Fundamentals of Automatics
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1 Fudel o Auoic Eerg Techologie Se. V Lecure Pr Se. -07/8 Hoei Ghei
2 Hoei Ghei Dep. o Corol d Eerg Egieerig Fcul o Oce Eg. d Ship Techolog Gdńk Uiveri o Techolog Roo o. A WOiO Phoe.: e-il: ghei <> pg.gd.pl Coulio: Tued, Frid
3 Coe. Iroducio d pricipl deiiio. Cliicio o corol e 3. Modellig o dic e d decripio o elee o corol e 4. Mheicl odel preeio: diereil equio, rer ucio, lock digr, e d oervio equio; odel rorio
4 Coe, co. 5. Trie ucio d ie chrceriic 6. Feedck corol 7. Ali o corol e i ie d requec doi 8. Sili 9. Coroller d priciple o heir elecio d deig 0. Quli o corol e. Dicree corol e
5 Lierure. Buicki Z., Teori i lgor erowi, Wdwicwo Nukowe PWN, Wrzw, 00.. Dochowki Z., Auok i rook podw, Wdwicwo PG, Gdńk, Friedld B., Corol Se Deig, McGrw Hill Co., Kczorek T., Teori erowi i eów, Wdwicwo Nukowe PWN, Wrzw, Nie N. S., Corol Se Egieerig, 7h Ediio, Joh While & So Ic., Og K., Moder Corol Egieerig, 4h ediio, Preice Hll, Percz S., Podw uoki, krp dl Iuu Okręowego PG, Gdńk, Próchicki W., Dzid M., Ziór zdń z podw uoki, krp dl udeów Wdziłu Oceoechiki i Okręowicw PG, Gdńk, Rve, F. H., Auoic corol egieerig, McGrw Hill Co., 986.
6 Aee d crieri The il rk coi: 35 poi excercie i. 7, 30 poi l. i. 5, 35 poi ex, well 5 poi devoed o he preece The x poi i 05 Requiree: le 56 poi Sude, who oied i. 56 poi, c ke pr i he orl ex durig which he hve o wer o 3 queio o icree he il rk x. + ou o 5.
7 Coure hee Lik oj.pg ECTS PG hp://ec.pg.edu.pl/przedio?ujecid=53958&coureid=845
8 De o ex Bic eio: , Sl 70 WOiO, :00 Aede eio: , Sl 70 WOiO, 09:00 Orl ex opiol: , pok. A WOiO
9 Ope-loop Corol Se
10 Auoic regulio d corol?
11 Nurl eedck corol - pupil
12 Nurl eedck corol - ugr
13 Ariicil eedck corol Regulio o gulr velic Coure d rjecor corol
14 Feedck hor hior 788 Je W 868 Je C. Mxwell hp://dregk.logpo.co/ 934 Hrold Hze erwoechiz
15 Feedck i corol e Diurce Ex. eerg Cod igl + _ Error Coroller Corolled igl Meured igl Ex. eerg
16 Feedck i corol e co.
17 Cloed-loop Corol Se wh uig eedck?. Dic procee re o ccurel kow or odeled. Ucerii o ipu igl 3. We ever copleel ure wheher he ipu cod h ee provided or he e.
18 Error igl e c
19 Whele CS c do? Sigl pliicio Reoe corol Noie copeio Acio i hzrdou eviroe Operio i icceile eviroe Acio i ll cle eviroe
20 Rooic Rooic i rch o egieerig h ivolve he cocepio, deig, ucure, d operio o roo. Thi ield overlp wih elecroic, copuer ciece, riicil ielligece, echroic, oecholog d ioegieerig. Mipulor Iduril roo Biped roo
21 Deig ge. Modelig / ideiicio d veriicio o he pl. Siulio o he pl 3. Srucure o he corol e 4. Tpe d rucure o he regulor 5. Meurig elee eor, rducer/rorer, couicio ierce 6. Selecio o cuor 7. Siulio o he corol e 8. Proopig
22 Cliicio o corol e. Tpe o cod igl co vlue, progred, rckig/ rckig poi. Nuer o ipu/oupu igl SISO, MIMO 3. Lieri or olieri 4. Tpe o preer luped, diriued 5. Vriili o preer over ie ie-vri, ieivri 6. Coiui i ie coiuou, dicree/digil 7. Corol lgorih or reg opil, dpive, exree 8....
23 Bic elee o dic e Elee h cue eerg diipio proporiol Fricio Reice Elee h ccuule eerg i he or o poeil Eerg iegrl Sie Fluid level Cpci Elee h relize eerg i he or o kieic eerg diereil M Iducce
24 Equivlece o dic e Ipu igl * p Oupu igl power p Elecr. Mech. Ther. Hdr./peu. u F T p p i v Q Q Power u.i F x T.Q p.q
25 Elee h cue eerg diipio Proporiol p Eerg loe = k p. Elee h ccuule eerg i he or o poeil Eerg iegrl p p dp d k i Elee h relize eerg i he or o kieic eerg diereil d d p p k d d d Kieic eerg = k d Poeil Eerg = k p k i
26 k Elecricl e Mechicl e Therl e Hdrulic/ Peuic e k p R Z d A R h k i C K MC A g k d L l A p k p u R i F Z x T d A Q p R h Q dp d k i du d C i df d K x dt d MC Q dp d A g Q p k d d d u L di d F dx d p l A dq d
27 Corol e chrceriic repoe Dic rie, ued-e chrceriic Sed-e chrceriic Frequec chrceriic repoe
28 Mheicl odel Alicl/uericl odel Ideiicio M, Eerg d oeu coervio lw Lgrge equio Diere or o dierei equio e.g. odieiol or
29 Diere or o heicl odel Mheicl Model Diereil equio Trer ucio Block digr Frequec repoe Sepce Tie doi Lplce doi Tie doi / Lplce doi Frequec doi Tie doi
30 Diereil equio u u u u u u 0 0 Pl / proce / e / ojecive o corol u
31 Diereil equio For : lier, ie-ivri, oe dieiol d luped ojecive o corol e u u u u u u 0 0
32 Lierizio x x 0 x 0 x x x rck x k 3 3 " ' 3!! x x x x ! 3! x x x x x x x x x x 0
33 Trer ucio Lplce ror F L e d 0 u Diereil eq. U Y U G G Y ll iiil codiio re equl zero
34
35 Block Digr Su jucio Gi Iegror Node
36 u 0 0 ], [ ; i i 0 i d u 0 0 ie
37 I geerl ce: U Y G G ; ; 0 0 U Y 0 0 U Y 0 0 U Y 0 0 P
38 P Y U P 0 0
39 Block digr lger Prllel coecio G Gi Seril coecio G Gi Feedck G G G G
ONE RANDOM VARIABLE F ( ) [ ] x P X x x x 3
The Cumulive Disribuio Fucio (cd) ONE RANDOM VARIABLE cd is deied s he probbiliy o he eve { x}: F ( ) [ ] x P x x - Applies o discree s well s coiuous RV. Exmple: hree osses o coi x 8 3 x 8 8 F 3 3 7 x
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