Professional Documents
Culture Documents
Formularium
Formularium
8 Formularium
cIRCa
∆O HD H0
H= = = (Overdrachtsfunctie regelkring tegenkoppeling)
∆I 1 + H D × H T 1 + H 0
∆O HD H0
H= = = (Overdrachtsfunctie regelkring meekoppeling)
∆I 1 − H D × H T 1 − H 0
dϕ
ω= = 2 ⋅ π ⋅ f (Cirkelfrequentie)
dt
1
f = (Frequentie)
T
F = x ⋅ k veer (Veerkracht)
F = m ⋅ a (Massakracht)
F = k vis ⋅ v (Wrijvingskracht)
dq
C= (Capaciteit)
du
dq
i= (Stroom)
dt
H = K (0de orde)
K ⋅ e − Tt ⋅s
H= (1ste orde met dode tijd)
(1 + τ 1 ⋅ s )
K ⋅ e − Tt ⋅s K ⋅ e − Tt ⋅s de
H= = (2 orde met dode tijd)
2⋅β 1 2 (1 + τ 1 ⋅ s ) ⋅ (1 + τ 2 ⋅ s )
1+ ⋅s + 2 ⋅s
ω0 ω0
K ⋅ e − Tt ⋅s K ⋅ e − Tts ⋅s de
H= = (3 orde met dode tijd)
(1 + τ 1 ⋅ s ) ⋅ (1 + τ 2 ⋅ s ) ⋅ (1 + τ 3 ⋅ s ) (1 + τ 1 ⋅ s ) ⋅ (1 + τ 2 ⋅ s )
1
H= (integrator)
Ti ⋅ s
H = Td ⋅ s (differentiator)
e − Tt ⋅s
H= (Servomechanisme)
Ti ⋅ s ⋅ (1 + τ ⋅ s )
−πβ
x − x eind 1− β 2
D(%) = max = 100 ⋅ e (Doorschot)
x eind − x begin
τ 1 = t 63 = 0, 91 ⋅ ( t 75 − t 25 ) (tijdconstante)
τ2
t 73 = Tts + 1.3(τ 1 + τ 2 ), X b → c = (tijdconstanten)
τ1
t 25 − t10
Xb = en τ = 0, 91 ⋅ ( t 75 − t 25 ) (Buigpunt)
τ
1
H PID = K ser ⋅ 1 + ⋅ (1 + Tvser ⋅ s ) (Serie PID-regelaar)
Tnser ⋅ s
1 1 T
H PID = K par 1 + + Tvpar ⋅ s = c ⋅ K ser ⋅ 1 + + vser ⋅ s (Parallel PID-
Tnpar ⋅ s c ⋅ Tnser ⋅ s c
regelaar)
Tvser
c = 1+ (Omzettingsfactor serie – parallel)
Tnser
1
PB = ⋅100% (Proportionele Band)
Kr
1 Kr
= (Verband integratietijd – nasteltijd)
Ti Tn
1
r= (reset rate)
Tn
X = K s ⋅ Y + X 0 (Statische Proceskarakteristiek
Y = −K r ⋅ ( W − X ) + Y0 (Statische regelaarkarakteristiek)
K0
H0 = H r ⋅ Hs = (Regelkring voor 0de, 1ste orde en integratorproces)
τ1 ⋅ s
K0
H0 = Hr ⋅ Hs = (Regelkring voor 2de en hoger orde proces)
τ 1 ⋅ s ⋅ (1 + τ 2 ⋅ s )
K 0 ⋅ e − Tt ⋅s
H0 = Hr ⋅ Hs = (Regelkring voor processen met dode tijd)
τ1 ⋅ s
π Tn
K0 = Kr ⋅ Ks = ⋅ (Versterking processen dode tijd)
4 Tts
Figuur 80: Verhouding tijdsconstanten als gevolg van het buigpunt (tweede orde)