Ele243 PDF

 ‫א‬‫א‬‫א‬
ã¹]<gè…‚jÖ]æ<ËÖ]<Üé×Ãj×Ö<íÚ^ÃÖ]<í‰‰ö¹]
‫א‬‫א‬‫א‬‫א‬

 
٢٤٣
 ‫א‬  ٢٤٣  ‫א‬
    

 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

????‫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      
   ٢٤٣  ‫א‬
    

،،‫א‬‫א‬،‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬?‫א‬?W‫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K‫א‬
 K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 W‫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
 K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬ ‫א‬‫א‬‫א‬‫א‬‫א‬
K ‫א‬‫א‬‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬
 K‫א‬Simulink‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬  ‫א‬،‫א‬K‫א‬
 K‫א‬
‫א‬‫א‬‫א‬‫א‬،‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬K
 ‫א‬‫א‬‫א‬
 K‫א‬

‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ 
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬ K ‫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
١
 ‫א‬‫א‬  ٢٤٣  ‫א‬
 ‫א‬‫א‬‫א‬‫א‬‫א‬    


 ‫א‬‫א‬
 W‫א‬‫א‬‫א‬‫א‬
K‫א‬‫א‬‫א‬‫א‬ •
K‫א‬‫א‬‫א‬‫א‬‫• א‬
K‫א‬‫א‬‫א‬‫א‬ •
K‫א‬‫א‬‫א‬ •
K‫א‬‫א‬‫א‬‫א‬ •
 K‫א‬‫א‬ •
-١-
 ‫א‬‫א‬  ٢٤٣  ‫א‬
 ‫א‬‫א‬‫א‬‫א‬‫א‬    


 
،‫א‬‫א‬‫א‬‫א‬‫א‬
K ‫א‬‫א‬‫א‬‫א‬،‫א‬‫א‬  ‫א‬‫א‬‫א‬
‫א‬‫א‬K ‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬ ١J ١
‫א‬‫א‬
 K‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬ ١J ١J ١
،،‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 ‫א‬
‫א‬،‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 K١J ١
‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬ ‫א‬ ‫א‬
‫א‬ ‫א‬ ‫א‬

‫א‬
‫א‬‫א‬١J ١‫א‬
،‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
،‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬
‫א‬‫א‬ ٢J ١J ١
‫א‬‫א‬،‫א‬‫א‬‫א‬‫א‬K
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 K٢J ١‫א‬
-٢-
 ‫א‬‫א‬  ٢٤٣  ‫א‬
 ‫א‬‫א‬‫א‬‫א‬‫א‬    


‫א‬‫א‬‫א‬‫א‬
‫إﺷﺎرة اﻟﺨﻄﺄ‬ ‫إﺷﺎرة‬ ‫א‬
r(t) + e(t) ‫اﻟﺘﺤﻜﻢ‬ ‫ﻋﻨﺼﺮ اﻟﺘﺤﻜﻢ‬
‫اﻟﺤﺎآﻢ‬ ‫اﻟﻨﻈﺎم اﻟﻤﺮاد‬
‫اﻟﻨﻬﺎﺋﻲ‬
p(t)
‫اﻟﺘﺤﻜﻢ ﻓﻴﻪ‬
c(t)
EMBED
Equation.٣
b(t)
‫اﻟﺤﺴﺎس‬
‫إﺷﺎرة اﻟﺘﻐﺬﻳﺔ‬
‫اﻟﺨﻠﻔﻴﺔ‬
Feedback ‫ اﻟﻤﺨﻄﻂ اﻟﺼﻨﺪوﻗﻲ ﻟﻨﻈﺎم‬٢-١ ‫اﻟﺸﻜﻞ‬
Signal ‫ﺗﺤﻜﻢ ﻣﻐﻠﻖ‬
 W‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬b(t)‫א‬‫א‬ •
K
‫א‬‫א‬‫א‬،‫א‬e(t)‫א‬ •
K‫א‬‫א‬
p(t)‫א‬‫א‬‫א‬ •
K
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ •
 K‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬K?‫א‬‫א‬‫?א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
-٣-
 ‫א‬‫א‬  ٢٤٣  ‫א‬
 ‫א‬‫א‬‫א‬‫א‬‫א‬    


‫א‬‫א‬‫א‬‫א‬،‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬
‫א‬‫א‬ ٢J ١
 W‫א‬‫א‬‫א‬
‫ﺗﺤﻮﻳﻞ ﻻﺑﻼس اﻟﺨﺮج‬
= ‫داﻟﺔ اﻟﻨﻘﻞ‬
‫ﺗﺤﻮﻳﻞ ﻻﺑﻼس اﻟﺪﺧﻞ‬
W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ ١J ١
 ٠{١y'(t)+y(t)=٢x(t)
:‫اﻟﺨﻄﻮة اﻷوﻟﻰ‬
 ‫א‬‫א‬
٠٫١sY(s)+Y(s)=٢X(s)
 W‫א‬‫א‬
 ‫א‬‫א‬‫א‬Y(s)
(٠{١sH١)Y(s)=٢X(s)
 W‫א‬‫א‬
 W‫א‬‫א‬‫א‬‫א‬
Y ( s) 2
G( s) = =
X ( s ) 0.1s + 1
‫א‬‫ א‬٣J ١
K ‫א‬‫א‬‫א‬
،‫א‬‫א‬‫א‬‫א‬‫א‬،‫א‬E
 F
 K،‫א‬‫א‬‫א‬
-٤-
 ‫א‬‫א‬  ٢٤٣  ‫א‬
 ‫א‬‫א‬‫א‬‫א‬‫א‬    


‫א‬‫א‬K ٤J ١
‫א‬‫א‬‫א‬‫א‬‫א‬
K  ‫א‬‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬
E‫א‬‫א‬F‫א‬ ١J ٤J ١
 ‫א‬‫א‬E‫א‬F٣J ١‫א‬
A(s) A(s)
R(s) D(s) C(s) R(s) C(s)
B(s) E(s) B(s) E(s)

(‫)ا‬ ( ‫)ب‬
 ‫א‬‫א‬EF‫א‬‫א‬E‫א‬F٣J ١‫א‬
 WE‫א‬F٣J ١‫א‬‫א‬‫א‬،‫א‬‫א‬
D(s)=R(s)+A(s)-B(s)
 W‫א‬‫א‬
C(s)=D(s)-E(s)
 WD(s)
C(s)=R(s)+A(s)-B(s)-E(s)
 W‫א‬‫א‬C(s)‫א‬‫א‬
 -E(s)-B(s)+A(s)+R(s)

 KE‫א‬F٣J ١‫א‬EF٣J ١‫א‬‫א‬

‫א‬ ٢J ٤J ١
 ‫א‬٤J ١‫א‬
-٥-
 ‫א‬‫א‬  ٢٤٣  ‫א‬
 ‫א‬‫א‬‫א‬‫א‬‫א‬    


A(s) C(s)
R(s) C(s) R(s)
G١(s) G٢(s) G١(s)G٢(s)
(‫)ا‬ (‫)ب‬
‫א‬‫א‬‫א‬EF‫א‬E‫א‬F٤J ١‫א‬
‫א‬‫א‬
 W٤J ١‫א‬،‫א‬

C(s)=A(s)G٢(s)
 C(s)A(s) A(s)=R(s)G١(s)
C(s)=R(s)[G١(s)G٢(s)]
 KE‫א‬F٤J ١‫א‬EF٤J ١‫א‬‫א‬
‫א‬‫א‬ ٣J ٤J ١
 W،‫א‬‫א‬E‫א‬F٥J ١‫א‬
A(s)=R(s)G١(s)
B(s)=R(s)G٢(s)
 W
C(s)=± A(s) ±B(s)
‫ ﻧﺤﺼﻞ ﻋﻠﻰ‬B(s) ‫ و‬A(s) ‫ﺑﺎﻟﺘﻌﻮﻳﺾ ﻋﻦ‬
C(s)=±R(s)G١(s)±R(s)G٢(s)
 
C(s)= R(s)[ ±G١(s)±G٢(s)]
 E‫א‬F٥J ١‫א‬EF٥J ١‫א‬‫א‬
-٦-
 ‫א‬‫א‬  ٢٤٣  ‫א‬
 ‫א‬‫א‬‫א‬‫א‬‫א‬    


A(s)
G١(s)
C(s)
± C(s) R(s) i
R(s) B(s)
‫اﻟﺸﻜﻞ‬
G٢(s) ‫اﻟﺸﻜﻞ‬ ±G١(s)±G٢(s)
± i
( ‫)ا‬ (‫)ب‬
‫א‬‫א‬‫א‬EF ‫א‬  E‫א‬F٥J ١‫א‬
 ٤J ٤J ١
G١(s)‫א‬E‫א‬F٦J ١‫א‬
 WE‫א‬F٦J ١‫א‬
A(s)=R(s)G٣(s)
B(s)=R(s)G١(s)
C(s)=B(s)G٢(s)
 C(s)B(s)A(s)P‫א‬‫א‬
:‫ ﻳﻌﻄﻲ‬G١(s) ‫ﻓﻨﻘﻞ ﻧﻘﻄﺔ اﻟﺘﻔﺮﻳﻊ إﻟﻰ ﻳﻤﻴﻦ اﻟﺼﻨﺪوق‬
A(s)=R(s)G١(s)X(s)
 A(s)‫א‬X(s)
‫ ﻓﻲ اﻟﺤﺎﻟﺘﻴﻦ ﻧﺤﺼﻞ ﻋﻠﻰ‬A(s) ‫ﺑﺘﺴﺎوي‬
R(s)G٣(s)= R(s)G١(s)X(s)
 W
G3 ( s )
X ( s) =
G1 ( s )
 EF٦J ١‫א‬‫א‬
‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 K‫א‬
-٧-
 ‫א‬‫א‬  ٢٤٣  ‫א‬
 ‫א‬‫א‬‫א‬‫א‬‫א‬    



A(s)
G3 ( s )
A(s)
G1 ( s )
G٣(s)
R(s) R(s) C(s)
C(s)
‫اﻟﺸﻜﻞ‬ i
G٢(s) G١(s) G١(s)
G١(s)
P B(s)
‫اﻟﺸﻜﻞ‬ B(s)
( ‫)ب‬
(‫)ا‬
٦J ١‫א‬
qout
 ٥J ٤J ١
KG١(s) E‫א‬F٧J ١‫א‬
‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬
 KE‫א‬F٧J ١‫א‬EF٧J ١‫א‬،‫א‬





-٨-
 ‫א‬‫א‬  ٢٤٣  ‫א‬
 ‫א‬‫א‬‫א‬‫א‬‫א‬    


A(s)
A(s)
G١(s)G٣(s)
G٣(s)
R(s) C(s) C(s)

P
‫اﻟﺸﻜﻞ‬ i
G٢(s) G١(s) G١(s)
G١(s)
B(s) R(s)
‫اﻟﺸﻜﻞ‬ B(s)
( ‫)ب‬
( ‫)ا‬
٧J ١‫א‬
qout
 ٦J ٤J ١
G١(s)‫א‬E‫א‬F٨J ١‫א‬
 E‫א‬F٨J ١‫א‬
C(s)=R(s)G(s)-F(s)G(s)
F(s)=A(s)H(s)
C(s)= R(s)G(s)-A(s)G(s)H(s)
 C(s)‫א‬‫א‬
 G١(s)‫א‬‫א‬
C(s)=R(s)G(s)-A(s)X(s)
 F(s)‫א‬‫א‬‫א‬X(s)
 ‫א‬C(s)
C(s)= R(s)G(s)-A(s)G(s)H(s)=R(s)G(s)-A(s)X(s)
 W
X ( s) = G( s) H ( s)
 KE‫א‬F٨J ١‫א‬EF٨J ١‫א‬‫א‬
-٩-
 ‫א‬‫א‬  ٢٤٣  ‫א‬
 ‫א‬‫א‬‫א‬‫א‬‫א‬    


R(s)
C(s) C(s)
+ +
G(s) G(s)
R(s) - -
A(s) A(s)
H(s) G(s)H(s)
F(s) F(s)
‫ا‬ ‫ب‬
٨J ١ ‫א‬

 ٧J ٤J ١
 KG(s)‫א‬‫א‬E‫א‬F٩J ١‫א‬
EF٩J ١‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬‫א‬
‫א‬ ٨J ٤J ١
 KE‫א‬F١٠J ١‫א‬
 K‫א‬‫א‬‫א‬‫א‬
 ‫א‬‫א‬E‫א‬F١٠J ١‫א‬
E(s)=R(s)-B(s)
 
B(s)=C(s)H(s)
 
E(s)=R(s)-C(S)H(s)
-١٠-
 ‫א‬‫א‬  ٢٤٣  ‫א‬
 ‫א‬‫א‬‫א‬‫א‬‫א‬    


C(s)
+ C(s) +
R(s) G(s)
G(s)
R(s) -
-
A(s)
H ( s)
H(s)
F(s) F(s) G( s) A(s)
( ‫)ا‬ ( ‫)ب‬
٩J ١ ‫א‬
 
C(s)=E(s)G(s)
 
C(s)=[R(s)-C(s)H(s)]G(s)
 ‫א‬‫א‬
C(s)[(١HG(s)H(s)]=R(s)G(s)
 ‫א‬‫א‬‫א‬
C ( s) G( s)
T ( s) =
R( s ) 1 + G ( s ) H ( s )

 ‫א‬‫א‬EF١٠J ١‫א‬‫א‬
 (unity feedback)‫א‬‫א‬
 H(s)=١
 W‫א‬‫א‬‫א‬
G( s)
T ( s) =
 1 + G( s)
-١١-
 ‫א‬‫א‬  ٢٤٣  ‫א‬
 ‫א‬‫א‬‫א‬‫א‬‫א‬    


R(s) C(s)
R(s) E(s) C(s) G( s)
G(s) 1 + G( s) H ( s)
B(s)
H(s)
( ‫)ب‬
(‫)ا‬
١٠J ١ ‫א‬
 ١١J ١‫א‬‫א‬‫א‬‫א‬‫א‬ ٢J ١

‫א‬‫א‬
R(s)
C(s)
K1 ( s + 20) 1 1
+ s s s
-
K٢
K 3 (s + K 4 )
s + K5
٢J ١‫א‬‫א‬‫א‬١١J ١‫א‬
-١٢-
 ‫א‬‫א‬  ٢٤٣  ‫א‬
 ‫א‬‫א‬‫א‬‫א‬‫א‬    


 ‫א‬
‫א‬‫א‬‫א‬،‫א‬‫א‬‫א‬‫ א‬K١
K1 ( s + 20)
 K‫א‬ 1 
s s
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫ א‬K٢
K‫א‬ 1 ‫א‬‫א‬‫א‬
s
١٢J ١‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ K٣
R(s) K1 ( s + 20) / s 2 C(s)

K K ( s + 20)
+ [1 + 1 2 ]s
- s2
K 3 (s + K 4 )
s + K5
‫א‬‫א‬‫א‬١٢J ١ ‫א‬
T(s)‫א‬‫א‬‫א‬١٢J ١‫א‬ K٤
C ( s) K1 ( s + 20)( s + k 5 )
T ( s) = =
2
R( s ) s[( s + K1 K 2 ( s + 20)][ s + K 5 ] + K1 K 3 ( s + 20)( s + K 4 )
 ‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬
K ‫א‬‫א‬‫א‬‫א‬،‫א‬
‫א‬‫א‬‫א‬K‫א‬‫א‬‫א‬‫א‬
 K
-١٣-
 ‫א‬‫א‬  ٢٤٣  ‫א‬
 ‫א‬‫א‬‫א‬‫א‬‫א‬    


 
 K‫א‬‫א‬‫א‬‫א‬ ١J ١
 K‫א‬‫א‬‫א‬‫א‬ ٢J ١
‫؟‬‫א‬‫א‬‫א‬‫א‬ ٣J ١
K‫א‬‫א‬‫א‬‫א‬‫א‬ ٤J ١
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ ٥J ١
R(s) C(s)
10s 10
s +1 s
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ ٦J ١
A(s)
١٠
+ C(s)
R(s)
‫اﻟﺸﻜﻞ‬ ‫اﻟﺸﻜﻞ‬
10s
+
 ‫א‬‫א‬‫א‬‫א‬ ٧J ١
R(s) C(s)
+ 10
s+4
-
20
W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ ٨J ١
-١٤-
 ‫א‬‫א‬  ٢٤٣  ‫א‬
 ‫א‬‫א‬‫א‬‫א‬‫א‬    


R(s)
C(s)
( s + 20) 1 1
١٠
+ s s s
-
٢٠
( s + 1)
s+2
-١٥-
 ‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬

‫א‬‫א‬‫א‬‫א‬‫א‬
 ‫א‬‫א‬‫א‬‫א‬‫א‬
٢
 ‫א‬‫א‬  ٢٤٣  ‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬    

 ‫א‬‫א‬
 W‫א‬‫א‬‫א‬‫א‬
K‫א‬‫א‬‫א‬‫א‬‫ א‬K١
K‫א‬‫א‬ K٢
K‫א‬‫א‬‫א‬‫א‬‫ א‬K٣
K‫א‬‫א‬ K٤
K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ ‫א‬ K٥





-١٦-
 ‫א‬‫א‬  ٢٤٣  ‫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
 K‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬
 ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 W‫א‬‫א‬‫א‬‫א‬K
y ' (t ) + ay (t ) = bx (t )
١J ٢ 
y ( 0) = y 0
 
٢J ٢ τy ' (t ) + y (t ) = Gx (t )

y ( 0) = y 0
 
،(system parameters)‫א‬ba
1
(Time Constant)E τ = F‫א‬‫א‬τ
a
E G = b F‫א‬‫א‬‫א‬G
a
‫א‬‫א‬‫א‬‫א‬y٠
‫א‬‫א‬‫א‬‫א‬
 K١J ٢‫א‬‫א‬‫א‬‫א‬
،‫א‬،١J ٢‫א‬
 W،‫א‬
 sY ( s ) − y0 + aY ( s ) = bX ( s )
 ‫א‬‫א‬
 ( s + a )Y ( s ) = y0 + bX ( s )
 ‫א‬ s + a ‫א‬‫א‬‫א‬
٣J ٢ 1 1
 Y ( s ) = y0 +b X ( s)
s+a s+a
-١٧-
 ‫א‬‫א‬  ٢٤٣  ‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬    

 ‫א‬‫א‬‫א‬‫א‬
 ‫א‬‫א‬E‫א‬‫א‬
⎧E t ≥ 0
 x (t ) = ⎨
⎩0 t < 0
 W٣J ٢‫א‬X(s)  X ( s ) = E 
s
٤J ٢ 1 1
 Y ( s ) = y0 + bE
s+a s( s + a )
 bE
1
 y0 1 ‫א‬Y(s)٤J ٢‫א‬
s( s + a ) s+a
‫א‬‫א‬‫א‬‫א‬
1
 y 0 e −t /τ  y0
s+a
1
 bE ‫א‬‫א‬
s( s + a )
W‫א‬‫א‬
1 A B
bE = +
s( s + a ) s s + a
 W‫א‬BA‫א‬
bE b bE b
 A= s = E , B = (s + a) =− E
s( s + a ) s = 0 a s( s + a ) s = −a a
 BA٥J ٢‫א‬
bE bE / a bE / a
 = −
s( s + a ) s s+a
1
 E (1 − e − t / τ )  E ‫א‬‫א‬
b b
a a s( s + a )
 W‫א‬‫א‬
٥J ٢  y (t ) = y0 e − at +
b
E (1 − e − at )
a
 K b = Ga  a = 1 ٢J ٢‫א‬‫א‬‫א‬
τ
٦J ٢  y (t ) = y0 e −t / τ + GE (1 − e −t / τ )

-١٨-
 ‫א‬‫א‬  ٢٤٣  ‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬    

 ‫א‬‫א‬‫א‬
J ٢‫א‬tEy٠=٠F‫א‬‫א‬‫א‬‫א‬
 ١J ٢‫א‬‫א‬‫א‬٦

 ‫א‬‫א‬‫א‬١J ٢
 ٥τ  ٤τ ٣τ ٢τ  τ t
 ٠{٩٩GE  ٠{٩٨GE  ٠{٩٥GE  ٠{٨٦GE  ٠{٦٣GE y(t)

 ‫א‬‫א‬‫א‬‫א‬
 ١J ٢‫א‬‫א‬‫א‬‫א‬‫א‬

yss=GE

y(t) 

٠٫٦٣yss 
٠٫٥yss





٠ 
٠ τ ٢τ ٣τ ٤τ t

 ‫א‬‫א‬‫א‬١J ٢‫א‬

y٠=٠

-١٩-
 ‫א‬‫א‬  ٢٤٣  ‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬    

‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬٦J ٢‫א‬
W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬،‫א‬
b bE bE −at
 y (t ) = E (1 − e −at ) = − e
a a a
 W‫א‬‫א‬‫א‬‫א‬
 y (t ) = y t + y ss
 ‫א‬
bE −at
 y t (t ) = − e
a
 K‫א‬‫א‬
 ‫א‬
bE
 y ss =
a
 W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 y ss = lim y (t )
t →∞
 ‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 W‫א‬‫א‬‫א‬
y ' (t ) + 2 y (t ) = 10 x (t )
 ‫א‬
 W‫א‬‫א‬‫א‬
y (t ) = 5(1 − e −0.5t )

= 5 − 5e −0.5t
 ‫א‬‫א‬‫א‬
 y ss = 5
 ‫א‬‫א‬
y t (t ) = 5e −0.5t
-٢٠-
 ‫א‬‫א‬  ٢٤٣  ‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬    

 ‫א‬‫א‬
 ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬ (time constant)‫א‬‫• א‬
 ،τ = 1 W
a
٪٩٨F‫א‬‫א‬ (Settling Time)‫א‬‫א‬ •
W،‫א‬‫א‬E
t s = 4τ
 ،‫א‬‫א‬‫א‬ •
‫א‬(Gain Coefficient)‫א‬ •
y ss
KG = ‫א‬‫א‬‫א‬
E
A=١m٢‫א‬‫א‬‫א‬١J ٢‫א‬‫א‬
KR=٥٠٠s/m ٢‫א‬‫א‬
qi(t)
R qo(t)
h(t)
‫א‬‫א‬ ١J ٢ ‫א‬
 W‫א‬
‫א‬ Ka
‫א‬‫ א‬Kb
‫א‬ Kc
‫א‬‫א‬‫א‬‫א‬qi(t)=٢×١٠ ٤m٣/s‫א‬‫א‬ Kd
K‫א‬‫א‬
-٢١-
 ‫א‬‫א‬  ٢٤٣  ‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬    

 W‫א‬
‫א‬RA AR dh(t ) + h(t ) = Rqi (t ) ‫א‬ K١
dt
 W‫א‬
dh(t )
 500 + h(t ) = 500qi (t )
dt
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ K٢
 ٢J ٢‫א‬
 τ=٥٠٠s
٢J ٢‫א‬‫א‬‫א‬ K٣
G=٥٠٠
‫א‬‫א‬‫ א‬K٤
 ‫א‬‫א‬٦J ٢‫א‬
 h (t ) = h0 e −t / τ + GE (1 − e −t / τ )
 W‫א‬
 h (t ) = 1 − e −0.002t
 ٢J ٢‫א‬‫א‬
 h ss = 1m ‫א‬

١
٠٫٩ 

‫ﻣﺴﺘﻮى اﻟﺴﺎﺋﻞ ﻓﻲ اﻟﺨﺰان ﺑﺎﻟﻤﺘﺮ‬
٠٫٨
٠٫٧
٠٫٦ 

٠٫٥
٠٫٤
٠٫٣ 
٠٫٢
٠٫١

٠
٠ ٥٠٠ ١٠٠٠ ١٥٠٠ ٢٠٠٠ ٢٥٠٠ ٣٠٠٠ 
‫א‬ 
١J ٢ ‫א‬‫א‬٢J ٢ ‫א‬ 
‫א‬‫א‬‫א‬‫א‬
-٢٢-
 ‫א‬‫א‬  ٢٤٣  ‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬    

 W‫א‬‫א‬‫א‬‫א‬
٧J ٢  a 2 y" (t ) + a1 y ' (t ) + a0 y (t ) = bx (t )
 K‫א‬b،a٠،a١،a٢
 ‫א‬‫א‬٧J ٢‫א‬
٨J ٢  y" (t ) + 2ζω0 y ' (t ) + ω02 y (t ) = cx (t )
 
??E ζ =
a1
= F‫א‬Wζ
2 a 2 a0
a0
E ω0 = F‫א‬Wω٠
a2
‫א‬ ‫א‬‫א‬‫א‬
 K٨J ٢‫א‬‫א‬‫א‬‫א‬
K‫א‬‫א‬‫א‬،‫א‬α=ζω0
،‫א‬،‫א‬،٨J ٢‫א‬
 W
٩J ٢  s 2Y ( s ) + 2αsY ( s ) + ω 02Y ( s ) = bX ( s )
 W٩J ٢‫א‬
١٠J ٢  ( s 2 + 2αs + ω 02 )Y ( s ) = bX ( s )
 W
١٠J ٢  Y ( s) =
b
X ( s)
s 2 + 2αs + ω 02
 ‫א‬‫א‬‫א‬‫א‬
 ‫א‬‫א‬E‫א‬‫א‬‫א‬
⎧E t ≥ 0
 x (t ) = ⎨
⎩0 t < 0
 W١٠J ٢‫א‬X(s)  X ( s ) = E 
s
١١J ٢  Y ( s) =
bE
s( s + 2αs + ω 02 )
2
-٢٣-
 ‫א‬‫א‬  ٢٤٣  ‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬    

‫א‬‫א‬ s 2 + 2αs + ω02 ‫א‬‫א‬

‫א‬،‫א‬‫א‬‫א‬s‫א‬‫א‬
 ∆ = 4(α 2 − ω 02 ) ‫א‬K
 E‫א‬‫א‬‫א‬F∆>٠‫א‬‫א‬
‫א‬‫א‬Eζ>1Fα>ω٠‫א‬
 r1,2 = −α ± α 2 − ω 2
0

 ١١J ٢‫א‬
١٢J ٢  Y ( s) =
bE
s( s − r1 )( s − r2 )
 ‫א‬‫א‬١٢J ٢‫א‬‫א‬‫א‬‫א‬
١٣J ٢  Y ( s) =
A
+
B
+
C
s s − r1 s − r2
 W
bE
 A = sY ( s ) = bω02 =
s=0 r1 r2
bE
 B = ( s − r1 )Y ( s ) =
s = r1 r1 ( r1 − r2 )
− bE
 C = ( s − r 2 )Y ( s ) =
s = r2 r2 ( r1 − r2 )
 ١٣J ٢‫א‬CBA
١٤J ٢  Y ( s) =
bE 1
[ +
r2
•
1
−
r1
•
1
]
2 s r −r
ω0 1 2 s − r1 r1 − r2 s − r2
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 W‫א‬‫א‬‫א‬


 
١٥J ٢  y (t ) =
bE
[1 +
r2 r
• e r1t − 1 • e r2 t ]
ω02 r1 − r2 r1 − r2
-٢٤-
 ‫א‬‫א‬  ٢٤٣  ‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬    

 E‫א‬‫א‬F∆>٠‫א‬‫א‬∆=٠‫א‬‫א‬
‫א‬‫א‬Eζ=1Fα=ω٠‫א‬
 r1 = r2 = −ω0 
 ١١J ٢‫א‬
١٦J ٢  Y ( s) =
bE
s( s −ω 0 ) 2
 ‫א‬‫א‬١٢J ٢‫א‬‫א‬‫א‬‫א‬
١٧J ٢  Y ( s) =
A
+(
B
+
C
)
s s + ω0 ( s + ω0 ) 2
 W
bE
 C=− ، B = − bE2 ، A = bE2
ω0 ω0 ω0
 ١٧J ٢‫א‬CBA
١٨J ٢ b 1 1 1
 Y ( s) = [ − − ω0 ]
ω 02 s s + ω 0 ( s + ω0 ) 2
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 W‫א‬‫א‬‫א‬
١٩J ٢  y (t ) =
bE
[1 − (1 + ω 0 t )e −ω 0t ] 
ω 02

 E‫א‬‫א‬F∆>٠‫א‬‫א‬∆<٠‫א‬‫א‬
‫א‬‫א‬Eζ<1Fα<ω٠‫א‬
 r1 ,2 = −α ± j ω 02 − α 2 ‫א‬
‫א‬‫א‬، ωd = ω02 − α 2 ‫א‬‫א‬
 W
 s 2 + 2αs + ω02 = [( s + α ) − jωd ][( s + α ) + jωd ]
‫א‬،‫א‬‫א‬‫א‬‫א‬
 W‫א‬‫א‬‫א‬‫א‬‫א‬
 s 2 + 2αs + ω02 = ( s + α ) 2 + ωd2
 ‫א‬‫א‬١١J ٢‫א‬
-٢٥-
 ‫א‬‫א‬  ٢٤٣  ‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬    

٢٠J ٢  Y ( s) =
bE
s[( s + α ) 2 + ωd2 ]
 ‫א‬‫א‬‫א‬‫א‬‫א‬
٢١J ٢ Bs + C
 Y ( s) =
A
+
s ( s + α ) 2 + ωd2
 WCBA‫א‬
 ، A = bE2
ω0
 ، B = − bE2
ω0
bE
C = −2 α
ω02
‫א‬‫א‬‫א‬،‫א‬‫א‬
 W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
٢٢J ٢ ω0
e −αt sin(ωd t + φ )]
bE
 y (t ) = [1 −
ω02 ω02 − α 2
α
  φ = cos −1 = cos −1 ζ 
ω0
 W‫א‬‫א‬٢٢J ٢‫א‬α=ζω0
٢٣J ٢ 1
e −ςω 0 t sin(ωd t + φ )]
bE
 y (t ) = [1 −
ω02 1−ζ 2
 ‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬٣J ٢‫א‬
 W‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬W‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬W‫א‬‫א‬
‫א‬،‫א‬‫א‬‫א‬‫א‬W‫א‬
 ‫א‬‫א‬‫א‬‫א‬‫א‬
-٢٦-
 ‫א‬‫א‬  ٢٤٣  ‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬    

١٫٤
ζ<1
‫إﺧﻤﺎد ﻧﺎﻗﺺ‬
١٫٢
٠٫٨
‫اﻻﺳﺘﺠﺎﺑﺔ‬
٠٫٦ ζ>1
‫إﺧﻤﺎد زاﺋﺪ‬
ζ=١
٠٫٤
‫إﺧﻤﺎد‬
‫ﺣﺮج‬
٠٫٢
٠
٠ ٥ ١٠ ١٥
‫اﻟﺰﻣﻦ ﺑﺎﻟﺜﺎﻧﻴﺔ‬
‫ اﺳﺘﺠﺎﺑﺔ ﻧﻈﻢ اﻟﺮﺗﺒﺔ اﻟﺜﺎﻧﻴﺔ ﺣﺴﺐ ﻧﻮع اﻹﺧﻤﺎد‬٣-٢ ‫اﻟﺸﻜﻞ‬


 ζ=0W
 W‫א‬‫א‬٢٣J ٢‫א‬ζ=0‫א‬
٢٤J ٢  y (t ) =
bE
[1 − cos(ω0t )]
ω02
‫א‬٤J ٢‫א‬‫א‬‫א‬‫א‬‫א‬
 K‫א‬
‫א‬‫א‬e(t)‫א‬K٥J ٢‫א‬
Ω‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬
٢٥J ٢  L
di
+ Ri + K eΩ = e
dt

-٢٧-
‫א‪‬א‪ ‬‬ ‫‪ ٢٤٣‬‬ ‫א‪ ‬‬
‫א‪‬א‪‬א‪‬א‪‬א‪‬‬ ‫‪ ‬‬ ‫‪ ‬‬
‫‪‬‬
‫‪٢٠‬‬
‫‪١٨‬‬
‫‪١٦‬‬
‫‪١٤‬‬
‫‪١٢‬‬
‫‪١٠‬‬
‫‪٨‬‬
‫‪٦‬‬
‫‪٤‬‬
‫‪٢‬‬
‫‪٠‬‬
‫‪٠‬‬ ‫‪١٠‬‬ ‫‪٤‬‬ ‫‪٦٠‬‬
‫اﻟﺸﻜﻞ ‪ ٢-٢‬اﺳﺘﺠﺎﺑﺔ ﻧﻈﻢ اﻟﺮﺗﺒﺔ اﻟﺜﺎﻧﻴﺔ ﻓﻲ ﺣﺎﻟﺔ ﻋﺪم اﻹﺧﻤﺎد ) ‪(ζ=0‬‬
‫‪‬‬
‫‪‬‬
‫اﻟﻌﻀﻮ اﻟﺪوار‬
‫ﻣﻘﺎوﻣﺔ ﺣﻤﻞ‬
‫‪‬‬
‫ﻟﻠﻤﺤﺮك‬ ‫ﻗﺼﻮر‬
‫‪+‬‬
‫اﻟﺤﻤﻞ‬ ‫‪‬‬
‫‪R‬‬
‫‪+‬‬ ‫‪J‬‬
‫اﻟﻤﺠﺎل‬ ‫‪B‬‬
‫‪e‬‬
‫‪-‬‬ ‫‪Ω‬‬
‫‪L‬‬
‫‪-‬‬
‫اﻟﺸﻜﻞ ‪ ٥-٢‬ﻣﺤﺮك ﺗﻴﺎر ﻣﺴﺘﻤﺮ ﻣﻊ ﺣﻤﻞ‬
‫‪-٢٨-‬‬
 ‫א‬‫א‬  ٢٤٣  ‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬    

 K‫א‬‫א‬‫א‬‫א‬
٢٥J ٢ dΩ
 J + BΩ = ‫א‬
dt
 K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
٢٦J ٢  K t i = ‫א‬
 ‫א‬‫א‬‫א‬
dΩ
J + BΩ
 i= dt
Kt
 ‫א‬‫א‬٢٥J ٢‫א‬i‫א‬
٢٧J ٢  a2
d 2Ω
+ a1
dΩ
+ Ω = Ge
2 dt
dt
 ‫א‬‫א‬‫א‬ τ m = J 
B
 ‫א‬‫א‬‫ א‬τ e = L
R
τ mτ e RB
 a2 =
K e K t + RB
 a1 = (τ m + τ e ) RB
K e K t + RB
Kt
 G=
K e K t + RB
kg.m٢،‫א‬WJ
N.m.s/rad،‫א‬WB
H،‫א‬‫א‬‫א‬WL
Ω،‫א‬‫א‬‫א‬WR
N.m/A،‫א‬WKt
V،‫א‬WE
rad/s،‫א‬‫א‬‫א‬Wω
V.s/rad،‫א‬‫א‬WKe

 W‫א‬‫א‬‫א‬
-٢٩-
 ‫א‬‫א‬  ٢٤٣  ‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬    

1
 ω0 =
a2
 α=
a1
2a 2
a
 ζ = 1
2 a2
‫א‬‫א‬‫א‬
J=٦{٢×١٠ ٤kg.m٢
B=١{٠×١٠ ٤N.m.s/rad
L=٠{٠٢H
R=١{٢Ω
Kt=٠{٠٤٣N.m/t
 Ke=٠{٠٤٣Vs/rad
W‫א‬
 ‫א‬‫א‬‫ א‬K١
‫א‬‫א‬‫ א‬K٢
‫א‬‫ א‬K٣
‫א‬ K٤
‫א‬ K٥
‫א‬ K٦
‫א‬‫א‬ K٧
 ‫א‬
J 6.2 × 10 −4
 τm = = = 6 .2 s K١
B 1.0 × 10 − 4
L 0.02
τe = = = 0.0167s K٢
R 1.2
Ga٢،a١‫א‬‫א‬‫א‬ K٣
a٢=٠{٠٠٦٣٠
a١=٠{٣٧٩
G=٢١{٨
 ‫א‬‫א‬
-٣٠-
 ‫א‬‫א‬  ٢٤٣  ‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬    

d 2ω dω
 0.00630
2
+ 0.379 + ω = 21.8e
dt dt
‫א‬‫א‬ K٤
‫א‬
1 1
 ω0 = = = 0.0794
a2 0.00630
‫א‬
a1 0.379
 ζ = = = 2.3875
2 a 2 2 0.00630
K‫א‬‫א‬ζ>1 K٥
‫א‬‫ א‬K٦
‫א‬‫א‬‫א‬‫א‬
 ‫א‬
 0.00630s 2 + 0.379s + 1 = 0
 W‫א‬‫א‬‫א‬
 r١= ٥٧{٣٩٣١
r٢= ٢{٧٦٥٧
١٤J ٢‫א‬‫א‬‫א‬E‫א‬‫א‬Fζ>1‫א‬
 ‫א‬‫א‬
bE r2 r
 y (t ) = [1 + • e r1t − 1 • e r2 t ]
ω02 r1 − r2 r1 − r2
 ω(t)‫א‬‫א‬‫א‬
‫א‬b=٢١{٨E‫א‬‫א‬FE=٥V ω0r٢r١
 W
 ω (t ) = 137.2796[1 + 0.0506e −57.3931t − 1.0506e −2.7657t ]



‫א‬ K٧
 ٦J ٢‫א‬‫א‬
-٣١-
 ‫א‬‫א‬  ٢٤٣  ‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬    






١٢٠
Ω(t)

١٠٠ 

٨٠ 

٦٠


٤٠


٢٠

٠

٠ ٠٫٥ ١ ١٫٥ ٢


٤-٢ ‫ ﻣﻨﺤﻨﻰ اﺳﺘﺠﺎﺑﺔ ﻧﻈﺎم اﻟﻤﺜﺎل‬٦-٢ ‫اﻟﺸﻜﻞ‬ 




‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 y (t ) = y t + y ss
،‫א‬‫א‬‫א‬
 K‫א‬‫א‬
-٣٢-
 ‫א‬‫א‬  ٢٤٣  ‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬    

 W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 y ss = lim y (t )
t →∞
‫א‬‫א‬
K
 ‫א‬‫א‬‫א‬‫א‬‫א‬
K ‫א‬‫א‬٧J ٢‫א‬
 W‫א‬‫א‬‫א‬‫א‬‫א‬
٪٥٠‫א‬‫א‬‫א‬ (delay time)td‫א‬
‫א‬
‫א‬٪٩٠‫א‬‫א‬‫א‬ (rise time)tr‫א‬
‫א‬
‫א‬‫א‬‫א‬ (peak time)tp‫א‬

π π
tp = =
ω 02 − α 2 ω0 1 − ζ 2
‫א‬‫א‬‫א‬ (settling time)ts‫א‬‫א‬
E٪٥±٪٢±F‫א‬
W(Maximum overshoot)Mp
2
M p = y p − y ss = e −ζπ / 1−ζ
‫א‬‫א‬yssyp
(percentage of overshoot)PO‫א‬‫א‬
y p − y ss
 × 100
y ss
y
 G = ss (static gain)G‫א‬‫א‬‫א‬
E
 ω d = ω 02 − α 2 = ω 0 1 − ζ 2 ‫א‬‫א‬‫א‬‫א‬
2π
 Td = ‫א‬‫א‬‫א‬‫א‬
ωd
1
 fd = ‫א‬‫א‬‫א‬‫א‬
Td
-٣٣-
 ‫א‬‫א‬  ٢٤٣  ‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬    

 ‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
K‫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‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬K‫א‬‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬‫א‬

yp
Mp
١
±٢.%
٠٫٩
٠٫٥
٠
٠ td tr tp ts
‫א‬‫א‬٧J ٢‫א‬
-٣٤-
 ‫א‬‫א‬  ٢٤٣  ‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬    

 

W‫א‬‫א‬
y ' (t ) + 10 y (t ) = 10 x (t )
 y ( 0) = 0
⎧5 t ≥ 0
x (t ) = ⎨
⎩0 t < 0
 
 ‫א‬‫ א‬
‫א‬ 
‫א‬‫ א‬
‫א‬ 
‫א‬‫א‬‫א‬
10 y ' (t ) + y (t ) = x (t )
 y ( 0) = 0
⎧10 t ≥ 0
x (t ) = ⎨
⎩0 t<0

 ‫א‬‫א‬ 
‫א‬ 
‫א‬‫ א‬
‫א‬ 
٢٠KΩ‫א‬،١٠µF‫א‬‫א‬،RC‫א‬
‫א‬‫א‬‫א‬ 
‫א‬‫א‬ 
‫א‬٥V‫א‬ 
K‫א‬‫א‬
١‫א‬‫א‬‫א‬‫א‬‫א‬
KE‫א‬F
-٣٥-
 ‫א‬‫א‬  ٢٤٣  ‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬    


٢

١٫٨
١٫٦  ٨
١٫٤  ٨
١٫٢
 ٨
١
 ٨
٠٫٨
 ٨
٠٫٦
 ٨
٠٫٤
 ٨
٨
٠٫٢
٠
٠ ٠٫٥ ١ ١٫٥ ٢ ٢٫٥ ٣ 

 
 ‫א‬‫ א‬
‫א‬ 
‫א‬‫ א‬
‫א‬‫א‬
y" ( t ) + 3 y ' ( t ) + 2 y ( t ) = 2 x ( t )
y (0) = y ' (0) = 0,
⎧1 t ≥ 0
x (t ) = ⎨
⎩0 t < 0

‫א‬‫א‬‫א‬ 
‫א‬ 
١‫א‬‫ א‬
‫א‬‫ א‬
‫א‬‫א‬
-٣٦-
 ‫א‬‫א‬  ٢٤٣  ‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬    

y" (t ) + 2 y ' (t ) + y (t ) = 10 x (t )
 y (0) = y ' (0) = 0,
⎧1 t ≥ 0
x (t ) = ⎨
⎩0 t < 0

‫א‬‫א‬‫א‬ 
‫א‬ 
١‫א‬‫ א‬
‫א‬‫ א‬
‫א‬‫א‬
y" (t ) + 4 y ' (t ) + 8(t ) = 16 x (t )
 y (0) = y ' (0) = 0,
⎧5 t ≥ 0
x (t ) = ⎨
⎩0 t < 0

‫א‬‫א‬‫א‬ 
١‫א‬‫ א‬
‫א‬‫ א‬
‫א‬‫א‬
J=٣{٢×١٠ ٤kg.m٢
B=٥{٠×١٠ ٤N.m.s/rad
L=٠{٠٧٥H
R=١{٢Ω
Kt=٠{٢٣N.m/t
 Ke=٠{٠٢٣Vs/rad
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ 
‫א‬‫א‬ 
‫א‬ 
‫א‬‫א‬ 
‫א‬(Ω)‫א‬‫א‬‫א‬ 
-٣٧-
 ‫א‬‫א‬  ٢٤٣  ‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬    

Ω(t)‫ א‬
‫א‬‫א‬‫א‬‫א‬‫א‬
K

١٫٤

١٫٢


١ 

٠٫٨
To: Y(١)

٠٫٦ 

٠٫٤

٠٫٢ 

٠
٠ ٠٫٥ ١ ١٫٥ 
‫اﻟﺰﻣﻦ ﺑﺎﻟﺜﺎﻧﻴﺔ‬ 
 
td‫א‬ 
tr‫א‬ 
tp‫א‬ 
‫א‬‫א‬ 
Mp 
‫א‬‫ א‬
‫א‬‫א‬‫א‬ 
-٣٨-
 ‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬

‫א‬‫א‬
 ‫א‬‫א‬
٣
 ‫א‬‫א‬  ٢٤٣  ‫א‬
 ‫א‬‫א‬    

 ‫א‬‫א‬
 W‫א‬‫א‬‫א‬‫א‬
‫א‬ o
‫א‬‫א‬‫א‬‫א‬ o
‫א‬‫א‬‫א‬‫א‬ o
‫א‬‫א‬‫א‬‫א‬‫א‬ o
‫א‬‫א‬‫א‬‫א‬ o
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ o

-٣٩-
 ‫א‬‫א‬  ٢٤٣  ‫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Simulink‫א‬‫א‬K
 ‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬ ٥J ١
‫א‬‫א‬،١J ٣‫א‬
Kc(t)‫א‬‫א‬‫א‬‫א‬‫א‬b(t)‫א‬‫א‬r(t)b(t)r(t)
e ( t ) = r ( t ) − b( t )
R(s) E(s) C(s)

G(s)
r(t) e(t) c(t)
B(s)
H(s)
b(t)
١J ٣‫א‬
‫א‬‫א‬(H(s)=١)‫א‬‫א‬‫א‬
 ‫א‬
١-٣ e( t ) = r ( t ) − c ( t )
 s‫א‬‫א‬
٢-٣ E ( s )) = R ( s ) − C ( s )
 W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
٣-٣ C ( s) G( s)
T ( s) = =
R( s ) 1 + G ( s )
 W
٤-٣ G( s)
C ( s) = R( s)
1 + G( s)
-٤٠-
 ‫א‬‫א‬  ٢٤٣  ‫א‬
 ‫א‬‫א‬    

 W‫א‬٢J ٣‫א‬C(s)
٥-٣ 1
E ( s) = R( s )
1 + G( s)
‫א‬‫א‬‫א‬ ٦J ١
‫א‬‫א‬‫א‬٢J ٣‫א‬
 W،‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬Gp(s) o
 ‫א‬‫א‬Gc(s o
R(s) E(s) P(s) C(s)

Gc(s) Gp(s)
r(t) e(t) p(t) c(t)
‫א‬٢J ٣‫א‬
‫א‬(Gp(s) Gc(s))‫א‬‫א‬
 G(s)=Gc(s)⋅Gp(s)‫א‬‫א‬

 W‫א‬‫א‬‫א‬
٦-٣ C ( s) G c ( s )G p ( s )
=
R( s ) 1 + G c ( s )G p ( s )
W‫א‬‫א‬‫א‬
٧-٣ 1
E ( s) = R( s)
1 + G c ( s )G p ( s )


‫א‬‫א‬‫א‬‫א‬ ٧J ١
 W‫א‬‫א‬‫א‬‫א‬‫א‬
 p(t)=Kpe(t)
-٤١-
 ‫א‬‫א‬  ٢٤٣  ‫א‬
 ‫א‬‫א‬    

 ‫א‬‫א‬
 P(s)= KpE(s)
W‫א‬‫א‬‫א‬
٨-٣ Gc ( s) = K p

 ‫א‬‫א‬‫א‬‫א‬‫א‬
 W‫א‬‫א‬‫א‬‫א‬R٠‫א‬
⎧ R0 t≥0
 r (t ) = ⎨
⎩0 t<0
 ‫א‬‫א‬
R
 R( s) = 0
s
 W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
1
 G p ( s) =
τs + 1
‫א‬٧J ٣‫א‬R(s)Gp(s)Gc(s)
 W‫א‬‫א‬
٩-٣ 1 R
E ( s) = • 0
1 s
1+ K p
τs + 1
 ٩J ٣‫א‬‫א‬
١٠-٣ τs + 1
E ( s ) = R0
s(τs + 1 + K p )
 ‫א‬‫א‬‫א‬
١١-٣ τs + 1 R0
e ss = lim sE ( s ) = lim sR0 =
s →0 s →0 s(τs + 1 + K p ) 1+ K p


‫א‬،‫א‬‫א‬‫א‬١١J ٢‫א‬
‫א‬‫א‬‫א‬‫א‬،‫א‬‫א‬
 K‫א‬‫א‬‫א‬‫א‬KKp
Simulink‫א‬ ٣J ١
1
r (t ) = 1 ‫א‬‫א‬ G p ( s ) = W
s +1
-٤٢-
 ‫א‬‫א‬  ٢٤٣  ‫א‬
 ‫א‬‫א‬    

 ‫א‬
 Kp =2 Kp =5 K p = 10
 K‫א‬‫א‬‫א‬‫א‬٣J ٣‫א‬



١ KP=١٠


KP=٥


KP=٢ 







٠
٠ ٠٫٥ ١ ١٫٥ ٢ ٢٫٥ ٣ 
‫א‬ 

‫א‬‫א‬‫א‬٣J ٣‫א‬



‫א‬‫א‬‫א‬‫א‬ ٨J ١
 W‫א‬‫א‬‫א‬‫א‬‫א‬
t
 p(t ) = K I ∫ e(τ )dτ
0
W‫א‬‫א‬‫א‬
١٢-٣ KI
Gc ( s) =
s
-٤٣-
 ‫א‬‫א‬  ٢٤٣  ‫א‬
 ‫א‬‫א‬    


 ‫א‬‫א‬‫א‬‫א‬‫א‬
 W‫א‬‫א‬‫א‬‫א‬R٠‫א‬
⎧ R0 t≥0
 r (t ) = ⎨
⎩0 t<0
 ‫א‬‫א‬
R
 R( s) = 0
s
 W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
1
 G p ( s) =
τs + 1
‫א‬‫א‬٧J ٣‫א‬R(s)Gp(s)Gc(s)
 W‫א‬
١٣-٣ 1 R
E ( s) = • 0
KI 1 s
1+ •
s τs + 1
 ١٣J ٣‫א‬‫א‬
١٤-٣ s (τs + 1) R
E ( s) = • 0
2
(τs + s + K I ) s
 ‫א‬‫א‬‫א‬
١٥-٣ R s (τs + 1)
e ss = lim sE ( s ) = lim s • 0 • =0
s →0 s →0 s (τs + 1 + K I )

‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬١٥J ٣‫א‬
 K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬،
 Simulink ‫א‬
1
 W‫א‬ r (t ) = 1 ‫א‬‫א‬ G p ( s) = ‫א‬‫א‬
s +1
 K I = 0 .1 K I = 0 .2 KI = 0.3 KI = 2
‫א‬٤J ٣‫א‬(Simulink)‫א‬‫א‬
 K‫א‬‫א‬‫א‬
-٤٤-
 ‫א‬‫א‬  ٢٤٣  ‫א‬
 ‫א‬‫א‬    

1.4
KI=٢
1.2
1
KI=٠٫٢
0.8 KI=٠٫٣
KI=٠٫١
0.6
0.4
0.2
0
0 5 10 15 20
‫ ﺗﺄﺛﻴﺮ اﻟﺤﺎآﻢ اﻟﺘﻜﺎﻣﻠﻲ ﻋﻠﻰ اﺳﺘﺠﺎﺑﺔ ﻧﻈﺎم ﺗﺤﻜﻢ ﻣﻐﻠﻖ‬٤-٣ ‫اﻟﺸﻜﻞ‬

‫א‬‫א‬‫א‬‫א‬‫א‬ ٩J ١
 W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
t
 p (t ) = K p e(t ) + K I ∫ e(τ )dτ
0
W‫א‬‫א‬‫א‬‫א‬
١٦-٣ K ps + KI
Gc ( s) =
s

 ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
R0 ⎧R t≥0
، R( s ) = ‫א‬‫א‬، r (t ) = ⎨ 0 WR٠‫א‬
s ⎩0 t<0
 W‫א‬‫א‬‫א‬‫א‬‫א‬،‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
1
 G p ( s) =
τs + 1
-٤٥-
 ‫א‬‫א‬  ٢٤٣  ‫א‬
 ‫א‬‫א‬    

‫א‬‫א‬ ٧J ٣‫א‬R(s)Gp(s)Gc(s)
 W‫א‬
١٦-٣ 1 R
E ( s) = • 0
K ps + KI 1 s
1+ •
s τs + 1
 ١٦J ٣‫א‬‫א‬
١٧-٣ s (τs + 1) R
E ( s) = • 0
τs 2 + s( K p + 1) + K I ) s
 ‫א‬‫א‬‫א‬
١٨-٣ R s(τs + 1)
e ss = lim sE ( s ) = lim s • 0 • =0
2
s (τs + s (1 + K p ) + K I )
s →0 s →0
‫א‬‫א‬،‫א‬‫א‬‫א‬‫א‬١٨J ٣‫א‬
 K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬ ٤J ١
WSimulink
1
 ‫א‬ r (t ) = 1 ‫א‬‫א‬ G p ( s ) = ‫א‬‫א‬
s +1
 K I = 2, K p =1  K I = 1, K p =1  K I = 1, K p = 2

‫א‬٥J ٣‫א‬(Simulink)‫א‬‫א‬
 K‫א‬‫א‬‫א‬‫א‬

-٤٦-
 ‫א‬‫א‬  ٢٤٣  ‫א‬
 ‫א‬‫א‬    



K I = 2, K p =1


١ 


K I = 1, Kp =2 

K I = 1, K p =1 



٠
٠ ١ ٢ ٣ ٤ ٥ ٦ ٧ ٨ 
‫א‬ 

‫א‬‫א‬‫א‬‫א‬٥J ٣ ‫א‬


‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ ١٠J ١
 W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
t
de(t )
 p(t ) = K p e(t ) + K I ∫ e(τ )dτ + K D
dt
0
W‫א‬
١٩-٣ KD s2 + K ps + K I
Gc ( s) =
s
‫א‬  ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
⎧R t≥0
r (t ) = ⎨ 0
‫א‬، ⎩0 t < 0  ،R
٠‫א‬ 
 
R
R( s) = 0
‫א‬‫א‬‫א‬‫א‬،‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬، s  ‫א‬
 W‫א‬
-٤٧-
 ‫א‬‫א‬  ٢٤٣  ‫א‬
 ‫א‬‫א‬    

1
 G p ( s) =
τs + 1
٧J ٣‫א‬R(s)Gp(s)Gc(s)
 W‫א‬‫א‬‫א‬
٢٠-٣ 1 R
E ( s) = • 0
KD s2 + K ps + K I 1 s
1+ •
s τs + 1
 ٢٠J ٣‫א‬‫א‬
٢١-٣ s (τs + 1) R
E ( s) = • 0
(τ + K D ) s 2 + ( K p + 1) s + K I ) s
 ‫א‬‫א‬‫א‬
٢٢-٣ R s(τs + 1)
e ss = lim sE ( s ) = lim s • 0 • =0
2
s (τ + K D ) s + ( K p + 1) s + K I
s →0 s →0
‫א‬،‫א‬‫א‬‫א‬‫א‬‫א‬٢٢J ٣‫א‬
 K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
Simulink‫א‬٦J ٣‫א‬ ٥J ١

1
 r (t ) = 1 ‫א‬‫א‬ G p ( s ) = ‫א‬‫א‬
s +1
 W‫א‬

 K I = 1, K p = 1 , K D = 2 W‫א‬‫ א‬o
 K I = 1, K p = 1 , K D = 1 W‫א‬‫ א‬o
 K I = 2, K p = 1 , K D = 0.2 W‫א‬‫ א‬o
 K‫א‬‫א‬(PID)٧J ٣‫א‬






-٤٨-
 ‫א‬‫א‬  ٢٤٣  ‫א‬
 ‫א‬‫א‬    


Kp

١ 
Constant ١
١

Ki simout
s
s+١ 
G(s) To Workspace

Kd du/dt




PIDSimulimk ٦J ٣‫א‬ 



K I = 1, K p = 1, K D = 2 


١ 


K I = 2, K p = 1 , K D = 0 .2



K I = 1, K p = 1, K D = 2


٠ 
٠ ٥ ١٠ ١٥


‫ ﺗﺄﺛﻴﺮ اﻟﺤﺎآﻢ اﻟﺘﻨﺎﺳﺒﻲ اﻟﺘﻜﺎﻣﻠﻲ اﻟﺘﻔﺎﺿﻠﻲ ﻋﻠﻰ اﺳﺘﺠﺎﺑﺔ ﻧﻈﺎم ﺗﺤﻜﻢ ﻣﻐﻠﻖ‬٧-٣ ‫اﻟﺸﻜﻞ‬ 

-٤٩-
 ‫א‬‫א‬  ٢٤٣  ‫א‬
 ‫א‬‫א‬    

 ‫א‬
‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬K
 ‫א‬
K  ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
K
 ‫א‬‫א‬،‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬Simulink ‫א‬K‫א‬‫א‬
 K‫א‬‫א‬‫א‬،
-٥٠-
 ‫א‬‫א‬  ٢٤٣  ‫א‬
 ‫א‬‫א‬    

 

‫א‬
 W
 ‫א‬‫א‬‫א‬
‫א‬
 ‫א‬‫א‬‫א‬
R(s) E(s) C(s)

1
s +1 
r(t) e(t) c(t)

F(s)


f(t)

 W
 ‫א‬‫א‬‫א‬
‫א‬
 ‫א‬‫א‬‫א‬
R(s) E(s)

C(s)
10

s+2
r(t) e(t) c(t) 

F(s) 2
s+4 
f(t)

‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬
-٥١-
 ‫א‬‫א‬  ٢٤٣  ‫א‬
 ‫א‬‫א‬    

 ‫א‬‫א‬‫א‬ ‫א‬‫א‬K ‫א‬

K‫א‬‫א‬‫א‬


R(s) E(s) C(s)
K 
s+2
r(t) e(t) c(t) 

B(s) 2

s+4
b(t)

W‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬
 ‫א‬‫א‬‫א‬
‫א‬
ess‫א‬‫א‬‫א‬
Kp
C(s)
١ ١
Constant s+٢
Sum١ ١ G(s)
Ki
s
-٥٢-
 ‫א‬‫א‬  ٢٤٣  ‫א‬
 ‫א‬‫א‬    


W‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬
 ‫א‬‫א‬‫א‬
‫א‬
ess‫א‬‫א‬‫א‬
 Kp
١ 
C(s)
Ki 
Constant ١
١
s
 s+١
G(s)


Kd du/dt



-٥٣-
 ‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬

‫א‬‫א‬‫א‬‫א‬
 ‫א‬‫א‬‫א‬‫א‬
٤
 ‫א‬‫א‬‫א‬  ٢٤٣  ‫א‬
 ‫א‬‫א‬‫א‬‫א‬    
 

 ‫א‬‫א‬
 W‫א‬‫א‬‫א‬‫א‬
K‫א‬‫א‬‫א‬ •
K‫א‬ •
K‫א‬‫א‬‫א‬ •
K‫א‬‫א‬‫א‬ •

-٥٤-
 ‫א‬‫א‬‫א‬  ٢٤٣  ‫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K‫א‬
 K‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬
 W‫א‬‫א‬‫א‬y(t)، L = lim y(t ) 
t →∞
 ،‫א‬L ‫א‬‫א‬‫א‬
 KEF‫א‬L‫א‬‫א‬
 ‫א‬‫א‬،‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ 
 W‫א‬‫א‬t‫א‬‫ א‬‫א‬‫א‬‫א‬‫א‬
 y (t ) = A0 + A1e r1t ....
 W‫א‬‫א‬‫א‬،‫א‬‫א‬ri
⎧ A, r = 0
⎪
 lim Ae rt
= ⎨ 0, r < 0
t →∞ ⎪∞ r > 0
⎩
 W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 ri ≤ 0
 K‫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
 W‫א‬‫א‬‫א‬‫א‬W‫א‬
 a n y ( n ) (t ) + a n −1 y ( n −1) (t ) + .... + a 2 y" (t ) + a1 y ' (t ) + a 0 y (t ) = x (t )
 W
-٥٥-
 ‫א‬‫א‬‫א‬  ٢٤٣  ‫א‬
 ‫א‬‫א‬‫א‬‫א‬    
 

y(t)‫א‬‫א‬y'(t)
y(t)‫א‬‫א‬y"(t)
KKK‫א‬y(t)‫א‬‫א‬y(٣)
 W‫א‬‫א‬‫א‬‫א‬
 a n s n + a n −1 s n −1 + .... + a 2 s 2 + a1 s + a 0 = 0
 W‫א‬‫א‬‫א‬‫א‬
 ‫א‬n،nH١ ‫א‬W‫א‬‫א‬
 ‫א‬‫א‬‫א‬‫א‬W‫א‬‫א‬
 an a n −2 a −4 .....
 ‫א‬‫א‬‫א‬‫א‬W‫א‬‫א‬
 a n −1 a n −3 a −5 .....
 W‫א‬‫א‬‫א‬‫א‬W‫א‬‫א‬‫א‬
  …
sn an an − 2 an − 3
sn ١
an − 1 an − 3 an − 5  …
sn ٢
 c1  c2  c3  …
sn ٣
 d1  d2  d3  …
 …  …  …  

s٠  z1   
 W
a a − a n a n −3
c1 = n −1 n −2
a n −1

a a − a n a n −5
c 2 = n −1 n −4
a n −1

c a − a n −1c 2
d 1 = 1 n −3
c1

c a − a n −1c3
d 2 = 1 n −5
c1
 ‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
-٥٦-
 ‫א‬‫א‬‫א‬  ٢٤٣  ‫א‬
 ‫א‬‫א‬‫א‬‫א‬    
 

W‫א‬‫א‬
y ' (t ) + 2 y (t ) = 3 x ( t )
 ‫א‬‫א‬‫ א‬K
‫א‬‫ א‬K

‫א‬‫א‬‫א‬‫ א‬K

 W‫א‬
 W‫א‬‫ א‬K
 sH٢=٠
 W‫א‬‫א‬‫א‬‫א‬ K
nH١=٢‫א‬n=١‫א‬W‫א‬‫א‬
 ‫א‬‫א‬‫א‬‫א‬‫א‬

s١ ١ ٠

s٠  ٢  ٠
 ‫א‬‫א‬‫א‬‫ א‬K
 KK‫א‬‫א‬‫א‬‫א‬‫א‬
W‫א‬‫א‬
y ' (t ) − 6 y ( t ) = 2 x (t )
 ‫א‬‫א‬‫ א‬K
‫א‬‫ א‬K
‫א‬‫א‬‫א‬‫ א‬K
 W‫א‬
 W‫א‬‫ א‬K
 s ٦=٠
 W‫א‬‫א‬‫א‬‫א‬ K
nH١=٢‫א‬n=١‫א‬W‫א‬‫א‬
 ‫א‬‫א‬‫א‬‫א‬‫א‬
-٥٧-
 ‫א‬‫א‬‫א‬  ٢٤٣  ‫א‬
 ‫א‬‫א‬‫א‬‫א‬    
 



s١ ١ ٠

s٠ ٦  ٠
 ‫א‬‫א‬‫א‬‫ א‬K
 ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
W‫א‬‫א‬
y " +2 y ' ( t ) + 2 y ( t ) = 3 x ( t )
 ‫א‬‫א‬ K
‫א‬ K
‫א‬‫א‬‫א‬‫ א‬K
 W‫א‬
 W‫א‬‫ א‬K
 s 2 + 2s + 2 = 0
 W‫א‬‫א‬‫א‬‫א‬ K
nH١=٣‫א‬n=٢‫א‬W‫א‬‫א‬
 ‫א‬‫א‬‫א‬‫א‬‫א‬
s٢ ٢  ٢
 ١ ٢
s
 ٠
s c١
 W‫א‬c١‫א‬
a a − a n a n −3
c1 = n −1 n −2
a n −1
2×2−2×0
 c1 =
2
c1 = 1
 W‫א‬

s٢ ٢ ٢

s١ ٢

s٠ ١
 ‫א‬‫א‬‫א‬‫ א‬K
 K‫א‬‫א‬‫א‬،‫א‬
-٥٨-
 ‫א‬‫א‬‫א‬  ٢٤٣  ‫א‬
 ‫א‬‫א‬‫א‬‫א‬    
 

W‫א‬‫א‬
y"+ y ' ( t ) − 6 y ( t ) = 3 x ( t )
 ‫א‬‫א‬‫ א‬K
‫א‬‫ א‬K
‫א‬‫א‬‫א‬‫ א‬K
 W‫א‬
 W‫א‬‫ א‬K
 s2 + s − 6 = 0
 W‫א‬‫א‬‫א‬‫א‬ K
nH١=٣‫א‬n=٢‫א‬W‫א‬‫א‬
 ‫א‬‫א‬‫א‬‫א‬‫א‬
s٢  ١ ٦ 
 ١ ١ ٠
s
 ٠
s c١
 W‫א‬c١‫א‬
a a − a n a n −3
c1 = n −1 n −2
a n −1
1 × ( −6) − 1 × 0
 c1 =
1
c1 = −6
 W‫א‬

s٢ ١ ٦

s١ ١ ٠

s٠ ٦
 ‫א‬‫א‬‫א‬‫ א‬K
 K‫א‬‫א‬‫א‬،‫א‬
 W‫א‬‫א‬‫א‬،‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬W
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬K‫א‬
 K‫א‬‫א‬‫א‬،‫א‬
-٥٩-
 ‫א‬‫א‬‫א‬  ٢٤٣  ‫א‬
 ‫א‬‫א‬‫א‬‫א‬    
 

W‫א‬‫א‬
y ' ' ' (t ) + 4 y ' ' (t ) + 100 y ' (t ) + 500 y (t ) = x (t )
 ‫א‬‫א‬‫ א‬K
‫א‬‫ א‬K
‫א‬‫א‬‫א‬‫ א‬K
 W‫א‬
 W‫א‬‫ א‬K
 s 3 + 4 s 2 + 100s + 500 = 0
 W‫א‬‫א‬‫א‬‫א‬ K
nH١=٤‫א‬n=٣‫א‬W‫א‬‫א‬
 ‫א‬‫א‬‫א‬‫א‬‫א‬
s٣ ١ ١٠٠
 ٢  ٤  ٥٠٠
s
 ١ c١ ٠
s
 ٠
s c٢
 W‫א‬c٢c١‫א‬
a a − a n a n −3
c1 = n −1 n −2
a n −1

a a − a n a n −5
c 2 = n −1 n −4
a n −1





 W‫א‬
s٣ ١ ١٠٠

s٢  ٤  ٥٠٠

s١ ٢٥ ٠

s٠ ٥٠٠

-٦٠-
 ‫א‬‫א‬‫א‬  ٢٤٣  ‫א‬
 ‫א‬‫א‬‫א‬‫א‬    
 

 ‫א‬‫א‬‫א‬‫ א‬K
‫א‬‫א‬‫א‬،‫א‬
 K

‫א‬‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬
 W‫א‬‫א‬‫א‬‫א‬

R(s) E(s) C(s) 
K G(s)


F(s)
H(s)


‫א‬‫א‬،‫א‬‫א‬‫א‬‫א‬ K‫א‬‫א‬
 W‫א‬
 ‫א‬‫א‬‫א‬W‫א‬‫א‬
 ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬W‫א‬‫א‬
 ‫א‬‫א‬‫א‬W‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬K‫א‬‫א‬W ‫א‬‫א‬
 K‫א‬‫א‬‫א‬‫א‬K‫א‬‫א‬،‫א‬
W‫א‬
 s 3 + 2s 2 + 4s + K = 0
 ‫א‬‫ א‬K
K‫א‬‫א‬‫א‬K‫ א‬K


-٦١-
 ‫א‬‫א‬‫א‬  ٢٤٣  ‫א‬
 ‫א‬‫א‬‫א‬‫א‬    
 

 W‫א‬
W‫א‬ K
s٣ ١ ٤

s٢ ٢  K

s١ 8−K ٠
2

s٠ K
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ K

‫א‬
 W‫א‬‫א‬‫א‬‫א‬‫א‬
8−K
>0
 2
K >0
 W‫א‬‫א‬‫א‬‫א‬K
 0< K <0
 ‫א‬
، ‫א‬‫א‬‫א‬K
 ‫א‬‫א‬‫א‬‫א‬‫א‬
 ‫א‬
،‫א‬‫א‬‫א‬،‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬
-٦٢-
 ‫א‬‫א‬‫א‬  ٢٤٣  ‫א‬
 ‫א‬‫א‬‫א‬‫א‬    
 

 
‫א‬‫א‬
 y ' (t ) + 7 y (t ) = 8 x (t )
K‫א‬‫א‬‫א‬ 
K‫א‬‫ א‬
 K‫א‬‫א‬‫א‬‫א‬ 
‫א‬‫א‬
 y ' (t ) − 147 y (t ) = 20 x(t )
K‫א‬‫א‬‫א‬ 
K‫א‬‫ א‬
K‫א‬‫א‬‫א‬‫א‬  
‫א‬‫א‬
 2 y" ( t ) + 6 y ' ( t ) + 4 y ( t ) = 8 x ( t )
K‫א‬‫א‬‫א‬ 
K‫א‬‫ א‬
K‫א‬‫א‬‫א‬‫א‬ 
‫א‬‫א‬
 y" (t ) − 16 y ' (t ) + 14 y (t ) = 8 x (t )
K‫א‬‫א‬‫א‬ 
K‫א‬‫ א‬
K‫א‬‫א‬‫א‬‫א‬ 
W‫א‬‫א‬‫אא‬
 s 5 + s 4 + 6s 3 + 4 s 2 + 2 s + 1 = 0
K‫א‬‫א‬ 
K‫א‬‫א‬‫א‬‫א‬ 
-٦٣-
 ‫א‬‫א‬‫א‬  ٢٤٣  ‫א‬
 ‫א‬‫א‬‫א‬‫א‬    
 

‫א‬‫א‬‫א‬
C ( s) K
 =
R ( s ) s + 3s + s 2 + 2 s + K
4 3
 K‫א‬‫א‬‫א‬ K
 K‫א‬‫א‬‫א‬‫א‬‫א‬ K

-٦٤-
 ‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬

‫א‬‫א‬
 ‫א‬‫א‬
٥
 ‫א‬‫א‬  ٢٤٣  ‫א‬
 ‫א‬‫א‬    
 
 ‫א‬‫א‬
 W‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬
‫א‬‫א‬‫א‬
 
 
 
 ‫א‬
 ‫א‬
 ‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬
 
 
 ‫א‬‫א‬
-٦٦-
 ‫א‬‫א‬  ٢٤٣  ‫א‬
 ‫א‬‫א‬    
 
 
،‫א‬‫א‬‫א‬‫א‬،‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬K‫א‬‫א‬‫א‬
K ‫א‬‫א‬dB‫א‬‫א‬‫א‬
K‫א‬
 ‫א‬
‫א‬K ‫א‬‫א‬‫א‬‫א‬ ‫א‬‫א‬
K‫א‬
‫א‬‫א‬
 ١J ٥‫א‬
r(t) c(t)
‫اﻟﻨﻈﺎم‬
١J ٥‫א‬
 ‫א‬‫א‬
 r (t ) = a sin ωt
 
(amplitude)‫א‬‫א‬r(t)
‫א‬‫א‬a
(rad/s)‫א‬‫א‬‫א‬‫א‬‫א‬ω
‫א‬‫א‬ ωtK
(Hz)‫א‬f ω = 2πf  
 ‫א‬K
 c(t ) = b sin(ωt + φ )
‫א‬‫א‬‫א‬‫א‬‫א‬K ‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 K(phase shift)‫א‬‫א‬‫א‬‫א‬φ‫א‬‫א‬‫א‬g=b/a‫א‬‫א‬
-٦٧-
 ‫א‬‫א‬  ٢٤٣  ‫א‬
 ‫א‬‫א‬    
 
‫א‬‫א‬‫א‬
 ‫א‬٢J ٥‫א‬
R(s) E(s) C(s)

KG(s)
r(t) e(t) c(t)
F(s)
H(s)
f(t)
‫ ﺣﻠﻘﺔ ﻣﻐﻠﻘﺔ ﻧﻤﻮذﺟﻴﺔ‬٢-٥ ‫اﻟﺸﻜﻞ‬
 W‫א‬‫א‬‫א‬
C ( s) KG ( s )
 T ( s) = =
R( s ) 1 + KG ( s ) H ( s )
 W‫א‬‫א‬‫א‬
١J ٥ F (s)
 = KG ( s ) H ( s )
R( s )

‫א‬‫א‬‫א‬
‫א‬،،
 K‫א‬‫א‬،(decade)
‫א‬ω KGH dB ‫א‬
 W‫א‬‫א‬‫א‬،φ(ω)‫א‬
jω‫א‬s‫א‬‫א‬‫א‬‫א‬‫א‬
 ‫א‬‫א‬ j = −1
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 ‫א‬‫א‬‫א‬
KG ( jω ) H ( jω ) = x + jy
-٦٨-
 ‫א‬‫א‬  ٢٤٣  ‫א‬
 ‫א‬‫א‬    
 
‫א‬ KG ( jω ) H ( jω ) ‫א‬‫א‬‫א‬‫א‬
KG ( jω ) H ( jω ) = x 2 + y 2
WdB‫א‬‫א‬
KGH dB = 20 log KG ( jω ) H ( jω )
‫א‬‫א‬‫א‬‫א‬φ(ω)‫א‬‫א‬
y
φ = ∠ KG ( jω ) H ( jω ) = tan −1
x
 K٣J ٥‫א‬
Bode Diagrams  

٢٠

٠ 
Phase (deg); Magnitude (dB)

-٢٠

-٤٠ 
٠ 

-١٠٠
To: Y(١)

-٢٠٠ 

-٣٠٠
١٠
-١ ٠
١٠ ١٠
١

Frequency (rad/sec) 

‫ ﻧﻤﻮذج ﻟﻤﺨﻄﻂ ﺑﻮدي‬٣-٥ ‫اﻟﺸﻜﻞ‬ 

-٦٩-
 ‫א‬‫א‬  ٢٤٣  ‫א‬
 ‫א‬‫א‬    
 
 
 ‫א‬‫א‬
 G(s)=K
 K‫א‬‫א‬‫א‬‫א‬‫א‬

dB‫א‬WdB‫א‬
G db = 20 log K
W‫א‬W‫א‬‫א‬
⎧ 0, K >0
φ=⎨
⎩− 180 K < 0
 K>٠‫א‬E‫א‬F٤J ٥‫א‬
 Bode Diagrams
41
From: U(1)

40.5


40
39.5

39

1 
0.5 
To: Y(1)
0 
-0.5 
-1
-1 0 1
 2
10 10 10 10
Frequency (rad/sec)


 K>٠E‫א‬F٤J ٥‫ א‬

-٧٠-
 ‫א‬‫א‬  ٢٤٣  ‫א‬
 ‫א‬‫א‬    
 
 ،K=١٠٠E‫א‬F٤J ٥‫א‬
 K‫א‬‫א‬φ=٠ G dB = 20 log 100 = 40 
Bode Diagrams 
41
From: U(1)

40.5


40
39.5

39

181 
180.5 
To: Y(1)
180 
179.5 
179
-1 0 1 2

10 10 10 10
Frequency (rad/sec)


 K>٠ E‫א‬F٤J ٥ ‫א‬


 ،K= ١٠٠EF٤J ٥‫א‬
 K‫א‬‫א‬φ=١٨٠ G dB = 20 log − 100 = 40 

 W‫א‬‫א‬‫א‬
 G(s)=τs
‫א‬‫א‬‫א‬‫א‬
jω sG(s)‫א‬‫א‬
G(jω)=jτω
WW‫א‬‫א‬
G( jω = τω
dB‫א‬‫א‬WdB‫א‬
-٧١-
 ‫א‬‫א‬  ٢٤٣  ‫א‬
 ‫א‬‫א‬    
 
 G db = 20 log G ( jω ) = 20 log τω
‫א‬W‫א‬‫א‬
G(jω)=٠Hjτω
 W‫א‬
τω π
φ = tan −1 = = 90 o
0 2
 τ=٠{٥،‫א‬٥J ٥‫א‬
Bode Diagrams
40
 From: U(1)
20



-20

-40
91 
90.5 

To: Y(1)
90
89.5 
89 
-1 0 1 2
10 10 10 10

Frequency (rad/sec)

‫א‬٥J ٥‫א‬ 

‫א‬ X = log ω ‫א‬‫א‬‫א‬‫א‬
 K٢٠/decadedB ‫א‬ G db = 20 X 
 W٠dB‫א‬
 G db = 20 log G ( jω ) = 20 log τω = 0
 K‫א‬‫א‬ ω = 1 = 2 τω=١
τ
-٧٢-
 ‫א‬‫א‬  ٢٤٣  ‫א‬
 ‫א‬‫א‬    
 

 W‫א‬‫א‬‫א‬
1
 G( s) =
τs
‫א‬‫א‬‫א‬
jω sG(s)‫א‬‫א‬
1
G( s) =
jτω
WW‫א‬‫א‬
1
G ( jω =
τω
dB‫א‬
dB‫א‬‫א‬
1
 G db = 20 log G ( jω ) = 20 log = −20 logτω
τω
‫א‬‫א‬
W‫א‬‫א‬
φ=∠G(jω)
=∠١-∠jτω
=٠ ٩٠°
 W‫א‬‫א‬
φ= ٩٠°
 Kτ=٠{٥K‫א‬٦J ٥‫א‬
 W‫א‬
 ٢٠dB/decade‫א‬
 K ω = 1 = 2 ٠dB
τ
 K‫א‬‫א‬
 K
-٧٣-
 ‫א‬‫א‬  ٢٤٣  ‫א‬
 ‫א‬‫א‬    
 

Bode Diagrams 
40
From: U(1)

20


-20

-40

-89 
-89.5 
To: Y(1)
-90 
-90.5 
-91
-1 0 1 2

10 10 10 10
Frequency (rad/sec)


‫א‬٦J ٥‫א‬ 

‫א‬
 W‫א‬‫א‬‫א‬
1
 G( s) =
1 + τs
‫א‬‫א‬‫א‬
jω sG(s)‫א‬‫א‬
1
G ( jω ) =
jτω
WW‫א‬‫א‬
1 1 1
G ( jω = = =
1 + jτω 1 + jτω 1 + (τω ) 2
dB‫א‬‫א‬WdB‫א‬
1
 G db = 20 log G ( jω ) = 20 log = −10 log(1 + (τω ) 2 )
1 + (τω ) 2
-٧٤-
 ‫א‬‫א‬  ٢٤٣  ‫א‬
 ‫א‬‫א‬    
 
W‫א‬‫א‬W‫א‬‫א‬
φ=∠G(jω)=∠١-∠(١Hjτω)
=٠-tan ١(τω)
φ=tan ١(τω)
 ‫א‬
1
ωc =
τ
 W‫א‬‫א‬‫א‬
 ωcωW‫א‬‫א‬
 ‫א‬τωτω١
 G dB = −10 log(1) = 0
 ωcωW‫א‬‫א‬
 ‫א‬τωτω١
 G dB = −10 log(τω ) 2 = −20 log τω
ωcω‫א‬
 ٢٠dB/decadeωcω٠dB
 Kω=ωc٠dB
(ω=ωc) (ω=ωc)‫א‬‫א‬
 K‫א‬
 G db = 20 log G ( jω c ) = −10 log(1 + 12 ) = −10 log 2 = −3dB
 W‫א‬‫א‬‫א‬
 lim φ = 0 ، lim φ = − π = −90o
ω →0 ω →∞ 2
 W‫א‬‫א‬‫א‬
 ω  ٠{١ωc  ٠{٥ωc  ωc ٢ωc  ١٠ωc
 φ  ٥{٧°  ٢٦{٦° ٤٥° ٦٣{٤°  ٨٤{٣°
 τ=٠{٥‫א‬‫א‬٧J ٥‫א‬
-٧٥-
 ‫א‬‫א‬  ٢٤٣  ‫א‬
 ‫א‬‫א‬    
 


Bode Diagrams

Phase (deg); Magnitude (dB) 
٠
-٣
-٥ 

-١٠

-١٥

٠

-٢٠

-٤٠

-٦٠

-٨٠
١٠
-١ ٠
١٠ ٢ ١٠
١

Frequency (rad/sec)

‫א‬٧J ٥ ‫א‬

‫א‬‫א‬‫א‬‫א‬‫א‬
K‫א‬‫א‬
‫א‬
 W‫א‬‫א‬‫א‬
 G ( s ) = 1 + τs
‫א‬‫א‬‫א‬
jω sG(s)‫א‬‫א‬
G ( jω ) = 1 + jτω
WW‫א‬‫א‬
G ( jω = 1 + jτω = 1 + (τω ) 2
dB‫א‬‫א‬WdB‫א‬
 G db = 20 log G ( jω ) = 20 log 1 + (τω ) 2 = 10 log(1 + (τω ) 2 )
W‫א‬‫א‬W‫א‬‫א‬
-٧٦-
 ‫א‬‫א‬  ٢٤٣  ‫א‬
 ‫א‬‫א‬    
 
φ=∠G(jω)=∠ (١Hjτω)
=tan ١(τω)
 ‫א‬
1
ωc =
τ
 W‫א‬‫א‬‫א‬
 ωcωW‫א‬‫א‬
 ‫א‬τωτω١
 G dB = 10 log(1) = 0
 ωcωW‫א‬‫א‬
 ‫א‬τωτω١
 G dB = 10 log(τω ) 2 = 20 log τω
 ωcω‫א‬
٠dB٢٠dB/decadeωcω٠dB
 Kω=ωc
 G db = 3dB (ω=ωc)‫א‬‫א‬
 W‫א‬‫א‬‫א‬
 lim φ = 0 ، lim φ = π = 90 o
ω →0 ω →∞ 2
 W‫א‬‫א‬‫א‬

 ω  ٠{١ωc  ٠{٥ωc  ωc ٢ωc  ١٠ωc
 φ  ٥{٧°  ٢٦{٦° ٤٥° ٦٣{٤°  ٨٤{٣°

 τ=٠{٥‫א‬٨J ٥‫א‬


-٧٧-
 ‫א‬‫א‬  ٢٤٣  ‫א‬
 ‫א‬‫א‬    
 

Bode Diagrams
١٥
From: U(١) 

١٠

٥ 
٣
٠

٨٠ 
٦٠ 
To: Y(١)
٤٠ 
٢٠ 
٠ 
١٠
-١
١٠
٠ ٢ ١
١٠
Frequency (rad/sec)


‫א‬‫א‬٨J ٥‫א‬ 


‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬
‫א‬‫א‬
 W‫א‬‫א‬‫א‬
ω 02
 G( s) =
s 2 + 2ζω 0 s + ω02
‫א‬‫א‬‫א‬
jω sG(s)‫א‬‫א‬
ω 02
G ( jω ) =
( jω ) 2 + 2ζω 0 ( jω ) + ω 02
 W(ω٠)٢‫א‬‫א‬
-٧٨-
 ‫א‬‫א‬  ٢٤٣  ‫א‬
 ‫א‬‫א‬    
 
1
 G ( jω ) =
ω 2 ω
(j ) + 2ζ ( j ) +1
ω0 ω0
 W‫א‬‫א‬‫א‬‫א‬
1
 G ( jω ) =
ω ω
[1 − ( ) 2 ] + j 2ζ ( )
ω0 ω0
W‫א‬‫א‬
1
G ( jω =
ω 2 2 ω
[1 − ( ) ] + [2ζ ( )2
ω0 ω0
dB‫א‬‫א‬WdB‫א‬
ω 2 2 ω ω ω
 G db = 20 log G ( jω ) = −20 log [1 − ( ) ] + [2ζ ( ) 2 ] = −10 log [1 − ( ) 2 ]2 + [2ζ ( ) 2
ω0 ω0 ω0 ω0
W‫א‬‫א‬W‫א‬‫א‬
ω 2 ω
φ=∠G(jω)=∠١-∠ [1 − ( ) ] + j 2ζ ( )
ω0 ω0
2ζω
=- tan −1
ω02 − ω 2
 W‫א‬‫א‬‫א‬
 ω٠ωW‫א‬‫א‬
2
 ‫א‬ ⎡⎢ ω ⎤⎥ ١
⎣ω ⎦
 G dB = −10 log(1) = 0dB
 ω٠ωW‫א‬‫א‬
2 2
 ⎡⎢ ω
⎤
⎥  2ζ
ω
 ⎡⎢ ω ⎤⎥ ١
ω
⎣ 0⎦ ω0 ⎣ω 0 ⎦
 W‫א‬‫א‬‫א‬‫א‬‫א‬
ω 2 2 ω
 G db ≅ −10 log [( ) ] = −40 log
ω0 ω0
ω٠ω‫א‬
 ٤٠dB/decadeω٠ω٠dB
 Kω=ω٠٠dB
-٧٩-
 ‫א‬‫א‬  ٢٤٣  ‫א‬
 ‫א‬‫א‬    
 
 W‫א‬‫א‬‫א‬
 ، lim φ = −π = −180 o
ω →∞
 ، lim φ = 0 
ω →0
 lim φ = −90 
o
ω →ω0
ζ،ω٠=٤‫א‬‫א‬ ٩J ٥‫א‬
٥٠
ζ=٠٫١
٠
ζ=١٠
-٥٠
ζ=١
-١٠٠
ζ=٠٫١
-٥٠
To: Y(١)
-١٠٠ ζ=١٠
-١٥٠ ζ=١
-٢٠٠
-٢ -١ ٠ ١ ٢ ٣
١٠ ١٠ ١٠ ١ ١٠ ١٠
٠
Frequency (rad/sec)
ω٠=٠ ‫א‬‫א‬٩J ٥‫א‬


W‫א‬‫א‬‫א‬‫א‬‫א‬
100
 KG ( s ) H ( s ) =
s(0.2 s + 1)
‫א‬‫א‬‫א‬
jω sG(s)‫א‬‫א‬
-٨٠-
 ‫א‬‫א‬  ٢٤٣  ‫א‬
 ‫א‬‫א‬    
 
1 100
G ( jω ) = =
jω jω[1 + j 0.2ω ]
W‫א‬‫א‬
100 100 1
G ( jω = = =
jω[1 + j 0.2ω ] jω • 1 + j 0.2ω ω 1 + (0.2ω ) 2
‫א‬WdB‫א‬
1
 G db = 20 log G ( jω ) = 20 log 100 − 20 log = 40 − 20 log ω − 10 log(1 + (0.2ω ) 2 )
2
ω 1 + (0.2ω )
W‫א‬‫א‬W‫א‬‫א‬
φ=∠G(jω)=∠١٠٠-∠[jω(١Hj٠{٢ω)]
=٠-∠(jω)-∠(١Hj٠{٢ω)
= ٩٠°-tan ١(٠{٢ω)
 ‫א‬
1
ωc = =5
0.2
 ‫א‬‫א‬‫א‬
 EF 20 log 100 ‫א‬‫א‬
 EF − 20 log ω ‫א‬‫א‬
 EF − 10 log(1 + (0.2ω )2 ‫א‬‫א‬
‫א‬،‫א‬
 ١٠J ٥‫א‬
 W‫א‬‫א‬‫א‬
 ، lim φ = −π = −180o
ω →∞
 lim φ = −90o 
ω →0
 W‫א‬‫א‬‫א‬
 ω  ٠{١ωc  ٠{٥ωc  ωc ٢ωc  ١٠ωc
 φ  ٩٥{٧°  ١١٦{٦°  ١٣٥°  ١٥٣{٤°  ١٧٤{٣°
-٨١-
 ‫א‬‫א‬  ٢٤٣  ‫א‬
 ‫א‬‫א‬    
 
 W‫א‬‫א‬١٠J ٥‫א‬
Bode Diagrams
٦٠
٤٠
٢٠
-٢٠
-٤٠
-٥٠
-١٠٠
-١٥٠
-٢٠٠
-١ ٠ ١ ٢
١٠ ١٠ ١٠ ١٠
Frequency (rad/sec)
100 100
jω[1 + j 0.2ω ]
1
1 jω
1 + j 0 . 2ω
‫א‬‫א‬١٠J ٥ ‫א‬
‫א‬‫א‬
 W‫א‬‫א‬١١J ٥‫א‬
‫א‬‫א‬(gain crossover frequency)ωG‫א‬
 ٠dB‫א‬
‫א‬‫א‬(phase crossover frequency)ωp‫א‬
١٨٠°‫א‬
‫א‬‫א‬‫א‬‫א‬(gain margin)mG‫א‬
Eω=ωpF‫א‬٠dB
-٨٢-
 ‫א‬‫א‬  ٢٤٣  ‫א‬
 ‫א‬‫א‬    
 
‫א‬‫א‬‫א‬‫א‬(phase margin)mp‫א‬
Eω=ωGF‫א‬ ١٨٠°
 m p = φ (ω G ) + 180

Bode Diagrams

٢٠

٠ 
-٢٠ mG


-٤٠
ωG 
٠

-١٠٠
To: Y(١) mp 
-١٨٠
-٢٠٠ 

-٣٠٠
ωp

-١ ٠ ١
١٠ ١٠ ١٠
Frequency (rad/sec)

‫א‬‫א‬١١J ٥‫א‬ 

‫א‬‫א‬‫א‬‫א‬
 W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬١‫א‬‫א‬‫א‬‫א‬W‫א‬‫א‬
 ١٨٠ ‫א‬‫א‬‫א‬‫א‬W‫א‬‫א‬
K‫א‬
‫א‬‫א‬K‫א‬‫א‬
 ‫א‬‫א‬‫א‬‫א‬
‫א‬،‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬،‫א‬‫א‬‫א‬‫א‬،‫א‬‫א‬
W‫א‬‫א‬‫א‬
-٨٣-
 ‫א‬‫א‬  ٢٤٣  ‫א‬
 ‫א‬‫א‬    
 
K٤٥°‫א‬‫א‬‫א‬‫א‬‫א‬
K‫א‬‫א‬‫א‬
‫א‬
K ‫א‬،‫א‬
‫א‬‫א‬K
 ‫א‬‫א‬،E‫א‬F‫א‬
‫א‬K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
،‫א‬،‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬K‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬،‫א‬‫א‬‫א‬‫א‬‫א‬
(phase lead ‫א‬‫א‬‫א‬‫א‬K ‫א‬
(phase lag ‫א‬‫א‬‫א‬‫א‬compensators)
 KEcompensators)

 ‫א‬‫א‬
τ s +1
 Gc ( s) = z
τ ss +1
 τz=١٠τp،τp<τz
 W‫א‬
 W jωs ‫א‬‫א‬
1 + jτ z ω
 Gc ( s) =
1 + jτ s ω

 WdB‫א‬
 g c dB = 20 log 1 + (τ z ω ) 2 − 20 log 1 + (τ p ω ) 2
 W‫א‬‫א‬
 φ = tan −1 τ z ω − tan −1 τ p ω
-٨٤-
 ‫א‬‫א‬  ٢٤٣  ‫א‬
 ‫א‬‫א‬    
 
τz=١τp=٠{١‫א‬ ١٢J ٥‫א‬
 K‫א‬‫א‬‫א‬‫א‬‫א‬
 φmax ≈ 55o ‫א‬‫א‬‫א‬
، ω max = ωG τzτp‫א‬‫א‬K ω max = ω z ω p = 3.1623
 K‫א‬ ωG 
Bode Diagrams
٢٠
From: U(١) 
١٥

١٠

٥

٠

٦٠ 

٤٠


٢٠
٠
-١ ٠ ١ ٢

١٠ ١٠ ١٠ ١٠
Frequency (rad/sec)


‫א‬١٢J ٥‫א‬ 


 ‫א‬‫א‬
τ s +1
 Gc ( s) = z
τ ss +1
 τp=١٠τz،τp>τz
١٣J ٥ ‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬τz =٠{١τp=١ 
 K
-٨٥-
 ‫א‬‫א‬  ٢٤٣  ‫א‬
 ‫א‬‫א‬    
 
  φ max ≈ −55o ‫א‬‫א‬‫א‬
  ω max = ωG τzτp‫א‬‫א‬K ω max = ω z ω p = 3.1623

Bode Diagrams

From: U(١)
٠

-٥

-١٠

-١٥

-٢٠

٠

-٢٠
To: Y(١) 
-٤٠


-٦٠
١٠
-١ ٠
١٠
١
١٠ ١٠
٢

Frequency (rad/sec) 
‫א‬١٢J ٥‫א‬ 

‫א‬‫א‬‫א‬‫א‬‫א‬،‫א‬،١J ٥‫א‬
K‫א‬
 W‫א‬
‫א‬dB‫א‬١٠J ٥‫א‬‫א‬‫א‬
، m p < 45o ‫א‬K m p = 13o ‫א‬‫א‬، ωG = 22rad / sec
 K‫א‬‫א‬‫א‬
‫א‬‫א‬١J ٥‫א‬‫א‬‫א‬‫א‬‫א‬
K‫א‬‫א‬‫א‬
0.1s + 1
 Gc =
0.01s + 1
 W‫א‬
-٨٦-
 ‫א‬‫א‬  ٢٤٣  ‫א‬
 ‫א‬‫א‬    
 
 W‫א‬‫א‬‫א‬‫א‬
100(0.1s + 1)
 KG =
s (0.2 s + 1)(0.1s + 1)
 ١٣J ٥‫א‬‫א‬

‫اﻟﻤﻨﺤﻨﻰ ﻗﺒﻞ اﺳﺘﺨﺪام‬  ‫اﻟﻤﻨﺤﻨﻰ ﺑﻌﺪ اﺳﺘﺨﺪام‬

١٠٠
٥٠


-٥٠
-٨٠ 
-١٠٠
To: Y(١) ‫هﺎﻣﺶ اﻟﻄﻮر اﻟﺠﺪﻳﺪ‬
-١٢٠ 

-١٤٠
-١٦٠
-١٨٠
١٠
-١
١٠
٠
١٠
١
١٠
٢
١٠
٣

Frequency (rad/sec)

‫א‬‫א‬‫א‬١J ٥ ‫א‬١٣J ٥ ‫א‬ 


‫א‬‫א‬‫א‬dB  ‫א‬
 m p = 58o ‫א‬‫א‬، ωG = 22rad / sec ‫א‬
 K‫א‬‫א‬‫א‬
 ‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 
   
 K ‫א‬‫א‬dB‫א‬
‫א‬‫א‬K‫א‬‫א‬
‫א‬‫א‬K
 ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
K‫א‬
-٨٧-
 ‫א‬‫א‬  ٢٤٣  ‫א‬
 ‫א‬‫א‬    
 
 
‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬dB ‫א‬
 G ( s ) = 1000 K‫א‬
 G ( s ) = −200 K
10
 G( s) = K
s
50
 G ( s ) = − K
s
10
 G( s) = K
0.01s + 1
100
 G( s) = K
0.1s + 1
1
G( s) = K
(0.1s + 1)( s + 1)
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
K‫א‬‫א‬،
‫א‬‫א‬‫א‬
W‫א‬
1 10
G( s) = ، G ( s ) = K
(0.1s + 1)( s + 1) 0.01s + 1
 ‫א‬ K
‫א‬ K

W‫א‬‫א‬
9.7
 G( s) =
s(0.046s + 1)
 ‫א‬ K
‫א‬ K

-٨٨-
 ‫א‬‫א‬  ٢٤٣  ‫א‬
 ‫א‬‫א‬    
 
W‫א‬‫א‬‫א‬
100
 G( s) =
s(0.02 s + 1)(0.01s + 1)
‫א‬‫א‬
‫א‬‫א‬
‫א‬‫א‬‫א‬
‫א‬،‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
0.5s + 1
 Gc ( s) = ‫א‬‫א‬‫א‬
5s + 1
‫א‬‫א‬‫א‬،‫א‬‫א‬‫א‬
K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
-٨٩-
 ‫א‬  ٢٤٣  ‫א‬
    


 ‫א‬

 ‫א‬‫א‬
C ( s) 10
 = ٥J ١
R ( s ) s ( s + 1)

C ( s)
 = 10 + 10s ٦J ١
R( s)

C ( s) 10
 = ٧J ١
R ( s ) s + 204

C ( s) 10( s + 2)
 = ٨J ١
R ( s ) s + 20s 2 + 41s + 2
3

 ‫א‬‫א‬
 y (t ) = 1 − e −0.1t EF، G = 1 EF، τ = 0.1 EF١J ٢


 y (t ) = 1 + e −10t EF، G = 1 EF، τ = 10 EF٢J ٢
 0.2v ' (t ) + v (t ) = e(t ) ٤J ٢

 y (t ) = 1 − e −2t + e −t EF، G = 1 EF‫א‬‫א‬، ω 0 = 1.414 ،، ζ = 1.06 EF٥J ٢

 y (t ) = 10 − 10(1 + t )e −t EF، G = 10 EF‫א‬، ω 0 = 1 ، ζ = 1 EF٦J ٢

 y (t ) = 2[1 − 2e −2t sin 2t ] EF، G = 2 EF‫א‬، ω 0 = 2 2 ، ζ = 0.707 EF٧J ٢

 33.215Ω" (t ) + 0.325Ω' (t ) + Ω(t ) = 20.372e(t ) EF،τ e = 0.0625 ، τ m = 0.64 EF٨J ٢
 ‫א‬، ζ = 0.03 EF، ω 0 = 0.1735 EF
 Ω(t ) = 20.372[1 − e −0.005t sin 0.1735t ] EF
-٩١-
 ‫א‬  ٢٤٣  ‫א‬
    



 G = 1 EF، PO = 16 EF، M p = 0.16 EF، t s = 0.9 EFEF t r = 0.28 EF، t d = 0.07 EF٩J ٢

 ‫א‬‫א‬

s +1
 e ss = 0.5 EF، E ( s ) = EF، G ( s) = 1 EF١J ٣
s ( s + 2) s+2

( s + 2)( s + 4) 10( s + 4)
 e ss = 0.285 EF، E ( s ) = EF C ( s) = EF٢J ٣
s( s 2 + 6s + 28) R( s ) s 2 + 6s + 28

 ٥J ٣

( s + 2) ( s + 1)
 e ss = 0 EF، E ( s ) = EF C ( s ) = EF Gc ( s) = s + 1 EF٦J ٣
s 2 + 3s + 2 R( s) s 2 + 3s + 1 s

( s + 1) s2 + s + 1 2
+ s +1
 e ss = 0 EF، E ( s ) = EF C ( s ) = EF G c ( s ) = s EF٧J ٢
2s 2 + 2s + 1 R( s) 2s 2 + 2s + 1 s

 ‫א‬‫א‬‫א‬

 s + 7 = 0 EF١J ٤
1
 EF
7
 EF
 s − 147 = 0 EF٢J ٤
1
 EF
− 147
 EF

-٩٢-
 ‫א‬  ٢٤٣  ‫א‬
    


 2 s 2 + 6s + 4 = 0 EF٣J ٤
2 4
 EF
6
 EF

 s 2 − 16s + 14 = 0 EF٤J ٤
1 14
 EF
− 16
 EF

1 6 2
4 4 1
 2 1 EF٥J ٤
2 1
1
 EF

1 1 K
3 2
 1/ 3 K EF٦J ٤
2 − 9K
K
 0 < K < 2 / 9 EF


-٩٣-
 ‫א‬  ٢٤٣  ‫א‬
    


 ‫א‬‫א‬

 ، φ = −90 o ، G dB = 20 − 20 log ω EF، φ = −180 ، G dB = 46 EF، φ = 0 ، G dB = 60 EF٢J ٥
 φ = − tan −1 (0.01ω ) ، G dB = 20 − 10 log[1 + (0.01ω ) 2 ] EF، φ = −270 ، G dB = 34 − 20 log ω EF
  φ = − tan −1 (0.1ω ) ، G dB = 40 − 10 log[1 + (0.1ω ) 2 ] EF
  φ = − tan −1 (0.1ω ) − tan −1 (0.1ω ) ، G dB = −10 log[1 + (0.1ω ) 2 ] − 10 log[1 + ω 2 ] EF

 φ = 57 o ، ωG = 7.82995 EF، φ = 106 o ، ωG = 995 EF٥J ٥

 φ = 70 o ، ωG = 8.86 EF٦J ٥

EF، φ = 60 o ، ωG = 10 EF‫א‬EF، φ = 10 o ، ωG = 56 EF٧J ٥
 ‫א‬



-٩٤-
   ٢٤٣  ‫א‬
    

 
AC Motor  
Actuator  
Analog  
Armature  ‫א‬
Automation  ‫א‬
Block Diagram  
Bode Diagram  
Cascade  
Characteristic Equation  ‫א‬‫א‬
Characteristics  
Chart Recorder  
Closed Loop  
Compensator  
Control system  
Control Valve  
Controlled Variable  ‫א‬‫א‬‫א‬‫א‬
Controller  
Critical Damping  
Cutoff Frequency  ‫א‬
Damping  
DC Motor  
Delay Time  ‫א‬
Derivative  
Derivative Controller  
Design  
Digital  
-٩٥-
   ٢٤٣  ‫א‬
    

Disturbance  ‫א‬‫א‬
Dynamic  ،
Error  
Feedback  
Feedback Path  
Final Control Element  ‫א‬‫א‬
Flow Meter  
Flow rate  
Forward Path  
Frequency Response  ‫א‬
Gain  
Gain Crossover  ‫א‬
Frequency
Gain Margin  ‫א‬
Hydraulic  
Input  
Integral  
Integral Controller  
Lag Compensator  
Laplace Transform  
Lead Compensator  
Level  
Magnitude  
Manual Control  
Matrix  
Motor  
Open Loop  
Oscilloscope  ‫א‬
-٩٦-
   ٢٤٣  ‫א‬
    

Output  
Over Damping  ‫א‬
Overshoot  
Parallel  ‫א‬
Peak Time  ‫א‬
Performance  ‫א‬
Permanent Response  ‫א‬‫א‬
Phase Crossover  ‫א‬
Frequency
Phase Margin  ‫א‬
Phase Shift  ‫א‬‫א‬
Pneumatic  ،‫א‬
polynomial  ‫א‬
Potentiometer  ‫א‬
Process  
Programmable Logic  ‫א‬‫א‬
Control
Proportional  
Proportional Controller  
Reference Input  
Resonance Frequency  ‫א‬
Response  ‫א‬
Response Curve  ‫א‬
Rise Time  ‫א‬
Root  
Sensor  
Series  ‫א‬
Set Point  ‫א‬،‫א‬
Settling Time  ‫א‬‫א‬
-٩٧-
   ٢٤٣  ‫א‬
    

Signal Conditioning  ‫א‬
Signal Conversion  ‫א‬
Simulation  
Specification  ‫א‬
Stability  ‫א‬‫א‬
Stability Criteria  ‫א‬‫א‬
Step Input  ‫א‬
Stepper Motor  ‫א‬
Summing Junction  
System  
Tachometer  ،‫א‬
Take off Point  
Time Constant  ‫א‬‫א‬
Time Domain Response  ‫א‬
Transducer  
Transfer Function  ‫א‬
Transient response  ‫א‬
Two Position Control  ‫א‬
Underdamping  
Unit step  ‫א‬
Unity Feedback  
-٩٨-
 ‫א‬‫א‬  ٢٤٣  ‫א‬
    
 ‫א‬‫א‬

١. Johnson, C. D. Process Control Instrumentation Technology, Prentice Hall,
٢٠٠٢
٢. Bateson, R. N. Introduction to Control Systems Technology, Prentice Hall, ٢٠٠٢
٣. Ogata, K. Modern control Engineering, Prentice Hall, ١٩٩٧
٤. Dorf, R. C. and Bishop, R. H. Modern Control Systems, Addisson Wesley, ١٩٩٨
٥.  ‫א‬‫א‬،‫א‬‫א‬،‫א‬
١٩٩١،‫א‬‫א‬‫א‬
-٩٩-
 ‫א‬  ٢٤٣  ‫א‬
    
    

 ‫א‬
 ١  ‫א‬‫א‬‫א‬‫א‬W‫א‬‫א‬
 ١  ‫א‬‫א‬
 ٢  
 ٢  ‫א‬‫א‬‫א‬‫א‬١J ١
 ٢  ‫א‬‫א‬ ١J ١J ١
 ٢  ‫א‬‫א‬ ٢J ١J ١
 ٤  ‫א‬‫א‬٢J ١
 ٤  ‫א‬‫א‬٣J ١
 ٥  ‫א‬‫א‬K٤J ١
 ٥  ‫א‬ ١J ٤J ١
 ٥  ‫א‬ ٢J ٤J ١
 ٦  ‫א‬‫א‬ ٣J ٤J ١
 ٧   ٤J ٤J ١
 ٨   ٥J ٤J ١
 ٩   ٦J ٤J ١
١٠   ٧J ٤J ١
١٠  ‫א‬ ٨J ٤J ١
١٣  ‫א‬
١٤  
١٧  ‫א‬‫א‬‫א‬‫א‬‫א‬W‫א‬‫א‬
١٦  ‫א‬‫א‬
١٧  
١٧  ‫א‬‫א‬‫א‬‫א‬١J ٢
١٨  ‫א‬‫א‬‫א‬‫א‬١J ١J ٢
١٩  ‫א‬‫א‬‫א‬٢J ١J ٢
 ‫א‬  ٢٤٣  ‫א‬
    
    

١٩  ‫א‬‫א‬‫א‬‫א‬ ٣J ١J ٢
٢٠  ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ ٤J ١J ٢
٢١  ‫א‬‫א‬ ٥J ١J ٢
٢٢  ‫א‬‫א‬‫א‬‫א‬٢J ٢
٢٣  ‫א‬‫א‬‫א‬‫א‬ ١J ٢J ٢
٣٢  ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ ٢J ٢J ٢
٣٣  ‫א‬‫א‬ ٣J ٢J ٢
٣٤  ‫א‬
٣٥  
٤٢  ‫א‬‫א‬W‫א‬‫א‬
٣٩  ‫א‬‫א‬
٤٠  
٤٠  ‫א‬١J ٣
٤١  ‫א‬‫א‬‫א‬٢J ٣
٤١   ‫א‬‫א‬‫א‬‫א‬٣J ٣
٤٣  ‫א‬‫א‬‫א‬‫א‬٤J ٣
٤٥  ‫א‬‫א‬‫א‬‫א‬‫א‬٥J ٣
٤٧  ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬٦J ٣
٥٠  ‫א‬
٥١  
٥٨  ‫א‬‫א‬‫א‬‫א‬W‫א‬‫א‬‫א‬
٥٤  ‫א‬‫א‬
٥٥  
٥٥  ‫א‬‫א‬‫א‬١J ٤
٥٥  ‫א‬٢J ٤
٦١  ٣J ٤
٦٢  ‫א‬
 ‫א‬  ٢٤٣  ‫א‬
    
    

٦٣  
٦٦  ‫א‬‫א‬W‫א‬‫א‬
٦٦  ‫א‬‫א‬
٦٧  
٦٧  ‫א‬‫א‬١J ٥
٦٨  ‫א‬‫א‬‫א‬٢J ٥
٦٨  ٣J ٥
٧٠  ٤J ٥
٧١  ٥J ٥
٧٣  ٦J ٥
٧٤  ‫א‬٧J ٥
٧٦  ‫א‬٨J ٥
٧٨  ‫א‬‫א‬٩J ٥
٨٢  ‫א‬‫א‬١٠J ٥
٨٣  ‫א‬‫א‬‫א‬‫א‬١١J ٥
٨٤  ‫א‬١٢J ٥
٨٥  ١J ١٢J ٥
٨٧  ٢J ١٢J ٥
٨٩   ‫א‬
٩٩  
٩١  ‫א‬
٩٥  
٩٩  ‫א‬‫א‬

 ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 ‫א‬E‫א‬F‫א‬‫א‬
GOTEVOT appreciates the financial support provided by BAE SYSTEMS

Ele243 PDF

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Ele243 PDF

Uploaded by

Copyright:

Available Formats

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

‫א‬ ‫א‬ ‫א‬

R(s) D(s) C(s) R(s) C(s)

B(s) E(s) B(s) E(s)

‫א‬‫א‬‫א‬EF ‫א‬  E‫א‬F٥J ١‫א‬

R(s) C(s) C(s)

 ١١J ١‫א‬‫א‬‫א‬‫א‬‫א‬ ٢J ١

R(s) K1 ( s + 20) / s 2 C(s)

‫ اﺳﺘﺠﺎﺑﺔ ﻧﻈﻢ اﻟﺮﺗﺒﺔ اﻟﺜﺎﻧﻴﺔ ﺣﺴﺐ ﻧﻮع اﻹﺧﻤﺎد‬٣-٢ ‫اﻟﺸﻜﻞ‬

‫اﻟﺸﻜﻞ ‪ ٥-٢‬ﻣﺤﺮك ﺗﻴﺎر ﻣﺴﺘﻤﺮ ﻣﻊ ﺣﻤﻞ‬

R(s) E(s) C(s)

R(s) E(s) P(s) C(s)

‫ ﺗﺄﺛﻴﺮ اﻟﺤﺎآﻢ اﻟﺘﻜﺎﻣﻠﻲ ﻋﻠﻰ اﺳﺘﺠﺎﺑﺔ ﻧﻈﺎم ﺗﺤﻜﻢ ﻣﻐﻠﻖ‬٤-٣ ‫اﻟﺸﻜﻞ‬

 K I = 2, K p = 1 , K D = 0.2 W‫א‬‫ א‬o

 ‫א‬‫א‬‫א‬ ‫א‬‫א‬K ‫א‬

R(s) E(s) C(s)

‫ ﺣﻠﻘﺔ ﻣﻐﻠﻘﺔ ﻧﻤﻮذﺟﻴﺔ‬٢-٥ ‫اﻟﺸﻜﻞ‬

ω٠=٠ ‫א‬‫א‬٩J ٥‫א‬

 y (t ) = 1 − e −0.1t EF، G = 1 EF، τ = 0.1 EF١J ٢

 Ω(t ) = 20.372[1 − e −0.005t sin 0.1735t ] EF

GOTEVOT appreciates the financial support provided by BAE SYSTEMS

You might also like