Wydział/Kierunek: WIMiIP/Metalurgia III |
Imię i nazwisko: Marek Stanclik |
Numer grupy: 2 |
|
Wariant zadania:
4 |
Temat: Wybór rodzaju i nastaw regulatora ciągłego
|
Data wykonania ćwiczenia:
22.10.2013
|
Ocena: |
Stworzyć układ automatycznej regulacji zawierający obiekt i regulator.
Dobrać optymalne parametry regulatorów.
Zbadać wpływ współczynnika wzmocnienia regulatora na przebiegi przejściowe przy zadawaniu wymuszenia skokowego jako sterowanie lub zakłócenie.
Wykonane zadania:
ZADANIE 1
Schematy blokowy układu
Schemat blokowy obiektu regulacji
Schemat blokowy PI-regulatora
Kod z okna Workspace:
>> T1=7
T1 =
7
>> tau=1
tau =
1
>> Ko=4
Ko =
4
>> KP=0.875
KP =
0.8750
>> TI=7
TI =
7
>>
Wykresy:
Wynik symulacji:
0
0,400000000000000
0,800000000000000
0,999999999999983
1
1,00000000000002
1,40000000000002
1,80000000000002
2,20000000000002
2,60000000000002
3,00000000000002
3,40000000000002
3,80000000000002
4,20000000000002
4,60000000000002
5,00000000000002
5,40000000000002
5,80000000000002
6,20000000000002
6,60000000000002
7,00000000000002
7,40000000000002
7,80000000000002
8,20000000000002
8,60000000000002
9,00000000000002
9,40000000000002
9,80000000000002
10,2000000000000
10,6000000000000
11,0000000000000
11,4000000000000
11,8000000000000
12,2000000000000
12,6000000000000
13,0000000000000
13,4000000000000
13,8000000000000
14,2000000000000
14,6000000000000
15,0000000000000
15,4000000000000
15,8000000000000
16,2000000000000
16,6000000000000
17,0000000000000
17,4000000000000
17,8000000000000
18,2000000000000
18,6000000000000
19,0000000000000
19,4000000000000
19,8000000000000
20
ZADANIE 2
Schemat blokowy układu
Schemat blokowy obiektu regulacji
Schemat blokowy PID-regulatora
Kod z okna Workspace:
>> tau=0.4
tau =
0.4000
>> T2=2
T2 =
2
>> T1=5
T1 =
5
>> Ko=4
Ko =
4
>> KP=1.5625
KP =
1.5625
>> TD=2
TD =
2
>> TI=5
TI =
5
>>
Współczynnik K w elemencie Gain(PID-regulator) w moim przypadku wynosi 500
Wykresy:
Wynik symulacji:
6,77039602063205
6,78450677098194
6,80057900478369
6,81207305605913
6,82356710733457
6,83755768995467
6,85342016769411
6,86783830014123
6,87948550378666
6,89029664778967
6,90292639161378
6,91827053861959
6,93389055663100
6,94678166145830
6,95757672534117
6,96898995503762
6,98310007151476
6,99917457615396
7,01066884083646
7,02216310551895
7,03615410271627
7,05201759537392
7,06643641269606
7,07808343839584
7,08889391070310
7,10152320637115
7,11686811814029
7,13248996197237
7,14538181369718
7,15617609761223
7,16758794459307
7,18169757664577
7,19777419540175
7,20926854408227
7,22076289276279
7,23475429469090
7,25061884584120
7,26503832864432
7,27668510268770
7,28749486024682
7,30012373726527
7,31546943727825
7,33109299249658
7,34398545963262
7,35477895036518
7,36618952466717
7,38029878394000
7,39637735964003
7,40787170398419
7,41936604832835
7,43335783858738
7,44922344189664
7,46364355386170
7,47529003608483
7,48609907568907
7,49872756902701
7,51407404983780
7,52969918827624
7,54259216473658
7,55338487803587
7,56479429194279
7,57890326468238
7,59498363658044
7,60647791785504
7,61797219912964
7,63196435554252
7,64783093734441
7,66225160857485
7,67389779377885
7,68470616665658
7,69733432999277
7,71268154867190
7,72830810292391
7,74120149329370
7,75199348243987
7,76340187181728
7,77751063209365
7,79359261529238
7,80508679812904
7,81658098096570
7,83057347312439
7,84644097298106
7,86086215859348
7,87250805033737
7,88331579426847
7,89594365893441
7,91129156854635
7,92691940614016
7,93981314554317
7,95060445943808
7,96201192789023
7,97612052139297
7,99220395716542
8,00369802430742
8,01519209144941
8,02918489175374
8,04505324008368
8,05947489023360
8,07112049802242
8,08192765925123
8,09455525894666
8,10990380876384
8,12553279867317
8,13842682915257
8,14921752074444
8,16062416880149
8,17473263488656
8,19081737169361
8,20231131258913
8,21380525348466
8,22779833362908
8,24366745988622
8,25808952853079
8,26973486673470
8,28054149224105
8,29316885646702
8,30851799337681
8,32414801365041
8,33704228752013
8,34783241045694
8,35923832973203
8,37334669844698
8,38943259458070
8,40092640575807
8,41242021693545
8,42641354914691
8,44228338113011
8,45670582350845
8,46835090992251
8,47915704833133
8,49178420480029
8,50713387432856
8,52276480900574
8,53565928552096
8,54644889409681
8,55785417030789
8,57196246559412
8,58804938725503
8,59954307008463
8,61103675291422
8,62503031004465
8,64090077577062
8,65532354919397
8,66696840390194
8,67777410399173
8,69040107832321
8,70575122585979
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8,73427761013375
8,74506675815234
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8,77057971162673
8,78666753325503
8,79816109278679
8,80965465231856
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8,83951943697995
8,85394250096749
8,86558714543017
8,87639245533126
8,88901927121349
8,90436984300032
8,92000228548187
8,93289706830625
8,94368580829908
8,95509003153845
8,96919823227712
8,98528683668726
8,99678028060261
9,00827372451795
9,02226765412571
9,03813917771232
9,05256249421966
9,06420695050169
9,07501191692517
9,08763859615902
9,10298954016164
9,11862258998032
9,13151748590499
9,14230586840817
9,15370967011454
9,16781784233192
9,18390712092383
9,19540045867155
9,20689379641927
9,22088787624314
9,23675982953088
9,25118336312282
9,26282765324992
9,27363232085691
9,28625888340020
9,30161015000940
9,31724371911854
9,33013870660644
9,34092677957737
9,35233022207746
9,36643837454662
9,38252822741385
9,39402146949687
9,40551471157990
9,41950891968200
9,43538124144888
9,44980495940330
9,46144910484759
9,47225351576923
9,48487997979255
9,50023152234544
9,51586553004114
9,52876059072108
9,53954839910980
9,55095153914868
9,56505967857437
9,58115001445888
9,59264317185920
9,60413632925952
9,61813064539251
9,63400327870324
9,64842715104444
9,66007117233573
9,67087536584406
9,68350174780183
9,69885352292419
9,71448789574713
9,72738301393478
9,73817059941043
9,74957348835250
9,76368161983316
9,77977235592258
9,79126543965626
9,80275852338993
9,81675292903016
9,83262582146715
9,84704982093313
9,85869373738676
9,86949774970707
9,88212406442495
9,89747603221280
9,91311070371755
9,92600586600156
9,93679326682006
9,94819595091397
9,96230407831670
9,97839513990550
9,98988816069396
10,0013811814824
10,0153756598129
10,0312487635399
10,0456728654960
10,0573166950425
10,0681205592863
10,0807468200612
10,0960989441287
10,1117338545504
10,1246290494396
10,1354163004290
10,1468188211198
10,1609269473785
10,1770182674277
10,1885112354691
10,2000042035105
10,2139987393661
10,2298720110605
10,2442961933731
10,2559399524711
10,2667436986649
10,2793699173731
10,2947221647982
10,3103572606491
10,3232524782755
10,3340396109111
10,3454420051809
10,3595501325296
10,3756416511628
10,3871345759845
10,3986275008062
10,4126220805923
10,4284954812829
10,4429197241678
10,4545634277808
10,4653670829648
10,4779932701732
10,4933456113696
10,5089808449977
10,5218760768681
10,5326631194121
10,5440654201317
10,5581735502837
10,5742652142519
10,5857581046263
10,5972509950007
10,6112456065963
10,6271191014370
10,6415433872941
10,6531870489142
10,6639906372884
10,6766168023649
10,6919692109070
10,7076045400395
10,7204997788300
10,7312867565111
10,7426889927888
10,7567971270725
10,7728888892142
10,7843817531212
10,7958746170282
10,8098692496808
10,8257428076888
10,8401671209319
10,8518107526347
10,8626142957331
10,8752404469531
10,8905928993724
10,9062282866646
10,9191235260515
10,9299104612679
10,9413126587848
10,9554207982455
10,9715126169590
10,9830054615830
10,9944983062071
11,0084929504247
11,0243665441990
11,0387908710876
11,0504344836082
11,0612380004883
11,0738641451353
11,0892166207042
11,1048520333032
11,1177472678220
11,1285341803543
11,1399363616825
11,1540445071577
11,1701363458981
11,1816291776472
11,1931220093964
11,2071166568417
11,2229902622790
11,2374145907560
11,2490581935757
11,2598617010120
11,2724878454715
11,2878403259843
11,3034757351170
11,3163709600464
11,3271578672705
11,3385600521687
11,3526682043430
11,3687600311492
11,3802528556904
11,3917456802316
11,4057403236192
11,4216139196333
11,4360382391708
11,4476818406103
11,4584853532858
11,4711115031325
11,4864639726898
11,5020993532766
11,5149945645414
11,5257814816369
11,5371836873240
11,5512918467697
11,5673836338241
11,5788764561273
11,5903692784305
11,6043639114301
11,6202374796820
11,6346617811367
11,6463053884501
11,6571089191420
11,6697350792194
11,6850875240204
11,7007228543169
11,7136180484067
11,7244049885561
11,7358072299630
11,7499153971683
11,7660071203901
11,7774999447777
11,7889927691653
11,8029873863102
11,8188609109522
11,8332851864311
11,8449288058984
11,8557323656546
11,8683585401483
11,8837109482941
11,8993462095602
11,9122413834602
11,9230283580377
11,9344306480370
11,9485388234270
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11,9761232922968
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12,0016107190978
12,0174841865321
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12,0435520662849
12,0543556645898
12,0669818570944
12,0823342184028
12,0979693945985
12,1108645457305
12,1216515644784
12,1330539140959
12,1471620980464
12,1632536344667
12,1747464736604
12,1862393128541
12,2002338849251
12,2161072835793
12,2305314878153
12,2421751469791
12,2529787919098
12,2656050054897
12,2809573113220
12,2965923888283
12,3094875150004
12,3202745861939
12,3316770047999
12,3457851976473
12,3618766168216
12,3733694677017
12,3848623185818
12,3988568627602
12,4147301828786
12,4291543437637
12,4407980289525
12,4516017273228
12,4642279645681
12,4795802076691
12,4952151750324
12,5081102743947
12,5188974049940
12,5302999004793
12,5444081025271
12,5604993918768
12,5719922566922
12,5834851215076
12,5974796349920
12,6133528684433
12,6277769819351
12,6394206963837
12,6502244538775
12,6628507169541
12,6782028913040
12,6938377390031
12,7067328100102
12,7175200058010
12,7289225847354
12,7430307962584
12,7591219453600
12,7706148259637
12,7821077065675
12,7961021870552
12,8119753271555
12,8263993899320
12,8380431363014
12,8488469575956
12,8614732482918
12,8768253489702
12,8924600692037
12,9053551105804
12,9161423763027
12,9275450440805
12,9416532653274
12,9577442656740
12,9692371635672
12,9807300614605
12,9947245070918
13,0105975484429
13,0250215578222
13,0366653382638
13,0474692271405
13,0600955469082
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13,1147645066417
13,1261672676125
13,1402754988071
13,1563663435925
13,1678592599653
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13,1933465856453
13,2092195239871
13,2236434778542
13,2352872940687
13,2460912535177
13,2587176035107
13,2740695458729
13,2897039937046
13,3025989729334
13,3133863891332
13,3247892467213
13,3388974880635
13,3549881719863
13,3664811077550
13,3779740435236
13,3919684153850
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13,7220324471254
13,7361407092685
13,7522310607137
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13,7752170134803
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13,8050839214664
13,8195077008234
13,8311516308274
13,8419558133537
13,8545822584535
13,8699339473584
13,8855679609099
13,8984628425874
13,9092505001285
13,9206536604067
13,9347619331561
13,9508521151796
13,9623451123934
13,9738381096072
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14,0037048673008
14,0181285871260
14,0297725561973
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16,5857542238923
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20
Wnioski
Otrzymane wyniki symulacji z zadania pierwszego i drugiego wskazują jak istotny wpływ na wyniki miała zmiana współczynnika wzmocnienia regulatora, obliczanego ze wzoru . Współczynnik wzmocnienia regulatora otrzymany w pierwszym zadaniu wyniósł kp=0,875 natomiast w zadaniu drugim kp=1,5625. Diametralnie różne wartości kp z obu zadań spowodowały wyraźną różnice w wynikach, które otrzymałem(tout). Wyniki z zadania drugiego wyrażają dokładniejszą wartość oraz są bardziej precyzyjne niż te otrzymane w zadaniu pierwszym.