Podwójna inercja z opóźnieniem

te=ScopeData.time;

ue=ScopeData.signals(1).values;

he=ScopeData.signals(2).values;

% subplot(211)

% plot(te,ue);grid

% subplot(212)

% plot(te,he);grid

n=max(find(ue<ue(end)));

t=te(n+1:end)-te(n+1);

u=ue(n+1:end)-ue(n);

h=he(n+1:end)-he(n+1);

plot(t,h);grid

hu=h(end);

uu=u(end);

k=hu/uu

dh=diff(h)./diff(t);

dt=t(1:end-1);

[mdh n]=max(dh);

hp=h(n);

factor=(hp/hu)*100

n10=max(find(h<=0.1*hu));

t10=t(n10);

h10=h(n10);

n90=max(find(h<=0.9*hu));

t90=t(n90);

h90=h(n90);

T=(t90-t10)/3.3

tau=t10-0.53*T

[LpMp]=pade(tau,12);

L=k*Lp;

M=[T 1];

M1=conv(conv(M,M),Mp);

hm=lsim(L,M1,u,t);

plot(t,h,t,hm);grid

kp=0.68*T/(k*tau)

Ti=2*T

Td=Ti/4

tr=7.2*tau

P=kp

I=kp/Ti

D=kp*Td

N=8/Td

Inercja z opóźnieniem

te=ScopeData.time;

ue=ScopeData.signals(1).values;

he=ScopeData.signals(2).values;

% subplot(211)

% plot(te,ue);grid

% subplot(212)

% plot(te,he);grid

n=max(find(ue<ue(end)));

t=te(n+1:end)-te(n+1);

u=ue(n+1:end)-ue(n);

h=he(n+1:end)-he(n+1);

plot(t,h);grid

hu=h(end);

uu=u(end);

k=hu/uu

dh=diff(h)./diff(t);

dt=t(1:end-1);

[mdh n]=max(dh);

hp=h(n);

factor=(hp/hu)*100

n10=max(find(h<=0.1*hu));

t10=t(n10);

h10=h(n10);

n90=max(find(h<=0.9*hu));

t90=t(n90);

h90=h(n90);

T=(t90-t10)/2.2

tau=t10-0.1*T

[LpMp]=pade(tau,12);

L=k*Lp;

M=[T 1];

M1=conv(M,Mp);

hm=lsim(L,M1,u,t);

plot(t,h,t,hm);grid

kp=0.34*T/(k*tau)

Ti=T

Tr=7.2*tau

P=kp

I=kp/Ti

Inercja

te=pawel.time;

ue=pawel.signals(1).values;

he=pawel.signals(2).values;

n=max(find(ue<ue(end)));

t=te(n+1:end)-te(n+1);

u=ue(n+1:end)-ue(n);

h=he(n+1:end)-he(n+1);

plot(t,h);grid

hu=h(end);

uu=u(end);

k=hu/uu

dh=diff(h)./diff(t);

dt=t(1:end-1);

[mdh n]=max(dh);

hp=h(n);

factor=(hp/hu)*100

n10=max(find(h<=0.1*hu));

t10=t(n10);

h10=h(n10);

n90=max(find(h<=0.9*hu));

t90=t(n90);

h90=h(n90);

T=(t90-t10)/2.2

L=k;

M=[T 1];

hm=lsim(L,M,u,t);

plot(t,h,t,hm);grid

tr=60*10

kp=4*T/(k*tr)

Ti=T

P=kp

I=kp/Ti