K TO√1+m2√(1-mo7)2+m721 OT' arct --arcto 1-mor0
0 1 1 1 1 (1 ) 2 2 2 2 = − − = + − + m T T arctg m arctg T m m T T K i
2双参数调节器的整定计算 PI控制器 G(S)=(1+)=+ =S1+ Ts 5 ds S G2(m,O)=S1+ 0 m.0+/0 G(m,O)G(m,O)=-1 M(m, O).M,(m,O)=1 1?(m,o)9:(mo)=-z
2 双参数调节器的整定计算 PI控制器 = − = = − + = + = + = + = + ( , ) ( , ) ( , ) ( , ) 1 ( , ) ( , ) 1 ( , ) 1 1 ) 1 (1 1 ( ) 0 1 0 1 m m M m M m G m G m m j S G m S s S S T s T s G s p c c p c p s c s i i
S1 Im sin (m, o)+cos o,(m,@) M(me,o O(1 I- M (ms sin o(m,@)
+ = − = − + sin ( , ) ( , ) (1 ) [ sin ( , ) cos ( , )] ( , ) 1 2 0 1 p s p s s s p s p s p s m M m m S m m m M m S