Zeitfunktionen ↑

8() G()
*()
=
et cos(ut) I %
L I R

X(s)

Frequenz
x(8)a-2(x(t)) =

%X() e stat s= Otiw

System übert Y(s) =

G(s) -

U(s)

u(t)
G(s) Es
=

-D

einfaches System net =

yu

u(H) =

y(t) Tij(t)
+
u(t) =
Ur(t) +
uc(t) RiCt) + uc(t)
=

GuCH =
i() Qu
=
SiCelde = 2 .

UCH

n(t) =
uc(t) +
R C .

vc(t)

u(t) uc(t)
O D = y(t)y =

L
⑧
u Y(s)
U(s)
DGL-Zaplacetransformation

U(s) =
Uc(s) + RC [sUc(s) ncot
-

Uc(s)- + R Anfangs ist

Ko :

G(s)
 Standartübertragungssysteme :
Sprungantwort :

PG(s) =
kp = 4(s) =

kp .
U(s) y(t) =

kp-u(t) y(t) kp-0(t)

=

y(t) =
2 .

o(t)

G(t)1
et

I
uH
p
I
gitte
G(s) = yet
=

KIu(t)de
Sprungantwort :
y =
(t) =
ki u(t)

YI(H) =

kinde =
ki + 1 =
Kit SY = (s) =
kI((s) =+
((s) ==
S
e-t

Y= (s) G(s) ((s)

1 y() 41. t
. =
= =
0 0

D UHyy() 4x du(t)0oYp(s) 4x - sU(s) Go(s) Kxs

yp(t)
.
= = =

dt

Kp GLt Yp(s)
Yp() 4xsf Ka
=
= .
=

P-System
P ,
PT1
,
PT2
G(s) =
Kp d

(1 ST1) (1 stz)
+ +
.. ·

et

I-Systeme
I ,
ITI IT2 , G(s) =
KI

s))1 + str) + ( + STel)

 D-System
D .
Din ,
DT2 G(s) =
Kos

( + STr) (1 .

+ STz)

u(t)
+
g(s)y(t)
# Zeitverhalten

Laplace-Transformation Sprungantwort y(t) I

DGL
Impulsantwort y(t) ↑
3(s) =

U Nullstellen Sun -
O
U

a
E(s) = 0 Polstellen Son W
X
0 X
N(s) 0 =

K
Frewenzgang s =
ja Goin(jw) =

T W
1 + G

Ortskurve Spin (w) = Realteil + i Inspulswinkel I

jepin(w)
Bodediagramm Gptn(iw) =
IGpin(jw) e

schwingungsfähiges System :
(System s 2
Ordnung)
-

X
-
iwo11-DL

G(s) =
Kur I
cos(e) : D OEDCR
DWo
S 20 wo h
-

+ + Wo

N(s) = 0 = s + 2Dwo + wo =
0
Speiz-Dwotiwt
w sie (wo
h(t) 1
(1-
=

Sollwert : 30 Kp = 1000

w(t) e(t) X(t) =20

Regelkreis :
50 O
-
A
Regler Strecke Regelgröße
Ab
 Regelkreis :
Zn(t) 22(t)
closed loop Control (regeln)
↑

GR Es
e(t) y(t) ys(t)
w(t) Prozess Xs(t) pX(t) loop Control (steuern)
DO
-
A Regler O open
XRH)
-

= d Se

Mess

O O
= =

M(s) Gw(s) W(s) e(t) w() Xr(t)00 Xe(s)

Festst
=
.
+ =
-

E(s) = W(s) -

Xw(s) Yz2(s) Ys( + ) =

y(t) + zn(t)0o Ys(s) = y(s) +

(e(s)

X(t) =
Xs(t) +
Ec(t) · o
X(s) =
Xs(s) - z2(s)

Gw(s) =:
E(s) =
W(s) -
Xir(s) Ys(s) =
4(s) Xs(s) =
X(s)

Y(s) =
Gr(s) E(s) =
Giz(s) [W(s) -
Xr(s) I

X() Gs(s) 4(s) Gr(s) Gs(s) [W(s) Xr(s)] =

Gr(s) Gs(s) [W(s) ym(s) X() I
· -
.
=
·
= · -

X) In GrGs Gu I Gr Gs W(s) -Gr(s) Gsls

Gr(s)
:
+ = ·
. =i

1 +
GrGs Gr(s)

Gzn(s) =
Gs(s) Gzz(s) = I

1+
GrGs Gr 1+
GrGs Gr

PID-Regelkonzept :

kie()de
Yp(t)
D
P
Y PID()
=

Kpe(t) + +
ke(t)
O

YPID()
e(t) Y I(t) Y

DI
Ypix (s) E(s)
MpE(s)
1E]
P D
A
=
+ k= +

JKp
- TV
YD(t)
D
SPID (s) YPID(s) Kp
1
= = + + D

Els)

TN =
D
TV =
P
KI Kp