"Transfer function 'Gs' from input 'u1' to output ...\n",
"\n",
" -s + 1 \n",
" y1: -------------\n",
" s^2 + 4 s + 3\n",
"\n",
"Continuous-time model.\n"
]
}
],
"source": [
"clear all\n",
"pkg load control\n",
"\n",
"% Set the Octsim Engine to run the simulation\n",
"addpath('../Octsim');\n",
"\n",
"num = [-1 1]\n",
"den = [1 4 3]\n",
"Gs = tf(num,den)"
]
},
{
"cell_type": "markdown",
"id": "3d088845-789d-4a9f-8c69-7d89099a37a8",
"metadata": {},
"source": [
"<p>Zunächst müssen wir die Regelstreke diskretisieren:</p>"
]
},
{
"cell_type": "code",
"execution_count": 2,
"id": "3eba9469-4c8c-4e7a-ac53-9de59b0d075f",
"metadata": {},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"Ts = 0.20000\n",
"\n",
"Transfer function 'Gz' from input 'u1' to output ...\n",
"\n",
" -0.1195 z + 0.1468 \n",
" y1: ----------------------\n",
" z^2 - 1.368 z + 0.4493\n",
"\n",
"Sampling time: 0.2 s\n",
"Discrete-time model.\n",
"numzc =\n",
"{\n",
" [1,1] =\n",
"\n",
" -0.11952 0.14679\n",
"\n",
"}\n",
"\n",
"denzc =\n",
"{\n",
" [1,1] =\n",
"\n",
" 1.00000 -1.36754 0.44933\n",
"\n",
"}\n",
"\n",
"numz =\n",
"\n",
" -0.11952 0.14679\n",
"\n",
"denz =\n",
"\n",
" 1.00000 -1.36754 0.44933\n",
"\n"
]
}
],
"source": [
"Ts = 0.2\n",
"Gz = c2d(Gs,Ts,'zoh')\n",
"[numzc,denzc] = tfdata(Gz)\n",
"numz = numzc{1}\n",
"denz = denzc{1}\n"
]
},
{
"cell_type": "markdown",
"id": "e32155c4-417f-422d-8b9d-9838d865f26a",
"metadata": {},
"source": [
"<p>Als Regler Gr(z) soll ein zeitdiskreter PID-Regler zum Einsatz kommen, der unter Verwendung eines Schwingversuchs ausglegt werden soll. Die enstrprechenden Einstellwerte für die Auslegung des Reglers sind in der folgenden Tabelle angegeben. Die kritische Frequenz beträgt 2.19 rad/sec. </p>"
<p>Als Regler Gr(z) soll ein zeitdiskreter PID-Regler zum Einsatz kommen, der unter Verwendung eines Schwingversuchs ausglegt werden soll. Die enstrprechenden Einstellwerte für die Auslegung des Reglers sind in der folgenden Tabelle angegeben. Die kritische Frequenz beträgt 2.19 rad/sec. </p>
