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Optimiranje regulacijskog kruga• Prijenosna funkcija zatvorenog regulacijskog kruga:Gcl( s)ω () s B() s 2ζΩ s+1= = =ω () s A() s a s + a s + a s + a s + a s+1−12 2 025 4 3 2R5 4 3 2 1(4-2)• Izrazi za koeficijente a 2 i a 3 karakterističnog polinoma A(s) dani su u tablici:RegulatorPIPImPI∆ωRegulatorstanjaCopyright: Nedjeljko PerićKoeficijenti a 2 i a 3 karakterističnog polinoma A(s)11 2a2 = K − 1TT I M+ 22T− I 02+−ω Σζ Ω Ω02112a3 = K − 1TT I MT + 2− 0+ T−ω Σ( ΣζΩ )IΩ02111a2 = Kω1TT I MΣ + Kω1KmTT I M2 + 2ζ2TIΩ02+ Ω− − − − 202− − − − − 20211 11a3 = Kω1TT I MΣ( TΣ + 2ζΩ0) + Kω1KmTT I M22ζ2Ω02+ TIΩ11 2a2 = K − 1TT I M+ 22T− I 02+−ω Σζ Ω Ω0211 12a = K TT ( T + 2ζΩ ) + K K TΩ + TΩ− − − − − 23 ω1I MΣ Σ 0 ω1∆ωI 02 I 02111 1 22= (1+ 2 I M+ 22 I 02+1+ω ω )Σζ Ω ( ω ω2)∆αI BΩ02− − − − 21 02a K K TT T K K K TT111a3 = ( Kω1+ Kω2) TTI MΣ( TΣ + 2ζΩ0) + ( Kω1+Kω2)KωTIΩTab. 4.1.7