Académique Documents
Professionnel Documents
Culture Documents
84
2.85
0.423
Ziegler Nichols
1.84 1 0.5 0.423 s
1 Kc
2.85 s 1 1 0.5 0.423 s
2
( 2.85 s 1) ( 1 0.5 0.423 s ) Kc 1.84 ( 1 0.5 0.423 s ) simplify 1.84 Kc 3.0615s
0.602775s
0.38916Kc
s 1.0
2
1.84 Kc 1 s ( 3.06 0.389Kc
) 0.603s
s j w
2
0.603 ( 3.06 0.389Kc
) j w ( 1.84 Kc 1)
3.06
Kcu 7.866
0.389
5
Given
2
0.603 ( 1.84 Kcu 1) 0
Find( ) 5.066
2
Pu 1.24
5.066
Kc 0.6Kcu
4.72
Pu
I 0.62
2
Pu
D 0.155
8
IMC
0.5
Kc 2.622
K 1.5
I 0.5 3.062
D 0.197
2
ITAE
0.85
0.965
Kc 2.654
K
I 3.681
0.796 0.1465
0.929
0.308
D 0.018
5.018
4
Kc
K 3 4
32 6
I
0.981
13 8
4
D 0.15
11 2