title: ÐÐÐ-ÑÐµÐ³ÑÐ»ÑÑÐ¾Ñ Ð² Ð´Ð¸ÑÐºÑÐµÑÐ½ÑÑ ÑÐ¸ÑÑÐµÐ¼Ð°Ñ Ð°Ð²ÑÐ¾Ð¼Ð°ÑÐ¸ÑÐµÑÐºÐ¾Ð³Ð¾ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ
title: Ð²ÑÐ¿ÑÑÐºÐ½Ð°Ñ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð¼Ð°Ð³Ð¸ÑÑÑÐ°
titleType: Subtitle
title: PID-control in discrete automatic control system
Creators: name: Ð¢ÑÐ¾ÑÐ¸Ð¼Ð¾Ð²Ð°, Ð®Ð»Ð¸Ñ
Publisher: name: Ð¡Ð°Ð½ÐºÑ-ÐÐµÑÐµÑÐ±ÑÑÐ³ÑÐºÐ¸Ð¹ Ð¿Ð¾Ð»Ð¸ÑÐµÑÐ½Ð¸ÑÐµÑÐºÐ¸Ð¹ ÑÐ½Ð¸Ð²ÐµÑÑÐ¸ÑÐµÑ ÐÐµÑÑÐ° ÐÐµÐ»Ð¸ÐºÐ¾Ð³Ð¾
Year: 2020
Subjects: ÑÐ»ÐµÐºÑÑÐ¾Ð¼ÐµÑ Ð°Ð½Ð¸ÑÐµÑÐºÐ°Ñ ÑÐ¸ÑÑÐµÐ¼Ð°
Ð¿ÐµÑÐµÐ¾Ð±Ð¾ÑÑÐ´Ð¾Ð²Ð°Ð½Ð¸Ðµ
ÑÐ¸ÑÑÐ¾Ð²Ð¾Ð¹ ÑÐµÐ³ÑÐ»ÑÑÐ¾Ñ
Ð¿ÐµÑÐ¸Ð¾Ð´ ÐºÐ²Ð°Ð½ÑÐ¾Ð²Ð°Ð½Ð¸Ñ
Ð¿ÐµÑÐµÑ Ð¾Ð´Ð½Ð°Ñ Ñ Ð°ÑÐ°ÐºÑÐµÑÐ¸ÑÑÐ¸ÐºÐ°
Ð¿ÐµÑÐµÑÐµÐ³ÑÐ»Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ðµ
electromecanical system
re-equipmeny
discrete controller
quantization period
transient response
overshoot

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Ð¢Ð°ÐºÐ¶Ðµ Ð¿ÑÐ¾Ð²ÐµÐ´ÐµÐ½Ð° Ð¸Ð½ÑÐµÐ³ÑÐ°Ð»ÑÐ½Ð°Ñ Ð¾ÑÐµÐ½ÐºÐ° Ð¾ÑÐºÐ»Ð¾Ð½ÐµÐ½Ð¸Ñ Ð¾Ð´Ð½Ð¾Ð¹ Ð¿ÐµÑÐµÑÐ¾Ð´Ð½Ð¾Ð¹ ÑÐ°ÑÐ°ÐºÑÐµÑÐ¸ÑÑÐ¸ÐºÐ¸ Ð¾Ñ Ð´ÑÑÐ³Ð¾Ð¹: ÑÐ¸ÑÑÐµÐ¼Ñ Ñ Ð´Ð¸ÑÐºÑÐµÑÐ½ÑÐ¼ ÐÐ/ÐÐÐ-ÑÐµÐ³ÑÐ»ÑÑÐ¾ÑÐ¾Ð¼ Ð¾ÑÐ½Ð¾ÑÐ¸ÑÐµÐ»ÑÐ½Ð¾ Ð°Ð½Ð°Ð»Ð¾Ð³Ð¾Ð²Ð¾Ð¹, Ð° ÑÐ°ÐºÐ¶Ðµ ÑÐ°ÑÑÑÑÐ½Ð¾Ð¹ (Â«ÑÑÐ°Ð»Ð¾Ð½Ð½Ð¾Ð¹Â») ÑÐ¸ÑÑÐµÐ¼Ñ Ð¾ÑÐ½Ð¾ÑÐ¸ÑÐµÐ»ÑÐ½Ñ ÑÐ¸ÑÑÐµÐ¼Ñ Ñ Ð¸Ð·Ð¼ÐµÐ½ÐµÐ½Ð½ÑÐ¼Ð¸ Ð¿Ð°ÑÐ°Ð¼ÐµÑÑÑ J Ð¸ Ta. ÐÑÐ¸ Ð¼Ð°Ð»Ð¾Ð¼ Ð¸Ð½ÑÐµÑÐ²Ð°Ð»Ðµ ÐºÐ²Ð°Ð½ÑÐ¾Ð²Ð°Ð½Ð¸Ñ Ð¸Ð½ÑÐµÐ³ÑÐ°Ð»ÑÐ½ÑÐµ ÐºÐ²Ð°Ð´ÑÐ°ÑÐ¸ÑÐ½ÑÐµ Ð¾ÑÐ¸Ð±ÐºÐ¸ ÑÐ¾Ð²Ð¿Ð°Ð´Ð°Ñ Ð¿ÑÐ°ÐºÑÐ¸ÑÐµÑÐºÐ¸ ÑÐ¾Ð²Ð¿Ð°Ð´Ð°ÑÑ. 
Ð¢Ð°ÐºÐ¶Ðµ Ð¿ÑÐ¾Ð²ÐµÐ´ÐµÐ½Ñ Ð¸ÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ðµ Ð²Ð»Ð¸ÑÐ½Ð¸Ñ Ð¾Ð³ÑÐ°Ð½Ð¸ÑÐµÐ½Ð½Ð¾ÑÑÐ¸ ÑÐ°Ð·ÑÑÐ´Ð½Ð¾Ð¹ ÑÐµÑÐºÐ¸ ÑÐµÐ³ÑÐ»ÑÑÐ¾ÑÐ°. Ð¡ ÑÐ²ÐµÐ»Ð¸ÑÐµÐ½Ð¸ÐµÐ¼ ÑÐ°Ð·ÑÑÐ´Ð½Ð¾Ð¹ ÑÐµÑÐºÐ¸ Ð½Ð°Ð±Ð»ÑÐ´Ð°ÐµÑÑÑ ÑÐ¼ÐµÐ½ÑÑÐµÐ½Ð¸Ðµ Ð¾ÑÐ¸Ð±ÐºÐ¸ ÐºÐ²Ð°Ð½ÑÐ¾Ð²Ð°Ð½Ð¸Ñ, ÑÑÐ¾ Ð¾Ð±ÑÑÐ»Ð¾Ð²Ð»ÐµÐ½Ð¾ Ð²ÑÑÐ¾ÐºÐ¾Ð¹ ÑÐ¾ÑÐ½Ð¾ÑÑÑÑ Ð¿Ð°ÑÐ°Ð¼ÐµÑÑÐ¾Ð² ÑÐµÐ³ÑÐ»ÑÑÐ¾ÑÐ°.
description: The technique of synthesis of a discrete regulator of an electromechanical system by the methods of re-equipment is considered: Euler, inverse differences, Tustin. To obtain a stable discrete system, a modification of the Euler and Tustin methods has been performed. A comparative analysis of the synthesized systems is carried out taking into account the delay in the computing device. Modeling has shown that at small sampling periods the digital system behaves similarly continuous. With an increase in this parameter, the overshoot and delay of the reaction of the discrete system with respect to the continuous increase almost linearly. One of the three conversion methods, the best performance is obtained when the controller is discretized using the inverse difference method.
An integral assessment of the deviation of one transient response from another was also carried out: systems with a discrete PI / PID controller relative to the analog, as well as a calculated ("reference") system, are relative systems with modified parameters J and Ta. For a small quantization interval, the integral quadratic errors coincide almost coincide.
A study of the influence of the limitedness of the bit grid of the controller was also conducted. With an increase in the discharge grid, a decrease in the quantization error is observed approximately, which is due to the high accuracy of the controller parameters.