3

) j j a
A=7

kq = 3

cp = 1

co = 4

dV
dt
V = V0 + Axi
d
q 0 = (V0 + Axi )
dt
q = Axi (1)
qin qout =

l=1

q = kq (xi x1 )

(2)

xu
x1
=
=
3l
2l
x1
x2
=
=
3l
l
1
x1 = x 2
3

2
x1 = xu
3
1
x1 = x2
3
2
xu (3)
3

mx2 = co x2 c0 xi cp x2
cp
x2 x2 = xi (4)
co
co
x2 = (xi x2 )
cp
(1) (2)
Axi = kq (xi x1 )
(3)
1
2
Axi = kq (xi + x2 + xu )
3
3
Axi
1
2
= xi + x2 + xu
kq
3
3
Axi
2
x2 = 3(
+ x i xu )
kq
3
A
2
x2 = 3( xi + xi xu )
kq
3
2

 (4)

cp 3A
3Axi
( xi + 3xi 2xu )
3xi + 2xu = xi
co kq
kq

cp
A
cp
cp 3A
xi 3( + )xi 4xi = 2xu 2 xu
co kq
co kq
co
cp 3A
cp
A
cp
xi + 3( + )xi + 4xi = 2xu + 2 xu
co kq
co kq
co
31
1
7
xi + xi + 4xi = 2xu + xu
4
4
2
31
16
8
2
xi + xi + xi = xu + xu
7
7
7
7

) j :

) j j j
j
j j :
xi +
s2 Xi (s) +

31
16
8
2
xi + xi = xu + xu / L
7
7
7
7

31
16
8
2
sXi (s) + Xi (s) = Xu (s) + sXu (s)
7
7
7
7
2
s+ 8
W (s) = 2 7 31 7 16
s + 7s+ 7

j j
-
W1 (s) =

co 1
cp s
+ ccpo 1s

4
s

1+

4
s

4
s+4

kq A1 1s
kq
3
W2 (s) =
=
1 1 =
As + kq
7s + 3
1 + kq A s
j

W (s) =

3
23 7s+3
(1)
32 W2 (s)(1)
2(s + 4)
2s + 7
=
= 2
1
1 3
4 =
(7s + 3)(s + 4) + 4
7s + 31s + 16
1 + 3 W2 (s)W1 (s)
1 + 3 7s+3 s+4

W (s) =

2
s + 87
7
s + 16
s2 + 31
7
7

) j
31
16
8
2
xi + xi = xu + xu
7
7
7
7
2
8
s+
Xi (s) = 2 7 31 7 16 Xu (s)
s + 7s+ 7

xi +

G(s) = W (s)
Xi (s)

1
s

2
s + 78
R1
7
=
31
16 =
2
s s1
s(s + 7 s + 7 )
s1 = 0 s2 = 0.5965 s3

R1 =

1
2

G(s) = Xi(s) =

R2 = 0.5039

R2
R3
+

s s2 s s3

= 3.8321

R3 = 0.0039

0.5039
0.0039
0.5

+
/ L
s
s + 0.5965 s + 3.8321

:
g(t) = 0.5h(t) + (0.5039e0.5965t + 0.0039e3.8321t ) h(t)

2. j j "j"
j j .

j j ,
j 3 j j j :
15
22s + 1
j : Kp > 1.4 KI > 2.2
.
j . . j,
anti-windup
j :
WOu (s) =

Xiz = 14
j anti-windup - o j
kp = 15 kI = 5

 :
T = 10

T =5

T =3

T =2

T =1

j T = 1

 j anti-windup

j anti-windup

3. j j j :
a
+ bs + c
.
.
Wou (S) =

a=4

s2

b=7

Wou (S) =

c = 13

4
s2 + 7s + 13

kp s + kI
kI
=
s
s
WR (s)Wou (s)
W (s) =
1 + WR (s)Wou (s)

WR (s) = kp +

W (s) =

kp s+kI
4
s
s2 +7s+13
4
I
+ kp s+k
s
s2 +7s+13

s3

7s2

4kp s + 4kI
4kp s + 4kI
= 3
2
+ 13s + 4kp s + 4kI
s + 7s + (13 + 4kp )s + 4kI

f (s) = s3 + 7s2 + (13 + 4kp )s + 4kI = (s s1 )(s s2 )(s s3 ) = (s2 s2 s s1 s + s1 s2 )(s s3 )

f (s) = s3 s2 (s1 + s2 + s3 ) + s(s1 s2 + s2 s3 + s1 s3 ) s1 s2 s3
s1 + s2 + s3 = 7
1)
s1 = 4

s2 = 2

s3 = 1

f (s) = s3 + 7s2 + 14s + 8

4kI = 4 = kI = 2
4kp + 13 = 14 = kp = 0.25
2)
s1 = 1

s2 = 3 + 0.5j

s3 = 3 0.5j

f (s) = s3 + 7s2 + 15.25s + 9.25

4kI = 9.25 = kI = 2.3125
4kp + 13 = 15.25 = kp = 0.5625