Transcript 277? - Laplace_forno_PI_disturbo.xmcd

Sistema ad anello chiuso PI
Effetto di un disturbo in ingresso al
processo controllato
tau := 12
Ao := 1
Ao
Gf ( s ) :=
t := 0 , 0.1 .. 100
E( s) :=
1 + s ⋅ tau
1


2
60⋅ s + 10⋅ s + 1
U1 ( t) := U1 ( s) invlaplace


1


Ti3 ⋅ s 

→ 1 − cos

G3 ( s) :=
t
5⋅ 7⋅ t  − 12
⋅e
60 
Gc3( s) ⋅ Gf ( s)
simplify →
1 + Gc3( s) ⋅ Gf ( s)
−
U3 ( s) := E( s) ⋅ G3 ( s)
1
Ti1 ⋅ s 
5⋅ s + 1
simplify →
Ti3 := 10 Gc3( s) := Kp3⋅ 1 +
Kp3 := 1


Gc1( s) := Kp1⋅ 1 +
10⋅ s
1 + ( Gc1( s ) + D( s) ) ⋅ Gf ( s)
U1 ( s) := E( s) ⋅ G1 ( s)
Ti1 := 10
1
D( s ) :=
s
( Gc1( s) + D( s) ) ⋅ Gf ( s )
G1 ( s) :=
Kp1 := 1
U3 ( t) := U3 ( s) invlaplace → 1 − e
t
12

⋅ cos

10⋅ s + 1
2
120⋅ s + 20⋅ s + 1
5⋅ t 
60


1.5
La retroazione annulla il
disturbo e mantiene il
sistema stabile
1
U1( t)
U3( t)
0.5
0
0
20
40
60
t
80
100