]<gj]<]<j<^]<]

EF

EF

??EF?
K?

K
??W

??

(MATLAB)
K

W
W

W
W

W
W
W
W

W
PID
W
W

W
PID


]<gj]<]<j<^]<]

EF

EF

(Power Supply)
(Set Point Generator)

(First Order Controlled Unit)

(Plotter)WE
F
(Oscilloscope)(Chart Recorder)

--

EF

EF

yss=

y
G = ss =
E

y ( ) = 0.63 y ss =

o
o

--

EF

ts

ts=

KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK
KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK

KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK
KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK

KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK
KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK

KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK
KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK

--


]<gj]<]<j<^]<]

EF

EF

Mp

0
K

(Power Supply)
(Set Point Generator)

(Second Order Unit)

(Plotter)WE
F
(Oscilloscope)(chart (Chart Recorder)

--

EF

EFW

yss=

y
G = ss =
E

ess=

o
--

EF

td =

o
tr =

tp =
ts =
Td =

Mp =

d =
=

0=

o
o
o
o

o
o
o

KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK
KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK

KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK
o

KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK
KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK

KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK

--

EF

KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK

KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK

KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK
KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK

KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK
KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK

--


]<gj]<]<j<^]<]

EF

EF

W
W

K
K
W

WEF

--

EF

K
KE

Kp
Ki

J
K
J

EF

EF

EF
E

Kp
FK
EKi

Ki
FK

E Kp

--

EF

_________________________________________________________________________________________
_________________________________________________________________________________________
_________________________________________________________________________________________

_________________________________________________________________________________________
_________________________________________________________________________________________
_________________________________________________________________________________________

PI o

_________________________________________________________________________________________
_________________________________________________________________________________________
_________________________________________________________________________________________

PI o

_________________________________________________________________________________________
_________________________________________________________________________________________
_________________________________________________________________________________________

_________________________________________________________________________________________
_________________________________________________________________________________________
_________________________________________________________________________________________
_________________________________________________________________________________________
_________________________________________________________________________________________

--


]<gj]<]<j<^]<]

EF

EF

K
W

WEF

J
--

EF

J
K

K
KE

Kp

Kd

Kp
K

Kd
K

J
K
J

EF

EF

EF
E

_________________________________________________________________________________________
_________________________________________________________________________________________
_________________________________________________________________________________________

_________________________________________________________________________________________
_________________________________________________________________________________________
_________________________________________________________________________________________

PD o

--

EF

_________________________________________________________________________________________
_________________________________________________________________________________________
_________________________________________________________________________________________

PD o

_________________________________________________________________________________________
_________________________________________________________________________________________
_________________________________________________________________________________________

PD o

_________________________________________________________________________________________
_________________________________________________________________________________________
_________________________________________________________________________________________

PD o

_________________________________________________________________________________________
_________________________________________________________________________________________
_________________________________________________________________________________________

_________________________________________________________________________________________

_________________________________________________________________________________________
_________________________________________________________________________________________
_________________________________________________________________________________________
________________________________________________________________________________________

--


]<gj]<]<j<^]<]

EF

EF

PID

PID
KPID
W

WEF

--

EF

K
KE

Kp
KdKi

J
K

--

EF

EF

EF

EF
E

KiKp
KKd

KdKp

KKi

KdKi
KKp

--

EF

_________________________________________________________________________________________
_________________________________________________________________________________________
_________________________________________________________________________________________

_________________________________________________________________________________________
_________________________________________________________________________________________
_________________________________________________________________________________________

PID

_________________________________________________________________________________________
_________________________________________________________________________________________
_________________________________________________________________________________________

PID o

_________________________________________________________________________________________
_________________________________________________________________________________________
_________________________________________________________________________________________

PID o

_________________________________________________________________________________________
_________________________________________________________________________________________
_________________________________________________________________________________________

_________________________________________________________________________________________

_________________________________________________________________________________________
_________________________________________________________________________________________
_________________________________________________________________________________________
_________________________________________________________________________________________

--


]<gj]<]<j<^]<]

EF

EF

DC Motor

(Input Transducer)

(Output Transducer)

WEF

Input
Transducer

Power
Amplifier

DC
Motor

Output
Transducer

--

EF

J
K

EF

EF

--

EF

EF

W
ts=
G=

ess=
%e=

o
o

F o
E

_________________________________________________________________________________________

_________________________________________________________________________________________
_________________________________________________________________________________________
_________________________________________________________________________________________
_________________________________________________________________________________________

--


]<gj]<]<j<^]<]

EF

EF

W J
DC Motor



W J

DC Motor
Tachogenerator
Power Amplifier

WE
F

Power
Amplifier

DC
Motor

Tachogenerator

--

EF

J
J
K

E F
J

( )

--

( )

EF

J

(Tachogenerator)

( )
( )

EF

--


]<gj]<]<j<^]<]

PID

EF

PID


PID

EF

W
W

K
KPID

KPID

KPID

WEF

--


PID

EF

DC

Tachogenerator

J
K

KE

Kp

KdKi

J
K
J

EF

EF

EF
E

KiKp
KKd

KdKp

KKi
--


PID

EF

KdKi
KKp

_________________________________________________________________________________________
_________________________________________________________________________________________
_________________________________________________________________________________________

_________________________________________________________________________________________
_________________________________________________________________________________________
_________________________________________________________________________________________

PID

_________________________________________________________________________________________
_________________________________________________________________________________________
_________________________________________________________________________________________

PID o

_________________________________________________________________________________________
_________________________________________________________________________________________
_________________________________________________________________________________________

PID o

_________________________________________________________________________________________
_________________________________________________________________________________________
_________________________________________________________________________________________

--


PID

EF

_________________________________________________________________________________________
_________________________________________________________________________________________
_________________________________________________________________________________________
_________________________________________________________________________________________
_________________________________________________________________________________________
_________________________________________________________________________________________
_________________________________________________________________________________________
_________________________________________________________________________________________
_________________________________________________________________________________________
_________________________________________________________________________________________
_________________________________________________________________________________________
_________________________________________________________________________________________
_________________________________________________________________________________________
_________________________________________________________________________________________
_________________________________________________________________________________________
_________________________________________________________________________________________
_________________________________________________________________________________________

--


]<gj]<]<j<^]<]

ATLAB Fundamentals

EF

ATLAB Fundamentals


ATLAB Fundamentals

EF

MATLAB

Control Tool Box

SIMULINK

Control Tool BoxSimulinkMATLAB

(MATLAB Command Window)

To get started, type one of these: helpwin, helpdesk, or demo.

For product information, visit www.mathworks.com.

Control Tool Box

MATLABControl Tool Box

KKKK
W

G( s) =

n( s )
d ( s)

(Polynomial in s)sd(s)n(s)
W
W

p( s ) = s 2 + 3s + 1

--


ATLAB Fundamentals

EF

W
p=[ ];
p

p=

W
W

p( s ) = s 3 + 3s + 1

W s 2

W
p=[ ]

p=

G( s) =

s +1

s + 3s + 1

d ( s ) = s 2 + 3s + 1 n( s ) = s + 1 W

n=[ ];

d=[ ];
W
step(n,d)

figure No.
--


ATLAB Fundamentals

EF

bode(n,d)

figure No.
W

roots(d)

G( s) =

s +1

s + 3s + 1

d ( s ) = s 2 + 3s + 1

d=[ ];

roots(d)

ans =

{
{

SIMULINK

SIMULINK

EF

WSimulink

SIMULINKSIMULINK
Library:

Simulink/SourcesUntitled
--


ATLAB Fundamentals

EF

(Sinks)(Sources)

KKKK(Demos)(Linear)

(Sources)

Linear
K(drag and drop)
(Sinks)

K

StartSimulation

G( s) =

10s + 1
s 3 + 4 s 2 + 5s + 1

G( s) =

n( s )

d ( s)

dnW Matlab Command Widow

d (s )

W E H ( s ) = 1 FE
G c ( s ) =

K i 10
s+2
= G ( s ) =
s
s
s 2 + 3s + 1

WKScope
Simulink

--


]<gj]<]<j<^]<]

MATLAB

MATLAB

EF

MATLAB EF

W
MATLAB

Control Tool BoxSimulinkMATLAB

(MATLAB)

MATLAB
W(MATLAB Command Window)
To get started, type one of these: helpwin, helpdesk, or demo.
For product information, visit www.mathworks.com.

G( s) =

K
n( s )
=
s + 1 d ( s )

d ( s ) = s + 1 n( s ) = K

W
K=;
tau={;
n=k;
d=[tau ];
bode(n,d)
Figure No.

hold
Current plot released

K
- -

MATLAB EF

hold
Current plot released

W
k=;
tau=;
n=k;
d=[tau ];
bode(n,d)
hold
Current plot held
tau

tau

{
{
dB

- -

MATLAB EF

_________________________________________________________________________________________
_________________________________________________________________________________________
_________________________________________________________________________________________

_________________________________________________________________________________________
________________________________________________________________________________________
_________________________________________________________________________________________
________________________________________________________________________________________

______________________________________________________________________________________
______________________________________________________________________________________

______________________________________________________________________________________
_________________________________________________________________________________________
_____________________________________________________________________________________
_____________

_____________________________________________________________
_____________________________________________________________
_____________________________________________________________
_____________________________________________________________
_____________________________________________________________
______________________________________________________________________________________
_____________________________________________________________________________________
_____________________________________________________________________________________
_____________________________________________________________________________________
_______________

- -


]<gj]<]<j<^]<]

MATLAB

MATLAB

EF

MATLAB

EF

W
MATLAB

W

Control Tool BoxSimulinkMATLAB

(MATLAB)
MATLAB
W(MATLAB Command Window)

To get started, type one of these: helpwin, helpdesk, or demo.

For product information, visit www.mathworks.com.

02

G( s) =
s

+ 2 0 s + 02
2

n( s )
d ( s)

d ( s ) = s + 2 0 s + 02 n( s ) = 02

=zeta 0 = omegazW

W
omegaz=;
zeta=;
n=omegaz^;
d=[ *zeta*omegaz omegaz^];
bode(n,d)
Figure No.

hold
Current plot released

EFzeta
--

MATLAB

EF

zeta

W 0

hold
Current plot released

W
zeta={;
omegaz=;
n=omegaz^;
d=[ *zeta*omegaz omegaz^];
bode(n,d)
hold
Current plot held
omegaz ()

Omegaz

dB

Omegaz
d

--

MATLAB

EF

K
_______________________________________________________
_______________________________________________________
_______________________________________________________
_______________________________________________________

o
K

_________________________________________________________________________________________
________________________________________________________________________________________
_________________________________________________________________________________________
________________________________________________________________________________________

______________________________________________________________________________________

______________________________________________________________________________________
______________________________________________________________________________________
______________________________________________________________________________________
______________________________________________________________________________________
_______________

_____________________________________________________________
_____________________________________________________________
_____________________________________________________________
_____________________________________________________________

___________________________________________________________

--


]<gj]<]<j<^]<]

MATLAB
PID

MATLAB

EF

PID

PIDMATLAB EF

W
MATLAB
K

KPID
KPID

PID
W

Control Tool BoxSimulinkMATLAB

K
p

Refe
renc
e
Input

K
i

K
d

du/dt

21.81
0.0063s 2 + 0.379 s + 1
Sc
op
e of
Transfer Function
DC Motor

--

PIDMATLAB EF

(MATLAB Command Window)

W@

To get started, type one of these: helpwin, helpdesk, or demo.

For product information, visit www.mathworks.com.

SIMULINK
Ki Kp = 1,

K d = 1

Ki
{
StartSimulation
Scope

Kp Ki = 1,

K d = 1

Kp
{
StartSimulation
Scope

Kd Ki = 1,

K p = 1

Kd

_________________________________________________________________________________________
_________________________________________________________________________________________
_________________________________________________________________________________________

_________________________________________________________________________________________
_________________________________________________________________________________________
_________________________________________________________________________________________

PID
--

PIDMATLAB EF

_________________________________________________________________________________________
_________________________________________________________________________________________
_________________________________________________________________________________________

PID o

_________________________________________________________________________________________
_________________________________________________________________________________________
_________________________________________________________________________________________

PID o

_________________________________________________________________________________________
_________________________________________________________________________________________
_________________________________________________________________________________________

_________________________________________________________________________________________
_________________________________________________________________________________________
_________________________________________________________________________________________
_________________________________________________________________________________________
_________________________________________________________________________________________
_________________________________________________________________________________________
_________________________________________________________________________________________
_________________________________________________________________________________________
_________________________________________________________________________________________
_________________________________________________________________________________________
_________________________________________________________________________________________

--

EF

PIDW

EF

GOTEVOT appreciates the financial support provided by BAE SYSTEMS