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________________________________________________________________________________________________________ Effetto di un disturbo in ingresso al processo controllato tau:=12 Ao:=1 t:=0 0.1, ..100 Kp1:=1 Ti1:=10 Gf s( ) Ao 1+s tau⋅ := E s( ) 1 s := D s( ) 1 10 s⋅ := Gc1 s( ) Kp1 1 1 Ti1 s⋅ +
⋅ := G1 s( ) (Gc1 s( )+D s( )) Gf s⋅ ( ) 1+(Gc1 s( )+D s( )) Gf s⋅ ( ) simplify 5 s⋅ +1 60 s⋅ 2+10 s⋅ +1 → := U1 s( ):=E s( ) G1 s⋅ ( ) U1 t( ) U1 s( ) invlaplace 1 cos 5⋅ 7⋅t 60
e t 12 − ⋅ − → := Kp2:=1 Ti2:=10 Td2:=0 Gc2 s( ) Kp2 1+s Td2⋅ 1 Ti2 s⋅ +
⋅ := G2 s( ) Gc2 s( ) Gf s⋅ ( ) 1+Gc2 s( ) Gf s⋅ ( ) simplify 10 s⋅ +1 120 s⋅ 2+20 s⋅ +1 → := U2 s( ):=E s( ) G2 s⋅ ( ) U2 t( ) U2 s( ) invlaplace 1 e t 12 − cos 5 t⋅ 60
⋅ − → :=Sistema ad anello chiuso PID
Kp3:=1 Ti3:=10 Td3:=1 Gc3 s( ) Kp3 1+s Td3⋅ 1 Ti3 s⋅ +
