COSY-309 PDF

 EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬     ‫א‬‫א‬...

 EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬     ‫א‬‫א‬ um ‫א‬‫א‬ ul ric ur 001 C Y N SU C 8   EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬  W‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬  K‫א‬  W‫א‬‫א‬‫א‬ K‫א‬‫א‬‫א‬ K١  K‫א‬‫א‬‫א‬ K٢ K‫א‬‫א‬‫א‬‫א‬ K٣ K‫א‬‫א‬ K٤ K‫א‬‫א‬‫א‬ K٥ K‫א‬‫א‬‫א‬‫א‬ K٦  K‫א‬‫א‬‫א‬‫א‬ K٧ um ‫א‬‫א‬‫א‬ K٨ ul K‫א‬‫א‬‫א‬ K٩ ric K‫א‬‫א‬ K١٠ ur 002 ‫א‬‫א‬‫א‬‫א‬‫א‬ K١١ C EF Y   N SU C 9   EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬    Introduction J1.1 (Automatic Control systemsF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬‫א‬K‫א‬ K‫א‬‫א‬‫א‬‫א‬ ‫א‬‫א‬ ‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬E  ‫א‬F‫א‬‫א‬  K‫א‬ K‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬  um ‫א‬‫א‬‫א‬ ul KE‫א‬‫א‬F‫א‬‫א‬‫א‬‫א‬‫א‬ ric ‫א‬‫א‬‫א‬‫א‬‫א‬ ur 003 ‫א‬‫א‬‫א‬‫א‬‫؛‬‫א‬‫א‬‫א‬ C K‫א‬ ‫א‬‫א‬‫א‬ Y ‫א‬‫א‬‫א‬‫א‬ N  W‫א‬ SU  ،‫א‬‫א‬‫א‬  C  ،‫א‬‫א‬   ،‫א‬‫ א‬  ،‫א‬‫א‬‫ א‬  K‫א‬‫ א‬ ‫א‬‫א‬‫א‬ ‫א‬‫א‬‫א‬ (Robot)‫א‬‫א‬EComputersF‫א‬ ،‫א‬‫א‬‫א‬‫א‬‫א‬ ‫א‬ ،‫א‬‫א‬‫א‬‫א‬ Urban Planning‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ 10   EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬   ‫א‬‫א‬ KEEnvironmentF‫א‬  W،‫א‬‫א‬‫א‬  ،‫א‬   ،‫א‬‫א‬   ،‫א‬‫א‬‫א‬‫א‬   ،‫א‬‫א‬   ،‫א‬   ‫א‬‫א‬‫ א‬  ‫א‬KKK‫א‬‫ א‬ um (Control System's Components).‫א‬‫א‬‫ א‬2.1 ul  E‫א‬ ‫א‬     F    (١-١) ‫א‬ ric ‫א‬‫א‬ K ur 004 ‫א‬     ‫א‬ ‫א‬ ‫א‬ ‫א‬     C  W‫א‬‫א‬‫א‬‫א‬ Y N   SU (controlled   (commad) C variable)   ‫األمر‬ +E ‫א‬‫א‬‫א‬‫א‬ ‫א‬ ‫عنصر الدخل‬ ‫المرجعي‬  ‫الحاكم‬ Controller ‫عناصر‬ ‫التحكم‬      -       ‫عنصر التغذية الخلفية‬       (1-1) 11   EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬   ( Controlled Variable)‫א‬‫א‬  ‫א‬‫א‬ ‫א‬‫א‬  K‫א‬  ‫א‬    ‫א‬ ‫א‬‫א‬ ‫א‬  ‫א‬ ‫א‬  K‫א‬  ‫א‬  K‫א‬‫א‬ (Plant)‫א‬  ‫א‬‫א‬‫א‬‫א‬‫א‬           K   ‫א‬  K،،، (Disturbance)‫א‬  ‫א‬‫א‬ ‫א‬   ‫א‬        ‫א‬  ‫א‬ um  ‫א‬ ‫א‬  ‫א‬ W  K‫א‬    ‫א‬  ‫א‬  K‫א‬ ul ric  (Reference Signal)‫א‬‫א‬  ur 005 K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ C ‫א‬‫א‬‫א‬‫א‬‫א‬ Y  K‫א‬ N   (Output Signal)‫א‬  SU  K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ C   K‫א‬  (Error Signal) ‫א‬  ‫א‬‫א‬‫א‬‫א‬‫א‬ ‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ E‫א‬F‫א‬‫א‬K‫א‬‫א‬‫א‬  K‫א‬‫א‬     12   EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬   (Controller)‫א‬  ‫א‬‫א‬‫א‬‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬‫א‬K‫א‬  K‫א‬‫א‬ (Sensors)‫א‬  ‫א‬‫א‬‫א‬‫א‬  K‫א‬‫א‬‫א‬‫א‬ (Actuators)‫א‬  ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ um  K‫א‬‫א‬‫א‬  (Final Control Elements)‫א‬‫א‬  ul ric ‫א‬‫א‬‫א‬‫א‬‫א‬ ur 006 ‫א‬‫א‬ C  K‫א‬‫א‬‫א‬ Y   N  (Illustrative Examples) ‫א‬ 3.1 SU ‫א‬ ‫א‬ ‫א‬    ‫א‬       C  W‫א‬  W‫א‬‫א‬‫א‬ 1.3.1 ‫א‬ (2-١) ‫א‬‫א‬‫א‬ ‫א‬‫א‬ ‫א‬ K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬  K‫א‬‫א‬‫א‬ 13   EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬ ‫א‬‫א‬ ‫א‬‫א‬‫א‬ F‫א‬‫א‬‫א‬‫א‬K‫א‬‫א‬‫א‬‫א‬‫א‬  ‫א‬ ‫א‬E‫א‬  ‫א‬‫א‬       ‫א‬ um ul ‫א‬ ric  ur 007 C Y N ‫א‬ ‫א‬ E1J(2-1)   1F SU   C   ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬K‫א‬‫א‬ ‫א‬K‫א‬‫א‬‫א‬‫א‬ K  ‫א‬‫א‬   W‫א‬‫א‬‫א‬‫ א‬2.3.1 ‫א‬‫א‬‫א‬‫א‬  ‫א‬‫א‬K‫א‬‫א‬‫א‬‫א‬E3-1F‫א‬   14   EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬   ‫א‬‫א‬‫א‬‫א‬‫א‬  K‫א‬‫א‬‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ ‫א‬‫א‬ ‫א‬‫א‬K KE‫א‬‫א‬‫א‬‫א‬F‫א‬ ‫א‬‫א‬‫א‬‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬‫א‬  K  ‫א‬‫א‬ um ‫א‬‫א‬  ul  ric   ur 008 ‫א‬ C Y N  SU ‫א‬ C ‫א‬(3-1)       W‫א‬‫א‬‫ א‬3.3.1 ‫א‬E‫א‬F‫א‬Ea-4-1F E‫א‬‫א‬F‫א‬‫א‬‫א‬‫א‬ ‫א‬K‫א‬‫א‬  ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ 15   EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬   ‫א‬‫א‬‫א‬K‫א‬‫א‬‫א‬‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬E‫א‬‫א‬F ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬  K‫א‬‫א‬     Controller Pneumatic valve ‫א‬ Inflow um  ul ric (a) Outflow ur 009 C ‫א‬‫א‬ Y ‫א‬ ‫א‬ N Actual level Pneumatic SU Controller Water tank valve ‫א‬‫א‬ ‫א‬‫א‬  C Desired level Float (b) ‫א‬‫א‬(4-1)          16   EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬   ‫א‬‫א‬‫א‬‫א‬Eb-4-1 )‫א‬ ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬  K‫א‬‫א‬‫א‬‫א‬‫א‬    WE‫א‬F 4.3.1 F‫א‬‫א‬‫א‬(a-5-1)‫א‬‫א‬‫א‬ ‫א‬‫א‬  ‫א‬ ‫א‬‫א‬E ‫א‬‫א‬‫א‬‫א‬‫א‬ F‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ ‫א‬‫א‬E‫א‬‫א‬‫א‬FE‫א‬ um ‫א‬‫א‬‫א‬‫א‬‫א‬ ul  K‫א‬‫א‬  Eb-5-1F‫א‬K‫א‬ ric   ur 010   C   Y   N   SU   C                   17   EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬     ‫א‬ Brain ‫א‬‫א‬‫א‬ ‫א‬ ‫א‬ ‫א‬‫א‬ ‫א‬‫א‬  ‫א‬ (a) ‫א‬ um ‫א‬Ea-5-1F ‫א‬ ul ‫א‬ ‫א‬ ‫א‬ ‫א‬ ‫א‬‫א‬ ‫א‬ ric Output Brain Hand Input ur Muscle Hand 011 C Y ‫א‬ N SU Eye C (b) ‫א‬(b-5-1)                  18   EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬    W 5.3.1 E6-1F‫א‬ ‫א‬Pulses‫א‬K    ‫א‬‫א‬‫א‬‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬.Va ‫א‬‫א‬ ‫א‬K‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬E‫א‬F‫א‬ ‫א‬‫א‬،‫א‬‫א‬‫א‬  K‫א‬ um ul ric ‫א‬‫א‬ ur 012 ‫א‬ ‫א‬ C Va Y ‫א‬  N ‫א‬ SU ‫التحكم‬ ‫محكوم‬ C  ‫א‬‫א‬  (6-1)                19   EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬    Laplace Transformation 4.1 ‫א‬ ‫א‬ ‫א‬   Laplace Transformations      ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ ‫א‬‫א‬ ‫א‬‫א‬K‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬‫א‬ ‫א‬‫א‬       ‫א‬‫א‬    t ‫א‬   .S‫א‬‫א‬‫א‬S    S ‫א‬ ‫א‬   ‫א‬ ‫א‬     ‫א‬ ‫א‬ ‫א‬‫א‬‫א‬   K‫א‬ um ‫א‬ σReal PartW‫א‬‫א‬ ul ‫א‬‫א‬‫א‬‫א‬KjωImaginary Part ric ‫א‬‫א‬‫א‬‫א‬σ-axis‫א‬‫א‬‫א‬‫א‬‫א‬ ur 013  K(٧-١)(S-plane)S‫א‬‫א‬‫א‬jω-axis ‫א‬ C   Y N SU jω s-plane C ω1 σ1 + jω1 s1 0 σ1 σ S‫א‬‫א‬E7-1F -    20   EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬  ‫א‬‫א‬ 1.4.1 ‫א‬‫א‬‫א‬‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬K‫א‬‫א‬ K‫א‬‫א‬‫א‬‫א‬ ‫א‬(t) ‫א‬‫א‬‫א‬‫א‬‫א‬ ‫א‬‫א‬f(t)‫א‬‫א‬ ‫א‬‫א‬‫א‬KF(s)ESF‫א‬‫א‬  W‫א‬‫א‬ Ks‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬  ‫א‬‫א‬‫א‬‫א‬‫א‬  um  Ks‫א‬‫א‬‫א‬‫א‬  Ks‫א‬ ul  W‫א‬‫א‬‫א‬ ric  ‫א‬‫א‬‫א‬Zf(t) ur 014  .( f(t)‫א‬‫א‬‫א‬‫א‬Fs‫א‬‫א‬‫א‬‫א‬ZF(s) C Y   N  s = σ + jω ‫א‬‫א‬Zs SU  ‫א‬Z L C W‫א‬‫א‬f(t )‫א‬‫א‬    F ( s )  L [ f ( t )]   f ( t ) e  st dt (1  1 ) 0 ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬  ‫א‬‫א‬‫א‬ 1-1  K‫א‬‫א‬‫א‬‫א‬  0 t < 0 f (t )   K t  0 21   EF‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬    ‫א‬‫א‬(8-1)‫א‬‫א‬K   f(t ) K t 0 ‫א‬‫א‬ (8-1)    um  W‫א‬   JW‫א‬ ul ric   Ke  st L [ f ( t )]  dt ur 0 015 K  K   K C  st    F (s)  S e 0  e  e0  S S Y K L [ f ( t )]  F ( s )  N S SU   unit step function‫א‬‫א‬K C  ‫א‬‫א‬‫א‬‫א‬ 1   F (s)  S 2-1  Exponential Function‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬    0 t ωn‫א‬ K   p1,2     2  n 2 ‫א‬‫א‬‫א‬‫א‬‫א‬  W‫א‬‫א‬‫א‬R‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ c (t )  kR 1  p2 p1  p 2 e p1t  p1 p1  p 2  e p2t  um (٢٣-٣) ul   ric  Critical DampingKE=F‫א‬‫א‬W‫א‬‫א‬ 2-3-3-3 ur 088 ‫א‬==n‫א‬ C Y K‫א‬‫א‬ N   p1,2  n  p1,2   SU ‫א‬‫א‬‫א‬‫א‬‫א‬ C ‫א‬‫א‬R‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬  W‫א‬‫א‬   c (t )  KR 1  (1   n t ) e  (٢٤-٣)  t n    Under DampingKE