制御工学II Lecture 1 - shiwasu.ee.ous.ac.jp

1 IILecture 1 control countre contre contra: rotulus, rotula (rota ) control II 3 2 MATLAB E-mail

2 U[A] y[m/s] A m/s w[m/s] r[m/s] w yu+-wuy 2 FF w yu+-KrrywwrwwKryuyKKruwuy 02122 )2(212 FB w yu+-Kr-+wryKryrKKywwKrKKywKrKyyrKuwyrKyw uyK201120120010021202112122)21()()(22 = m/s w=3m/sw yu+-Kr yu+-Kr-+w (60% m/s23521 wryK 1% wryK = m/s w=0 + +-Kr-+w (25% rryK 1% )( ryryyrKuyK))