yaplm grafik;

>> grid

Basamak Cevab

1.8
1.6
1.4

Genlik

1.2
1
0.8
0.6
0.4
0.2
0

Zaman (sec)

>> [t1 y1]=ginput(1)

t1 =2.1497
y1 =1.5991
>> [t2 y2]=ginput(1)
t2 = 7.1565
y2 =1.1105
>> (1-y1)*1/(1-y2)
ans = 5.4200

(g1/g2 oran)

>> go=series(gd,gp)
Transfer function:
5.961 s^2 + 13.1 s + 7.2
-------------------------------1.82 s^4 + 7.279 s^3 + 5.459 s^2

10

12

14

16

>> gkd=feedback(god,1)
Transfer function:
5.961 s^2 + 13.1 s + 7.2
----------------------------------------------1.82 s^4 + 7.279 s^3 + 11.42 s^2 + 13.1 s + 7.2
>> [yk,t]=step(gkd);
>> i=find(yk==max(yk));
>> tt=t(i);
>> Mp=max(yk)-1;
>> xsi=sqrt((log(Mp).^2)/((log(Mp).^2+pi.^2)))
xsi =0.1598 (snm oran)
>> wn=pi/(tt*sqrt(1-xsi.^2))
wn =1.4571

(Doal Frekans)

>> plot(t,yk)
>> grid

Simulink Modeli;

>> Kp=1
Kp = 1
>> plot(t,y)
>> hold on
>> grid
>> Kp=6
Kp =6
>> plot(t,y)
>> Kp=12
Kp =12

Kp=1 , Kp=6(ara deer) , Kp=Kpmax=12 iin grafik;

>> plot(t,y)

Basamak Cevab
2
1.8
1.6
1.4

Genlik

1.2
1
0.8
0.6

Kp=1
Kp=6
Kpmax=12

0.4
0.2
0

10

15

20
Zaman

25

30

35

40

Denetim Organ Ayar Yaplm Simulink Modeli;

>> Kp=0.6*Kpmax
Kp =7.2000
>> Ti=0.5*pu
Ti =1.8197
>> Td=0.125*pu
Td = 0.4549
PID denetim sistemi cevab
1.8
1.6
1.4

Genlik

1.2
1
0.8
0.6
0.4
0.2
0

8
10
Zaman

12

14

16

18