Blok diagrammasi
6.5-rasm: - 1 uchun blok diagrammasi st IMC asosidagi PID-ni buyurtma qiling
Simulyatsiya
Tp ning turli qiymatlari uchun sozlash parametrining turli qiymatlarida o'rnatish vaqti va ko'tarilish vaqti qiymatlari
ТП-170
|
65
|
70
|
75%
|
80
|
85
|
l
|
|||UNTRANSLATED_CONTENT_START|||Tr|||UNTRANSLATED_CONTENT_END|||
|
Servis turi
|
|||UNTRANSLATED_CONTENT_START|||Tr|||UNTRANSLATED_CONTENT_END|||
|
Servis turi
|
|||UNTRANSLATED_CONTENT_START|||Tr|||UNTRANSLATED_CONTENT_END|||
|
Servis turi
|
|||UNTRANSLATED_CONTENT_START|||Tr|||UNTRANSLATED_CONTENT_END|||
|
Servis turi
|
Servis turi
|
Servis turi
|
2
|
4
|
9
|
4
|
10
|
5
|
10
|
5
|
11
|
5
|
11
|
3
|
6.
|
13
|
7
|
14
|
7
|
14
|
7
|
15
|
8.
|
16
|
4
|
8.
|
17
|
37
|
18
|
9
|
19
|
10
|
19
|
12
|
45
|
5
|
10
|
21
|
70
|
22
|
12
|
12
|
13
|
91
|
84
|
24
|
6
|
17
|
25
|
14
|
26
|
14
|
27
|
71
|
91
|
16
|
28
|
7
|
37
|
29
|
16
|
30
|
17
|
21
|
27
|
21
|
22
|
26
|
8
|
17
|
30
|
68
|
22
|
19
|
26
|
20 %
|
38
|
21
|
37
|
9
|
19
|
37
|
20 %
|
38
|
22
|
39
|
23
|
40
|
24
|
41
|
10
|
96
|
10
|
30
|
16
|
24
|
41
|
25
|
78
|
27
|
27
|
15
|
32
|
71
|
66
|
28
|
123154
|
11
|
38
|
11
|
27
|
21
|
|||UNTRANSLATED_CONTENT_START|||Table 4|||UNTRANSLATED_CONTENT_END|||
l o'rtasidagi munosabat; Yuqoridagi jadval uchun Tr & Ts Tp=65, Tr=-0,0022l^2+2,2235l-0,0733 uchun
Ts=-0,0112l^2+4,0342l+1,7493 Tp=70 uchun, Tr=-0,0037l^2+2,369l-0,0421
Ts=-0,0096l^2+4,0870l+2,1665 Tp=75 uchun, Tr=-0,004l^2+2,5047l+0,0161
Ts=-0,0087l^2+4,1747l+2,4560 Tp=80 uchun, Tr=-0,0056l^2+2,6405l+0,0709 Ts=-0,0077l^2+4,2758l+2,7120
Tp=85 uchun Tr=-0,0073l^2+2,7900l+0,0657 Ts=-0,0073l^2+4,3975l+2,9060
Ko'tarilish vaqtining istalgan istalgan qiymatlari uchun Tr=5, l=-0,077Tp+5,8394
Tr=10, l=-0,1378Tp+10,97 Tr=15, l=-0,1855Tp+15,6177
Tr=20, l=0,0010Tp^2-0,2451Tp+20,6843 Tr=25, l=0,0013Tp^2-0,3095Tp+25,9691
Standart tenglama: l=aTp^2+bTp+c
Hammuallifning "a" ning turli Trdagi qiymatlari,
|||UNTRANSLATED_CONTENT_START|||Tr|||UNTRANSLATED_CONTENT_END|||
|
Nima qilyapsiz
|
5
|
0
|
10
|
0
|
15
|
0
|
20 %
|
0,0010
|
25
|
0,0013
|
5-jadval
Demak, a=0
Hammuallif "b" ning turli Trdagi qiymatlari,
|||UNTRANSLATED_CONTENT_START|||Tr|||UNTRANSLATED_CONTENT_END|||
|
B
|
5
|
-0,077
|
10
|
-0,1378
|
15
|
-0,1855
|
20 %
|
-0,2451
|
25
|
-0,3095
|
6-jadval
Demak, b=-0,0098Tr-0,0288
Hammuallif 'c' ning turli Trdagi qiymatlari,
|||UNTRANSLATED_CONTENT_START|||Tr|||UNTRANSLATED_CONTENT_END|||
|
cpaper size
|
5
|
5
|
10
|
10
|
15
|
15
|
20 %
|
20 %
|
25
|
25
|
|||UNTRANSLATED_CONTENT_START|||Table 7|||UNTRANSLATED_CONTENT_END|||
Shunday qilib, c=0,0021Tr^2+0,9371Tr+1,1876
Choʻkish vaqtining istalgan qiymati uchun Ts=10,l=-0.0563Tp+4.7423 Ts=25,l=-0.0355Tp+8.2817 Ts=40,l=-0.0384Tp+12.8406 Ts=55,l4=-040p. Ts=70,l=-0,0647Tp+23,2151
Standart tenglama: l=aTp+b
Hammuallifning "a" ning turli Tsdagi qiymatlari,
Servis turi
|
Nima qilyapsiz
|
10
|
-0,0563
|
25
|
-0,0355
|
40
|
-0,0384
|
55
|
-0,0440
|
70
|
-0,0647
|
|||UNTRANSLATED_CONTENT_START|||Table 8|||UNTRANSLATED_CONTENT_END|||
Demak, a=0,002Ts-0,0723
Hammuallif "b" ning turli Tsdagi qiymatlari,
Servis turi
|
B
|
10
|
4
|
25
|
8.
|
40
|
12
|
55
|
17
|
70
|
23
|
Jadval
Demak, b=0,0014Ts^2+0,2003Ts+2,5560
Kechiktirilgan birinchi buyurtma jarayoni uchun
Ishlatilgan jarayon modeli
O'lik vaqt uchun Ø=2, birinchi tartibli Padé yaqinlashuvi e^(-2s)= (-s+1)/(s+1) ni beradi. Gp*(s)= (0,025* e^(-2s))/(75S+1)
= (0,025* (-S+1))/(75S+1) )(s+1).
q (s)= ((75s+1)(s+1))/(0,025*(ls+1))
Biz Ti = 76 ni olamiz,
Td=0,493 Kc=3040/(l+1)
Blok diagrammasi
6.6-rasm: - 1 uchun blok diagrammasi st kechikish bilan IMC asoslangan PID buyurtma
Simulyatsiya
Tp ning turli qiymatlari uchun sozlash parametrining turli qiymatlarida o'rnatish vaqti va ko'tarilish vaqti qiymatlari
ТП-170
|
65
|
70
|
75%
|
80
|
85
|
l
|
|||UNTRANSLATED_CONTENT_START|||Tr|||UNTRANSLATED_CONTENT_END|||
|
Servis turi
|
|||UNTRANSLATED_CONTENT_START|||Tr|||UNTRANSLATED_CONTENT_END|||
|
Servis turi
|
|||UNTRANSLATED_CONTENT_START|||Tr|||UNTRANSLATED_CONTENT_END|||
|
Servis turi
|
|||UNTRANSLATED_CONTENT_START|||Tr|||UNTRANSLATED_CONTENT_END|||
|
Servis turi
|
|||UNTRANSLATED_CONTENT_START|||Tr|||UNTRANSLATED_CONTENT_END|||
|
Servis turi
|
2
|
98
|
22
|
11
|
2
|
11
|
2
|
11
|
3
|
8.
|
3
|
3
|
9
|
3
|
10
|
10
|
11
|
4
|
12
|
24
|
13
|
5
|
4
|
68
|
5
|
14
|
6.
|
15
|
6.
|
17
|
7
|
18
|
8.
|
5
|
71
|
7
|
18
|
8.
|
20 %
|
9
|
14
|
10
|
23
|
10
|
10
|
36
|
45
|
38
|
84
|
60
|
20 %
|
41
|
21
|
68
|
22
|
15
|
22
|
27
|
69
|
12
|
49
|
31
|
49
|
32
|
63
|
81
|
20 %
|
69
|
48
|
71
|
38
|
65
|
41
|
28
|
24
|
78
|
38
|
25
|
71
|
44.6
|
81
|
47
|
12
|
49
|
84
|
51
|
28
|
28
|
30
|
69
|
35
|
87
|
71
|
39
|
91
|
58
|
93
|
64
|
59
|
Jadval
l o'rtasidagi munosabat; Yuqoridagi jadval uchun Tr & Ts Tp=65 uchun, Ts= -0,0407l^2 + 4,1299 l + 0,6866
Tr= 0,0096 l^2 + 2,0892l – 2,0942 Tp=70 uchun, Ts= -0,0385l^2 + 4,035 l +3,1412 Tr= -0,0131l^2 + 2,2732117 –
Tp=75 uchun Ts= -0,0438l^2 + 4,2309 l +3,2889 Tr= -0,0169l^2 + 2,4628l – 2,1779
Tp=80 uchun Ts= -0,055l^2 + 4,6349l +2,0767 Tr= -0,0208l^2 + 2,6488l – 2,1761
Tp=85 uchun Ts= -0,065l^2 + 4,9942 l + 1,418 Tr= -0,0251l^2 + 2,6488l – 2,2114
O'rnatish vaqtining turli kerakli qiymatlari uchun
Ts=10 uchun, l = 0,0041Tp^2 – 0,6302 Tp + 26,0626 Ts=20 uchun, l = 0,0028Tp^2 - 0,4656Tp + 23,306 Ts=30, l4 = 0,02Tp ^ 620 uchun s =40, l = 0,0012Tp^2 – 0,2797Tp +23,6263 Ts=50 uchun, l = 0,420 Tp + 22,4674
Standart tenglama:
l = a Tp^2 + b.Tp + c
Hammuallifning "a" ning turli Tsdagi qiymatlari,
Nima qilyapsiz
|
Servis turi
|
0,0041
|
10
|
0,0028
|
20 %
|
0,0024
|
30
|
0,0012
|
40
|
0
|
50 %
|
Jadval
Shunday qilib, a = 0,0050
Hammuallif "b" ning turli Tsdagi qiymatlari,
B
|
Servis turi
|
-0,6302
|
10
|
-0,4656
|
20 %
|
-0,4349
|
30
|
-0,2797
|
40
|
-0,420
|
50 %
|
Jadval
Demak, b =0,0061Ts -0,6280
Hammuallif "c" ning turli Tsdagi qiymatlari,
cpaper size
|
Servis turi
|
-0,6302
|
10
|
-0,4656
|
20 %
|
-0,4349
|
30
|
-0,2797
|
40
|
-0,420
|
50 %
|
Jadval
Demak, c = -0,0687 Ts +26,288
Ko'tarilish vaqtining istalgan istalgan qiymatlari uchun Tr=10 uchun, l= - 0,0614 Tp + 09,750 Tr=20 uchun, l= - 0,0932 Tp + 16,492 Tr=30 uchun, l= - 0,1032 Tp + 21,8906, Tr uchun - 0,0878 Tp + 25,721 Tr=50 uchun, l= 0,0366Tp +27,3270
Standart tenglama:
l = a Tp^2 + b.Tp + c
Hammuallifning “a” qiymati turli Tr da, a=0 Hammuallifning “b” qiymati turli Tr da,
B
|
|||UNTRANSLATED_CONTENT_START|||Tr|||UNTRANSLATED_CONTENT_END|||
|
-0,0614
|
10
|
-0,0932
|
20 %
|
-0,1032
|
30
|
-0,1355
|
40
|
-0,1732
|
50 %
|
Jadval
Shunday qilib, b = -0,0929
Hammuallif 'c' ning turli Trdagi qiymatlari,
cpaper size
|
|||UNTRANSLATED_CONTENT_START|||Tr|||UNTRANSLATED_CONTENT_END|||
|
9
|
10
|
16
|
20 %
|
21
|
30
|
25
|
40
|
27
|
50 %
|
Jadval
Demak, c = -0,4447 Ts +6,8863
|
