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FA_study_presen
1.
エンジニアのための 制御⼯学クイック学習 15. Dec. 2019FA設備技術勉強会
in Kyoto 南 裕樹
2.
Mechanical Dynamics Lab. 2 本の紹介 l
「Python × 制御⼯学」の⽇本初の本 l 古典制御,現代制御,ロバスト制御の 基礎がギュッとつまっている l 数学的な説明は少なめ l 対話形式の説明やイラストを配置 l サポートページには,サンプルコード や補⾜情報が公開されている Kindle版もあります 好評発売中︕ 2,600 円+税 発売3ヶ⽉で3刷
3.
Mechanical Dynamics Lab. 3 制御⼯学って 制御⼯学
= 応⽤数学︖ = 動きをデザインする科学 使ってなんぼ,モノを動かしてなんぼ ただし,⼒づくでなく,効率よく ↑試⾏錯誤で チューニング ラプラス変換微分⽅程式 線形代数 微分積分 複素解析 ↑特徴を理解して 系統的に︕
4.
Mechanical Dynamics Lab. 4 今⽇のお話 姉:希波(きなみ)
23歳 妹:望結(みゆう) 18歳 姉妹のよくある⽇常会話
5.
Mechanical Dynamics Lab. 5 今⽇のお話 ねぇねぇ,このアームをいい感じに 動かしたいんだけど・・・ えっ,いい感じって何︖ 具体的な仕様は︖ たとえば,ステップ応答の整定時間とか オーバーシュートとか,位相余裕とか せいていじかん︖よゆう︖ とにかく,いい感じよっ︕ はいはい.でも,制御やりたんだったら, 制御屋さんの⾔葉を知らないとダメだと思うよ ★良い振る舞いは何か︖実現したい仕様は何か︖
6.
Mechanical Dynamics Lab. 6 今⽇のお話 制御仕様はなんとなくわかったわ ホンマに急いでるから,制御器お願い︕ じゃ,お菓⼦とモデル頂戴 えっ,ガン●ムプラモデル︖ そうじゃなくて,制御器作るんだから アームの数学モデルが欲しいの 冗談冗談.はい,これが運動⽅程式 このままじゃ使えないよ〜せめて, 伝達関数とか状態⽅程式にしといてよ ★設計⽤モデルが必要.状況に合わせて使い分ける
7.
Mechanical Dynamics Lab. 7 今⽇のお話 状態⽅程式,周波数伝達関数, 伝達関数,全部つくったわ がんばったね.それで,どんな制御器︖ まだ,なんかいるの︖喧嘩売ってる︖ だって,制御器の形をきめないと. たとえば,状態FBとかPID制御とか うーん,じゃぁ,ピーアイデーでよろ おーけー.制御仕様決めたね.モデルもあるね. PIDの設計パラメタは3つだよ.あとはできるね
笑 ★制御構造を決める.設計条件を導いてパラメタ決定
8.
Mechanical Dynamics Lab. 8 今⽇の⽬標 設計のためにどんなモデルを作るのか︖ 実現したい仕様は何か︖ 仕様を満たす制御系をどう設計するのか︖ 制御系設計(モデルベース)の流れを復習する 状態⽅程式,周波数伝達関数,伝達関数 安定性,速応性,減衰性,定常特性 PID制御系の設計(極配置) 1 2 3
9.
Mechanical Dynamics Lab. 9 今⽇の⽬標 設計のためにどんなモデルを作るのか︖ 実現したい仕様は何か︖ 仕様を満たす制御系をどう設計するのか︖ 状態⽅程式,周波数伝達関数,伝達関数 安定性,速応性,減衰性,定常特性 1 2 3 制御系設計(モデルベース)の流れを復習する PID制御系の設計(極配置)
10.
Mechanical Dynamics Lab. 10 制御のためのモデル 運動⽅程式垂直アーム <latexit
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11.
Mechanical Dynamics Lab. 11 制御のためのモデル 微分⽅程式 <latexit
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12.
Mechanical Dynamics Lab. 12 制御のためのモデル ⾼階の常微分⽅程式 <latexit
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13.
Mechanical Dynamics Lab. 13 制御のためのモデル 状態空間モデル 状態⽅程式 <latexit
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14.
Mechanical Dynamics Lab. 14 制御のためのモデル 周波数応答 <latexit
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15.
Mechanical Dynamics Lab. 15 制御のためのモデル 重み関数 <latexit
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16.
Mechanical Dynamics Lab. 16 制御のためのモデル 不安定安定 実部の⼤きさが⼤きいほど応答が速い 虚部が⼤きいほど振動的 実軸 安定限界 虚軸伝達関数の極と応答の関係
17.
Mechanical Dynamics Lab. 17 今⽇の⽬標 設計のためにどんなモデルを作るのか︖ 実現したい仕様は何か︖ 仕様を満たす制御系をどう設計するのか︖ 状態⽅程式,周波数伝達関数,伝達関数 安定性,速応性,減衰性,定常特性 1 2 3 制御系設計(モデルベース)の流れを復習する PID制御系の設計(極配置)
18.
Mechanical Dynamics Lab. 18 制御仕様 外乱 <latexit
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19.
Mechanical Dynamics Lab. 19 閉ループ系の安定性 ⽬標信号
出⼒ 偏差 制御⼊⼒ 制御器 制御対象 外乱 全ての伝達関数が⼊出⼒安定(すべての極の実部が負) <latexit sha1_base64="JJ/1xA7hF6XQcfczi+96XoCjW1A=">AAADYnichVFLaxRBEK7Z8RHHRzbmIuhhcEmICEtNEBJEIeBBj9nETYI7yzLT27tp0vOgp2dhHOYP+Ac8eFLwIP6MIPgHPOTuRTxG8OLBmtkRH5uYGqb7q6/qq66i/FiKRCMeGQ3z3PkLF+cuWZevXL0231y4vpNEqWK8yyIZqT3fS7gUIe9qoSXfixX3Al/yXf/gURnfnXCViCh8qrOY9wNvHIqRYJ4matD84MaBn1uu5CPdc30+FmHuKeVlRc4KK7Vd185sl4fDmnWVGO/rvv3wZAlpHg/yVBUryR172S7xsMJlIfKyPyLZNDJb/JRmVFljeEK+VQyaLWxjZfYscGrQgto2o+YhuDCECBikEACHEDRhCR4k9PXAAYSYuD7kxClCoopzKMAibUpZnDI8Yg/oHJPXq9mQ/LJmUqkZvSLpV6S0YQk/4Ts8xo/4Hr/gj1Nr5VWNspeMbn+q5fFg/sWN7e9nqgK6Nez/Vv2n51+5CbGq6phTJiNWnjGrhhGsVwpBM8cVU07Ppu9Onr883r6/tZQv4xv8SnO/xiM8pMnDyTf2tsO3XoFFi3P+XdMs2FltO9h2OvdaGw/qFc7BTbgNK7SnNdiAJ7AJXWDGXaNjPDN6jc+mZS6Yi9PUhlFrFuEvM2/9BAhg3XQ=</latexit> 特性多項式が安定多項式 <latexit sha1_base64="2JNLKgEbpuxb6CoEjd1HTT6mIp8=">AAACwXichVHNShxBEP4cjZpJdFdzCXhZshrMZakJAUUUhPWQU1jXrAquLDOdXm12/uiZXdBhX8AXyCGnCB4kl1zN1UtewIOPEHI0kEsO1syOSCLRarqr6uv66odyQldFMdHlkDE88mh0bPyx+eTpxGShODW9GQVdLWRDBG6gtx07kq7yZSNWsSu3Qy1tz3HlltOppv9bPakjFfjv44NQ7nr2nq/aStgxQ63ibDP0nMSszUevSiulZlvbInnXSt1+sjbQZr9VLFOFMindNazcKCOXWlA8RxMfEECgCw8SPmK2XdiI+OzAAiFkbBcJY5otlf1L9GEyt8tRkiNsRjv87rG3k6M++2nOKGMLruLy1cwsYY4u6JSu6Dt9oR/057+5kixH2ssBa2fAlWGrcPR84/eDLI91jP1b1j0938RGjOqsY8mRglH3gVljtLGYMRTPHGZIOr0Y1O0dfrzaWKrPJS/pmH7y3J/pks55cr/3S5ysy/onmLw469813TU2X1csqljrb8qry/kKxzGDF5jnPS1gFW9RQ4PrHuErzvDNqBrKCA09CDWGcs4z/CVGcg0hv6IB</latexit> 内部安定 <latexit sha1_base64="z8FLduA0nhx8UjUUmLisW2JoRu8=">AAACp3ichVG7SgNRED2ur7i+ojaCjRgUbcKsCIpYBNLYmah5gAmyu151yb7Y3QQ05Af8AC0sfICF+Bk2/oCFnyCWEWwsnGxWRIM6l3vv3HPnzMxhNNc0/IDoqUvq7unt648NyINDwyOj8bHxvO9UPV3kdMd0vKKm+sI0bJELjMAURdcTqqWZoqBV0q3/Qk14vuHY28GRK8qWemAb+4auBgyVSq6l1eX0vL8gN3bjCUpSaNOdjhI5CUSWceL3KGEPDnRUYUHARsC+CRU+rx0oILiMlVFnzGPPCP8FGpCZW+UowREqoxU+D/i1E6E2v1s5/ZCtcxWTt8fMaczSI91Skx7ojp7p/ddc9TBHq5cjvrU2V7i7oyeTW2//siy+Axx+sf7o+TPWZ9QLOxYcqTNq/qM1wD5WQobBmt0QaanX23Vrx2fNrdXN2focXdML676iJ7pn5XbtVb/Jis1zyDw45eeYOp38YlKhpJJdSqTWohHGMIUZzPOclpHCOjLIcV0Xp7jApbQgbUh5qdgOlboizgS+maR+AMKAmPY=</latexit> <latexit sha1_base64="u6QRjDL8Vu9QPuUFOFjTlWv93Xg=">AAACyHichVFLSxxBEP4c8zCTmF31EshlcTEowlITApGQgLB7kBxk1awKrgwzk9ZtnEczM7thXbzkmFtOOXhS8CD+AK8JXvIHPPgTxKOBXDxY2ztBVIzVdFfV1/XVg3KVL5OU6KTP6H/w8NHjgSfm02eDz3P5oeHFJGrGnqh5kR/Fy66TCF+GopbK1BfLKhZO4Ppiyd0od/+XWiJOZBR+SttKrAbOeijXpOekDNn5yboK3I5ZVw05nkx8qNhVVhW7zG9hsjCr3Vntmlt2vkgl0lK4bViZUUQm1Sh/hDo+I4KHJgIIhEjZ9uEg4bMCCwTF2Co6jMVsSf0vsAWTuU2OEhzhMLrB7zp7Kxkast/NmWi2x1V8vjEzCxijY9qnc/pNB3RKF3fm6ugc3V7arN0eVyg79+3Fwt97WQHrFI0r1n96/hebMBrrjgVHeoz698yaYg1TmiF5ZqWR7vRer25r88f5wrv5sc4r2qUznnuHTuiIJw9bf7y9OTG/DZMXZ91c021j8XXJopI196Y4/T5b4QBeYhTjvKe3mMYMqqhx3e84xE/8Mj4ayvhitHuhRl/GGcE1Mb5eAon0ozU=</latexit> <latexit sha1_base64="BJBypr3xJYzdKaJIT5+5BnezQxI=">AAACwXichVHNShxBEP6caKKjiZvkInhZshrMZakRISEkIKwHT2F3dVVwZZnp9Grj/NEzu2CGfQFfIAdPCh7ES67m6iUv4GEfIeRowIsHa2YnBJXEarqr6uv66odyQldFMVF/yHg0PPL4yeiYOT7x9Nlk4fmLtSjoaCEbInADveHYkXSVLxuxil25EWppe44r153dSvq/3pU6UoG/Gu+Fcsuzt33VVsKOGWoVZpqh5yRmZS56U/xYbLa1LZJPrdTtJUsDbfZahRKVKZPifcPKjRJyqQaFczTxGQEEOvAg4SNm24WNiM8mLBBCxraQMKbZUtm/RA8mczscJTnCZnSX3232NnPUZz/NGWVswVVcvpqZRczSBZ3QJf2gU/pJ1//MlWQ50l72WDsDrgxbk/tTK1cPsjzWMXb+sv7T85/YiFGddSw5UjDqPjBrjDbeZQzFM4cZkk4vBnW7X75erryvzyav6Yh+8dyH1Kdzntzv/hbHNVk/gMmLs+6u6b6xNl+2qGzVFkqLH/IVjmIarzDHe3qLRSyjigbX3cc3nOG7UTGUERp6EGoM5ZyXuCVGcgPIq6Ha</latexit> 安定性 <latexit sha1_base64="PUGcfcifnbWLvz1KMonPr7t7BPw=">AAACpXichVG7SgNRED2u7/WRqI1gEww+qjArgiIWgo2NEB+JYiJhd3MTl+yL3U1AQ37AWrAQBQUL8TNs/AELP0EsFWwsnGxWREUzl3vv3HPnzMxhNNc0/IDosUPq7Oru6e3rlwcGh4Zj8ZHRrO9UPV1kdMd0vF1N9YVp2CITGIEpdl1PqJZmih2tstr836kJzzccezs4dMW+pZZto2ToasDQXt61tLqcKMqNQjxJKQot8dtRIieJyNJO/A55FOFARxUWBGwE7JtQ4fPKQQHBZWwfdcY89ozwX6ABmblVjhIcoTJa4bPMr1yE2vxu5vRDts5VTN4eMxOYoge6oRe6p1t6ovc/c9XDHM1eDvnWWlzhFmLH41tvbVkW3wEOvlj/9PwZ6zPqhR0LjtQZNdtoDVDCYsgwWLMbIk31eqtu7ej0ZWtpc6o+TVf0zLov6ZHuWLlde9WvN8TmGWQenPJzTL+d7FxKoZSyMZ9cWY5G2IcJTGKW57SAFawhjQzXtXGCc1xIM9K6tC1lW6FSR8QZwzeTCh9NwZhf</latexit>
20.
Mechanical Dynamics Lab. 20 閉ループ系の時間応答 A)時間応答 整定時間 ⽴ち上がり時間 ⾏き過ぎ量 定常偏差 過渡特性
定常特性 のステップ応答 1⽬標値 ⾏き過ぎ時間 +5 ~ -5 [%] <latexit sha1_base64="kilEV6nrcZuedBFLsPB/bk5uJTs=">AAACrXichVHNLgRBEP6M//E3uEhcxIY4rRqREHGQuDj6WySWzczoXR3zl5neTdbGC3gBBy4kJOIxXLyAg0cQRxIXB7WzI4KgOt1d/XV9VfWl7NCVsSJ6aNKaW1rb2js69a7unt4+o39gIw7KkSNyTuAG0ZZtxcKVvsgpqVyxFUbC8mxXbNoHi/X/zYqIYhn466oaih3PKvmyKB1LMVQwjHzo2TW9WshLv6iq+lHByFCWEhv56Zipk0Fqy4Fxizz2EMBBGR4EfCj2XViIeW3DBCFkbAc1xiL2ZPIvcASduWWOEhxhMXrAZ4lf2ynq87ueM07YDldxeUfMHMEY3dM1PdMd3dAjvf2aq5bkqPdS5dtucEVY6DseWnv9l+XxrbD/yfqj54/YmNEo6VhwpMOo+49WhSJmE4ZkzWGC1NU7jbqVw5PntbnVsdo4XdAT6z6nB7pl5X7lxblcEaun0Hlw5vcx/XQ2prImZc2V6czCfDrCDgxjFBM8pxksYAnLyHHdCs5wiSttUstpeW23Eao1pZxBfDGt9A4vepum</latexit> <latexit sha1_base64="O+EkDweu/NRYXExGB1WVqsCheHo=">AAACsXichVHNSiNBEP4cdY2jrln1IOwlGBRPoUYFXfEgeNmjicYfjMSZsaNN5o+ZTiAJvoAv4MGLK3jQfQwv+wJ78BHEo4KXPWxlMiIqajXdXf11fVX1UVbgyEgR3XRp3T29X/pS/frA4NDX4fS3kY3Ir4W2KNq+44dblhkJR3qiqKRyxFYQCtO1HLFpVVfa/5t1EUbS99ZVIxC7rnngyYq0TcVQOT1WClyrpVPuR6ZRLkmvohr6UTmdpRzFlnnrGImTRWKrfvoaJezDh40aXAh4UOw7MBHx2oEBQsDYLlqMhezJ+F/gCDpzaxwlOMJktMrnAb92EtTjdztnFLNtruLwDpmZwST9pUu6pz/0m27p37u5WnGOdi8Nvq0OVwTl4ePxtcdPWS7fCofPrA96foqNGA3jjgVH2ow6n2hVqGAhZkjWHMRIW73dqVtvntyvLRYmW1N0Tnes+xfd0DUr9+oP9kVeFE6h8+CM12N662zM5AzKGfm57PJSMsIUvmMC0zyneSzjJ1ZR5LpNnOESV9qstq3taVYnVOtKOKN4YVr1P23LnIU=</latexit> <latexit sha1_base64="jTBW1jtmGV2XQOZu+DI4FmzQU28=">AAACsXichVHNThNRFP46CpZRoIoLEzeNDYRVcwZNNIRFEzYuS0tbCCV1ZrgtN52/zNw2KU1fwBdw4UZNWFQfoxtfgEUfwbiEhI0LT6dDCDbYc3PvPfe75zs/+azAkZEiGqe0Bw8XFh+ll/THT5ZXVjNPn1UjvxPaomL7jh8eWGYkHOmJipLKEQdBKEzXckTNau9O/mtdEUbS9/ZVLxDHrtnyZFPapmKokXleD1yrr1PeyPYadek1VU8fNDI5ylNs2VnHSJwcEiv6mRHqOIEPGx24EPCg2HdgIuJ1BAOEgLFj9BkL2ZPxv8AAOnM7HCU4wmS0zWeLX0cJ6vF7kjOK2TZXcXiHzMxinS5oSJf0k37QL/pzb65+nGPSS49va8oVQWP144vy9VyWy7fC6S3rPz3fxEaMhnHHgiNtRp05syo08S5mSJ45iJHJ9Pa0bvfs02V5u7Te36Bv9Jvn/kpjGvHkXvfKPt8Tpc/QWTjjX5lmnepW3mDB997kCjuJhGm8xCtssk5vUcB7FFHhumf4giG+a6+1Q+2DZk1DtVTCWcMd09p/AVuznH0=</latexit> <latexit sha1_base64="s6ANizGplg1Db3kL/OhtuJexMHI=">AAACy3ichVG7SiRRED32uq72+phdE8FEHBQTh2oRXJZdUExMBF+jgiNDd3tHL/aL7jvDjr0TmhgLBkYKBuIfmI6BP2DgJ4ihwiYG1vT0IipqNX1v1bl1qupQVuDISBFdt2ifWj+3fWnv0L92dnX3ZL59X478cmiLvO07frhqmZFwpCfySipHrAahMF3LESvW9nTjfaUiwkj63pKqBmLdNTc9WZK2qRgqZnKFwLVifapYcE21Fbqxa/6p/a4+C0c5lF5JVfVaMZOlHCU28NoxUieL1Ob8TB0FbMCHjTJcCHhQ7DswEfG3BgOEgLF1xIyF7MnkXaAGnbllzhKcYTK6zecmR2sp6nHcqBklbJu7OPyHzBzAEF3RKd3RJZ3RDT28WStOajRmqfJtNbkiKPbs9S3++5Dl8q2w9cR6Z+b/uRGjYTKx4EybUecDrQol/EgYkjUHCdJQbzf7VnYO7hZ/LgzFw3RMt6z7iK6pzsq9yr19Mi8WDqHz4oyXa3rtLI/lDMoZ8+PZyV/pCtvRj0GM8J4mMIkZzCHPffdxjjoutFkt0na0v81UrSXl9OKZabuPBI+o+g==</latexit> <latexit sha1_base64="/oo7JkZeSy5k0w3EiH49V3KI+bg=">AAACpHichVG7SgNRED2u7/WRqI1gIwaDVZgVQRELwcbCQo3xgcawu97okn2xexPQ4A/YWliohYKF+Bk2/oCFnyCWCjYWTjYrokEzl3vv3HPnzMxhDN+2Qkn01KK0trV3dHZ1qz29ff2J5MDgeuiVA1PkTM/2gk1DD4VtuSInLWmLTT8QumPYYsMoLdT+NyoiCC3PXZOHvsg7+r5rFS1Tlwxt7fiOUVWlelxIpihDkY02OlrspBDbspe8xw724MFEGQ4EXEj2begIeW1DA8FnLI8qYwF7VvQvcAyVuWWOEhyhM1ric59f2zHq8ruWM4zYJlexeQfMHMU4PdItvdID3dEzffyZqxrlqPVyyLdR5wq/kDgZzr43ZTl8Sxx8s/7p+Ss2ZDSIOhYcaTJqN9EqUcRMxLBYsx8hNfVmvW7l6Ow1O7s6Xk3TNb2w7it6ontW7lbezJsVsXoOlQen/R5To7M+mdEoo61Mpebn4hF2YQRjmOA5TWMei1hGjus6OMUFLpW0sqRklVw9VGmJOUP4YcruJwI5mEU=</latexit> <latexit sha1_base64="MmNN+w2wqAEwkb7PjT1y/26puJs=">AAACpHichVG7SgNRED2ur7i+ojaCjRgMVmFWBEUsBBsLizyMDzTK7nqjS/bF7iYQQ37A1sJCLRQsxM9I4w9Y+AliqWBj4WSzIiqaudx75547Z2YOo7mm4QdEjx1SZ1d3T2+sT+4fGBwajo+MbvhO2dNFXndMx9vSVF+Yhi3ygRGYYsv1hGppptjUSivN/82K8HzDsdeDqisKlnpoG0VDVwOGtnddS6vJVbm+H09QikKb/O0okZNAZGkn3sAuDuBARxkWBGwE7JtQ4fPagQKCy1gBNcY89ozwX6AOmblljhIcoTJa4vOQXzsRavO7mdMP2TpXMXl7zJzEND3QLb3QPd3RE73/masW5mj2UuVba3GFuz98Mp57a8uy+A5w9MX6p+fPWJ9RL+xYcKTOqNlGa4AiFkKGwZrdEGmq11t1K8dnL7nF7HQtSdf0zLqv6JEarNyuvOo3GZE9h8yDU36O6bezMZtSKKVk5hLLS9EIY5jAFGZ4TvNYxirSyHNdC6e4wKWUlNaknJRvhUodEWcM30za+wANW5hK</latexit> ステップ応答の場合
21.
Mechanical Dynamics Lab. 21 閉ループ系の周波数応答 B)周波数応答
のゲイン線図 <latexit sha1_base64="8sepCKZB/FsB8GjzJ/lRMBs/Pro=">AAACsnichVHNLgRBEP6M//W3iETiIjaEy6ZGJEQcJA4c/S3CymamtTX0/GRmdpM12RfwAg5OJA54DBcv4OARxJHExUHt7IggqE53V39dX1V9KdNTVhASPTRojU3NLa1t7amOzq7unnRv30bglnwhc8JVrr9lGoFUliNzoRUqueX50rBNJTfNo4Xa/2ZZ+oHlOuthxZO7tlF0rH1LGCFDhfRA3rPNaLEQVfzq+GHetWXRmKgW0hnKUmzDPx09cTJIbNlN3yKPPbgQKMGGhIOQfQUDAa8d6CB4jO0iYsxnz4r/JapIMbfEUZIjDEaP+CzyaydBHX7XcgYxW3AVxdtn5jBG6Z6u6Jnu6IYe6e3XXFGco9ZLhW+zzpVeoedkcO31X5bNd4iDT9YfPX/EBoz6cceSIwWj6h+tIfYxEzMs1uzFSE29qNctH58+r82ujkZjdEFPrPucHuiWlTvlF3G5IlfPkOLB6d/H9NPZmMzqlNVXpjLzc8kI2zCEEYzznKYxjyUsI8d1I5zjGjfalLatGZqoh2oNCacfX0xT7/2Eng8=</latexit> ピークゲイン バンド幅 ≒ -3[dB] <latexit sha1_base64="uty4//YjtVSbBtLWFsRb/WKRBMk=">AAACqXichVHLSsNAFD3GV42vqhvBjVgUQSg3IijiouDGpVWrRaslGccamhdJWtDiD/gDCq4UXIif4cYfcOEniEsFNy68SSOiRb0hM2fOnHPnXq7hWWYQEj22Ke0dnV3dqR61t69/YDA9NLwZuDVfyIJwLdcvGnogLdORhdAMLVn0fKnbhiW3jOpydL9Vl35gus5GeOTJXVuvOOaBKfSQqb2SZxsNteTasqKrJ+V0hrIUx3gr0BKQQRKrbvoOJezDhUANNiQchIwt6Aj424EGgsfcLhrM+YzM+F7iBCp7a6ySrNCZrfJa4dNOwjp8jnIGsVvwKxb/PjvHMUkPdEMvdE+39ETvv+ZqxDmiWo54N5pe6ZUHT0fX3/512byHOPxy/VHzpzZg1o8rlqwUzFr/9BriAAuxw+SevZiJuhfNd+vHZy/ri2uTjSm6omfu+5Ie6Y47d+qv4jov1y6g8uC0n2NqBZuzWY2yWn4uk1tKRpjCGCYwzXOaRw4rWEUhrv8cl7hSZpS8UlS2m1KlLfGM4Fso4gMiGppo</latexit> <latexit sha1_base64="Q6Sjwcfj3WYI+oDwPg0FvTcYb/I=">AAACsXichVG7SgNRED2u7/UVH4VgEwyKVZhVQRELwcbSV6JiJO6u17hkX+xuIsmSH/AHLGxUsFA/w8YfsMgniKWCjYWTzYqoqHO59849d87MHEZzTcMPiOotUmtbe0dnV7fc09vXP5AYHMr6TsnTRUZ3TMfb1lRfmIYtMoERmGLb9YRqaabY0orLjf+tsvB8w7E3g4or9iy1YBuHhq4GDOUTIznX0kI5mXMsUVDzoXZck2v5RIrSFFnyp6PETgqxrTqJO+RwAAc6SrAgYCNg34QKn9cuFBBcxvYQMuaxZ0T/AjXIzC1xlOAIldEinwV+7caoze9GTj9i61zF5O0xM4kJeqBreqZ7uqVHevs1VxjlaPRS4VtrcoWbHzgZ3Xj9l2XxHeDok/VHzx+xPqNe1LHgSJ1R8x+tAQ4xHzEM1uxGSEO93qxbrp4+byysT4STdElPrPuC6nTHyu3yi361JtbPIPPglO9j+ulkp9MKpZW12dTSYjzCLoxhHFM8pzksYQWryHDdKs5xjRtpRtqR9iWtGSq1xJxhfDGp+A7XO50l</latexit> 低周波ゲイン 1 <latexit sha1_base64="Dnfyo+oWYb29PNyciU32RRIc78U=">AAACtnichVHLLgRRED3auz1msCE2YkLYTKpFQsRCYsFyPAaJYdLdrtH0K909k4yeib0fsLAisRAJH2HjByx8gliS2Fio6WkRBHVz7617bp2qOinNNQ0/IHpokBqbmlta29rljs6u7kSyp3fNd4qeLrK6Yzrehqb6wjRskQ2MwBQbridUSzPFunYwX/tfLwnPNxx7NSi7YstSC7axa+hqwFA+OZBzLS2UKwv5sOxVx/ZzjiUK6nhFruaTKUpTZEM/HSV2Uogt4yRvkcMOHOgowoKAjYB9Eyp8XptQQHAZ20LImMeeEf0LVCEzt8hRgiNURg/4LPBrM0Ztftdy+hFb5yomb4+ZQxihe7qkZ7qjK3qkt19zhVGOWi9lvrU6V7j5xHH/yuu/LIvvAHufrD96/oj1GfWijgVH6oya/2gNsIvpiGGwZjdCaur1et3S4cnzyszySDhK5/TEus/ogW5ZuV160S+WxPIpZB6c8n1MP521ibRCaWVpMjU3G4+wDYMYxhjPaQpzWEQGWa57hAtc40aalrYlIRXqoVJDzOnDF5PcdwYKn0M=</latexit> 振幅表⽰ <latexit sha1_base64="Dnfyo+oWYb29PNyciU32RRIc78U=">AAACtnichVHLLgRRED3auz1msCE2YkLYTKpFQsRCYsFyPAaJYdLdrtH0K909k4yeib0fsLAisRAJH2HjByx8gliS2Fio6WkRBHVz7617bp2qOinNNQ0/IHpokBqbmlta29rljs6u7kSyp3fNd4qeLrK6Yzrehqb6wjRskQ2MwBQbridUSzPFunYwX/tfLwnPNxx7NSi7YstSC7axa+hqwFA+OZBzLS2UKwv5sOxVx/ZzjiUK6nhFruaTKUpTZEM/HSV2Uogt4yRvkcMOHOgowoKAjYB9Eyp8XptQQHAZ20LImMeeEf0LVCEzt8hRgiNURg/4LPBrM0Ztftdy+hFb5yomb4+ZQxihe7qkZ7qjK3qkt19zhVGOWi9lvrU6V7j5xHH/yuu/LIvvAHufrD96/oj1GfWijgVH6oya/2gNsIvpiGGwZjdCaur1et3S4cnzyszySDhK5/TEus/ogW5ZuV160S+WxPIpZB6c8n1MP521ibRCaWVpMjU3G4+wDYMYxhjPaQpzWEQGWa57hAtc40aalrYlIRXqoVJDzOnDF5PcdwYKn0M=</latexit> dB表⽰ <latexit sha1_base64="lAG2TE3JqvMD9egm7LzbfiX1xIc=">AAACwXichVE9TxtBEH0cAZwLAQNNpDQIB0Qaa86KBIooLFEkJZgYkDA63V0Ws2HvQ3tnS87Zf8B/gIIqkShQmrShpeEPpOAnRJRESpMi4/NFUYIIs9rd2bfzZuZp3EjJOCG6GjFGH4yNTxQemo8mH09NF2dmt+OwpT1R90IV6l3XiYWSgagnMlFiN9LC8V0ldtyj9cH/TlvoWIbBm6QTiX3faQbyQHpOwpBdfNaIfDc1K9RQYdNOLep1X9lpR/eW3zVCXzSd512zZxdLVKbM5m87Vu6UkNtGWLxAA28RwkMLPgQCJOwrOIh57cECIWJsHyljmj2Z/Qv0YDK3xVGCIxxGj/hs8msvRwN+D3LGGdvjKoq3ZuY8FukrndENXdIn+kY/78yVZjkGvXT4dodcEdnT/SdbP+5l+XwnOPzD+k/Pv2NjRnXWseBIj1F1j9YEB1jNGJI1RxkyUO8N67bfH99svawtpkv0ka5Z9we6ogtWHrS/e6ebonYCkwdn/Tum2852pWxR2dp8Uaqu5SMs4CkWsMxzWkEVr7GBOtft4zO+4NxYN6QRGXoYaozknDn8ZUb6C1fXo2k=</latexit> -3 10 100 4020 0.10.01 -20-40 1 0 <latexit sha1_base64="BLjIt8LGaqaxGOXUF+IH5n0KxGo=">AAACt3ichVE9TxtBEH1cgJjjywlNBI2F5YjKmkNIJFEKSzQp+YhtJGxZd5s1nLgv9taWnNNJqfMHUqRKpCAhCvIfaPIHUvATopQg0aTI+HxRBChhVrs7+3bezDyNE3lurIkuxowH4xOTDwtT5vTM7Nx88dHjRhz2lJB1EXqh2nXsWHpuIOva1Z7cjZS0fceTTedwY/jf7EsVu2HwWg8i2fbt/cDtusLWDHWKi63IdxKz1VW2SKw0acVHSieraWqmnWKZqpRZ6a5j5U4ZuW2GxXO08AYhBHrwIRFAs+/BRsxrDxYIEWNtJIwp9tzsXyKFydweR0mOsBk95HOfX3s5GvB7mDPO2IKreLwVM0uo0Hc6oUv6Rqf0g379M1eS5Rj2MuDbGXFl1Jl//2Tn+l6Wz7fGwV/Wf3r+ExszqrKOJUcKRr17tGp08SxjuKw5ypChejGq23/74XLnxXYleUqf6Sfr/kQXdM7Kg/6V+LIltz/C5MFZt8d012msVi2qWltr5drLfIQFLGEZKzynddTwCpuoc913OMYZvhrPjY7RNQ5GocZYzlnADTOOfgPykaAV</latexit> ステップ応答の場合
22.
Mechanical Dynamics Lab. 22 閉ループ系の設計仕様 閉ループ系の設計仕様 1)安定性 2)速応性,減衰性(≒ロバスト安定性) 3)定常偏差 内部安定 のゲイン線図︓バンド幅が⼗分⼤きい ピークゲイン
が⼩さい のステップ応答において整定時間が⼩さい ⾏き過ぎ量(オーバーシュート)が⼩さい <latexit sha1_base64="kilEV6nrcZuedBFLsPB/bk5uJTs=">AAACrXichVHNLgRBEP6M//E3uEhcxIY4rRqREHGQuDj6WySWzczoXR3zl5neTdbGC3gBBy4kJOIxXLyAg0cQRxIXB7WzI4KgOt1d/XV9VfWl7NCVsSJ6aNKaW1rb2js69a7unt4+o39gIw7KkSNyTuAG0ZZtxcKVvsgpqVyxFUbC8mxXbNoHi/X/zYqIYhn466oaih3PKvmyKB1LMVQwjHzo2TW9WshLv6iq+lHByFCWEhv56Zipk0Fqy4Fxizz2EMBBGR4EfCj2XViIeW3DBCFkbAc1xiL2ZPIvcASduWWOEhxhMXrAZ4lf2ynq87ueM07YDldxeUfMHMEY3dM1PdMd3dAjvf2aq5bkqPdS5dtucEVY6DseWnv9l+XxrbD/yfqj54/YmNEo6VhwpMOo+49WhSJmE4ZkzWGC1NU7jbqVw5PntbnVsdo4XdAT6z6nB7pl5X7lxblcEaun0Hlw5vcx/XQ2prImZc2V6czCfDrCDgxjFBM8pxksYAnLyHHdCs5wiSttUstpeW23Eao1pZxBfDGt9A4vepum</latexit> <latexit sha1_base64="s6ANizGplg1Db3kL/OhtuJexMHI=">AAACy3ichVG7SiRRED32uq72+phdE8FEHBQTh2oRXJZdUExMBF+jgiNDd3tHL/aL7jvDjr0TmhgLBkYKBuIfmI6BP2DgJ4ihwiYG1vT0IipqNX1v1bl1qupQVuDISBFdt2ifWj+3fWnv0L92dnX3ZL59X478cmiLvO07frhqmZFwpCfySipHrAahMF3LESvW9nTjfaUiwkj63pKqBmLdNTc9WZK2qRgqZnKFwLVifapYcE21Fbqxa/6p/a4+C0c5lF5JVfVaMZOlHCU28NoxUieL1Ob8TB0FbMCHjTJcCHhQ7DswEfG3BgOEgLF1xIyF7MnkXaAGnbllzhKcYTK6zecmR2sp6nHcqBklbJu7OPyHzBzAEF3RKd3RJZ3RDT28WStOajRmqfJtNbkiKPbs9S3++5Dl8q2w9cR6Z+b/uRGjYTKx4EybUecDrQol/EgYkjUHCdJQbzf7VnYO7hZ/LgzFw3RMt6z7iK6pzsq9yr19Mi8WDqHz4oyXa3rtLI/lDMoZ8+PZyV/pCtvRj0GM8J4mMIkZzCHPffdxjjoutFkt0na0v81UrSXl9OKZabuPBI+o+g==</latexit> <latexit sha1_base64="/oo7JkZeSy5k0w3EiH49V3KI+bg=">AAACpHichVG7SgNRED2u7/WRqI1gIwaDVZgVQRELwcbCQo3xgcawu97okn2xexPQ4A/YWliohYKF+Bk2/oCFnyCWCjYWTjYrokEzl3vv3HPnzMxhDN+2Qkn01KK0trV3dHZ1qz29ff2J5MDgeuiVA1PkTM/2gk1DD4VtuSInLWmLTT8QumPYYsMoLdT+NyoiCC3PXZOHvsg7+r5rFS1Tlwxt7fiOUVWlelxIpihDkY02OlrspBDbspe8xw724MFEGQ4EXEj2begIeW1DA8FnLI8qYwF7VvQvcAyVuWWOEhyhM1ric59f2zHq8ruWM4zYJlexeQfMHMU4PdItvdID3dEzffyZqxrlqPVyyLdR5wq/kDgZzr43ZTl8Sxx8s/7p+Ss2ZDSIOhYcaTJqN9EqUcRMxLBYsx8hNfVmvW7l6Ow1O7s6Xk3TNb2w7it6ontW7lbezJsVsXoOlQen/R5To7M+mdEoo61Mpebn4hF2YQRjmOA5TWMei1hGjus6OMUFLpW0sqRklVw9VGmJOUP4YcruJwI5mEU=</latexit> <latexit sha1_base64="MmNN+w2wqAEwkb7PjT1y/26puJs=">AAACpHichVG7SgNRED2ur7i+ojaCjRgMVmFWBEUsBBsLizyMDzTK7nqjS/bF7iYQQ37A1sJCLRQsxM9I4w9Y+AliqWBj4WSzIiqaudx75547Z2YOo7mm4QdEjx1SZ1d3T2+sT+4fGBwajo+MbvhO2dNFXndMx9vSVF+Yhi3ygRGYYsv1hGppptjUSivN/82K8HzDsdeDqisKlnpoG0VDVwOGtnddS6vJVbm+H09QikKb/O0okZNAZGkn3sAuDuBARxkWBGwE7JtQ4fPagQKCy1gBNcY89ozwX6AOmblljhIcoTJa4vOQXzsRavO7mdMP2TpXMXl7zJzEND3QLb3QPd3RE73/masW5mj2UuVba3GFuz98Mp57a8uy+A5w9MX6p+fPWJ9RL+xYcKTOqNlGa4AiFkKGwZrdEGmq11t1K8dnL7nF7HQtSdf0zLqv6JEarNyuvOo3GZE9h8yDU36O6bezMZtSKKVk5hLLS9EIY5jAFGZ4TvNYxirSyHNdC6e4wKWUlNaknJRvhUodEWcM30za+wANW5hK</latexit> <latexit sha1_base64="oeZhpDqanT4wL3QNI4l9zRO7980=">AAACvXichVFLSxxBEP4c8zCTh6u5BLwsWQzmstRIICEICh7M0deq4Moy0+nVwZ5HenpXdJxrDv4BD54SyEH0qn/AS/6AB39C8KiQiwdrZyeEKMZqurv66/qq6qO8WPmJITrrsXofPHz0uO+J/fTZ8xf9pYHBhSRqaSFrIlKRXvLcRCo/lDXjGyWXYi3dwFNy0Vuf7PwvtqVO/CicN5uxXAnc1dBv+sI1DDVK5XoceKldb2pXpE6W1pMv2qSjWbY9NUJvt+2sUapQlXIr33acwqmgsOmodII6PiOCQAsBJEIY9hVcJLyW4YAQM7aClDHNnp//S2SwmdviKMkRLqPrfK7ya7lAQ353ciY5W3AVxVszs4xhOqV9uqCfdEC/6OrOXGmeo9PLJt9elyvjRv/Oq7nf97ICvg3W/rL+0/Of2IRRnXcsOVIwqu7RatDEh5zhs+Y4RzrqRbdue2v3Yu7j7HD6hr7TOev+Rmd0wsrD9qX4MSNn92Dz4JybY7rtLIxWHao6M+8qE2PFCPswhNcY4Tm9xwQ+YRo1rvsVhzjCsTVuSUtZYTfU6ik4L/GPWRvX+a+iEQ==</latexit> <latexit sha1_base64="Q6Sjwcfj3WYI+oDwPg0FvTcYb/I=">AAACsXichVG7SgNRED2u7/UVH4VgEwyKVZhVQRELwcbSV6JiJO6u17hkX+xuIsmSH/AHLGxUsFA/w8YfsMgniKWCjYWTzYqoqHO59849d87MHEZzTcMPiOotUmtbe0dnV7fc09vXP5AYHMr6TsnTRUZ3TMfb1lRfmIYtMoERmGLb9YRqaabY0orLjf+tsvB8w7E3g4or9iy1YBuHhq4GDOUTIznX0kI5mXMsUVDzoXZck2v5RIrSFFnyp6PETgqxrTqJO+RwAAc6SrAgYCNg34QKn9cuFBBcxvYQMuaxZ0T/AjXIzC1xlOAIldEinwV+7caoze9GTj9i61zF5O0xM4kJeqBreqZ7uqVHevs1VxjlaPRS4VtrcoWbHzgZ3Xj9l2XxHeDok/VHzx+xPqNe1LHgSJ1R8x+tAQ4xHzEM1uxGSEO93qxbrp4+byysT4STdElPrPuC6nTHyu3yi361JtbPIPPglO9j+ulkp9MKpZW12dTSYjzCLoxhHFM8pzksYQWryHDdKs5xjRtpRtqR9iWtGSq1xJxhfDGp+A7XO50l</latexit>
23.
Mechanical Dynamics Lab. 23 開ループ系の設計仕様 1)安定性 ナイキストの安定判別法 (
が安定) 位相交差周波数 > ゲイン交差周波数 2)速応性,減衰性 ゲイン交差周波数を⼤きくする を⼤きくする -20dB/dec なら1型 -40dB/dec なら2型 3)定常偏差 位相余裕を⼤きくする 開ループ系の設計仕様 ゲイン 位相 <latexit sha1_base64="uty4//YjtVSbBtLWFsRb/WKRBMk=">AAACqXichVHLSsNAFD3GV42vqhvBjVgUQSg3IijiouDGpVWrRaslGccamhdJWtDiD/gDCq4UXIif4cYfcOEniEsFNy68SSOiRb0hM2fOnHPnXq7hWWYQEj22Ke0dnV3dqR61t69/YDA9NLwZuDVfyIJwLdcvGnogLdORhdAMLVn0fKnbhiW3jOpydL9Vl35gus5GeOTJXVuvOOaBKfSQqb2SZxsNteTasqKrJ+V0hrIUx3gr0BKQQRKrbvoOJezDhUANNiQchIwt6Aj424EGgsfcLhrM+YzM+F7iBCp7a6ySrNCZrfJa4dNOwjp8jnIGsVvwKxb/PjvHMUkPdEMvdE+39ETvv+ZqxDmiWo54N5pe6ZUHT0fX3/512byHOPxy/VHzpzZg1o8rlqwUzFr/9BriAAuxw+SevZiJuhfNd+vHZy/ri2uTjSm6omfu+5Ie6Y47d+qv4jov1y6g8uC0n2NqBZuzWY2yWn4uk1tKRpjCGCYwzXOaRw4rWEUhrv8cl7hSZpS8UlS2m1KlLfGM4Fso4gMiGppo</latexit> <latexit sha1_base64="uty4//YjtVSbBtLWFsRb/WKRBMk=">AAACqXichVHLSsNAFD3GV42vqhvBjVgUQSg3IijiouDGpVWrRaslGccamhdJWtDiD/gDCq4UXIif4cYfcOEniEsFNy68SSOiRb0hM2fOnHPnXq7hWWYQEj22Ke0dnV3dqR61t69/YDA9NLwZuDVfyIJwLdcvGnogLdORhdAMLVn0fKnbhiW3jOpydL9Vl35gus5GeOTJXVuvOOaBKfSQqb2SZxsNteTasqKrJ+V0hrIUx3gr0BKQQRKrbvoOJezDhUANNiQchIwt6Aj424EGgsfcLhrM+YzM+F7iBCp7a6ySrNCZrfJa4dNOwjp8jnIGsVvwKxb/PjvHMUkPdEMvdE+39ETvv+ZqxDmiWo54N5pe6ZUHT0fX3/512byHOPxy/VHzpzZg1o8rlqwUzFr/9BriAAuxw+SevZiJuhfNd+vHZy/ri2uTjSm6omfu+5Ie6Y47d+qv4jov1y6g8uC0n2NqBZuzWY2yWn4uk1tKRpjCGCYwzXOaRw4rWEUhrv8cl7hSZpS8UlS2m1KlLfGM4Fso4gMiGppo</latexit> 180° 位相余裕 ゲイン交差 周波数 <latexit sha1_base64="BCWq3Q7cHVtG16L53989a5L3XAk=">AAACp3ichVG7SgNRED2u7/UVtRFsxBDRJsyKoIiCkMZCMEbzgCTI7nrVxX2xuwlo8Af8AC0sfICF+Blp/AGLfIJYKthYONmsiIo6l3vv3HPnzMxhNNc0/ICo0Sa1d3R2dff0yn39A4NDseGRnO9UPF1kdcd0vIKm+sI0bJENjMAUBdcTqqWZIq8dpJr/+arwfMOxt4JDV5Qtdc82dg1dDRgqlVxLq8lry+mUfLwdi1OSQpv46SiRE0dkaSdWRwk7cKCjAgsCNgL2TajweRWhgOAyVkaNMY89I/wXOIbM3ApHCY5QGT3gc49fxQi1+d3M6YdsnauYvD1mTiBBD3RLz3RPd/RIb7/mqoU5mr0c8q21uMLdHjoZ23z9l2XxHWD/k/VHzx+xPqNe2LHgSJ1R8x+tAXaxEDIM1uyGSFO93qpbPTp73lzMJGpTdE1PrPuKGlRn5Xb1Rb/ZEJlzyDw45fuYfjq52aRCSWVjLr6yFI2wB+OYxDTPaR4rWEUaWa7r4hQXuJRmpHUpJxVaoVJbxBnFF5PUd/FkmQs=</latexit> 位相交差 周波数 <latexit sha1_base64="BCWq3Q7cHVtG16L53989a5L3XAk=">AAACp3ichVG7SgNRED2u7/UVtRFsxBDRJsyKoIiCkMZCMEbzgCTI7nrVxX2xuwlo8Af8AC0sfICF+Blp/AGLfIJYKthYONmsiIo6l3vv3HPnzMxhNNc0/ICo0Sa1d3R2dff0yn39A4NDseGRnO9UPF1kdcd0vIKm+sI0bJENjMAUBdcTqqWZIq8dpJr/+arwfMOxt4JDV5Qtdc82dg1dDRgqlVxLq8lry+mUfLwdi1OSQpv46SiRE0dkaSdWRwk7cKCjAgsCNgL2TajweRWhgOAyVkaNMY89I/wXOIbM3ApHCY5QGT3gc49fxQi1+d3M6YdsnauYvD1mTiBBD3RLz3RPd/RIb7/mqoU5mr0c8q21uMLdHjoZ23z9l2XxHWD/k/VHzx+xPqNe2LHgSJ1R8x+tAXaxEDIM1uyGSFO93qpbPTp73lzMJGpTdE1PrPuKGlRn5Xb1Rb/ZEJlzyDw45fuYfjq52aRCSWVjLr6yFI2wB+OYxDTPaR4rWEUaWa7r4hQXuJRmpHUpJxVaoVJbxBnFF5PUd/FkmQs=</latexit> 0dB
24.
Mechanical Dynamics Lab. 24 閉・開ループと時間応答の関係 ゲイン
ゲイン 位相ステップ応答 <latexit sha1_base64="uty4//YjtVSbBtLWFsRb/WKRBMk=">AAACqXichVHLSsNAFD3GV42vqhvBjVgUQSg3IijiouDGpVWrRaslGccamhdJWtDiD/gDCq4UXIif4cYfcOEniEsFNy68SSOiRb0hM2fOnHPnXq7hWWYQEj22Ke0dnV3dqR61t69/YDA9NLwZuDVfyIJwLdcvGnogLdORhdAMLVn0fKnbhiW3jOpydL9Vl35gus5GeOTJXVuvOOaBKfSQqb2SZxsNteTasqKrJ+V0hrIUx3gr0BKQQRKrbvoOJezDhUANNiQchIwt6Aj424EGgsfcLhrM+YzM+F7iBCp7a6ySrNCZrfJa4dNOwjp8jnIGsVvwKxb/PjvHMUkPdEMvdE+39ETvv+ZqxDmiWo54N5pe6ZUHT0fX3/512byHOPxy/VHzpzZg1o8rlqwUzFr/9BriAAuxw+SevZiJuhfNd+vHZy/ri2uTjSm6omfu+5Ie6Y47d+qv4jov1y6g8uC0n2NqBZuzWY2yWn4uk1tKRpjCGCYwzXOaRw4rWEUhrv8cl7hSZpS8UlS2m1KlLfGM4Fso4gMiGppo</latexit> <latexit 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sha1_base64="uty4//YjtVSbBtLWFsRb/WKRBMk=">AAACqXichVHLSsNAFD3GV42vqhvBjVgUQSg3IijiouDGpVWrRaslGccamhdJWtDiD/gDCq4UXIif4cYfcOEniEsFNy68SSOiRb0hM2fOnHPnXq7hWWYQEj22Ke0dnV3dqR61t69/YDA9NLwZuDVfyIJwLdcvGnogLdORhdAMLVn0fKnbhiW3jOpydL9Vl35gus5GeOTJXVuvOOaBKfSQqb2SZxsNteTasqKrJ+V0hrIUx3gr0BKQQRKrbvoOJezDhUANNiQchIwt6Aj424EGgsfcLhrM+YzM+F7iBCp7a6ySrNCZrfJa4dNOwjp8jnIGsVvwKxb/PjvHMUkPdEMvdE+39ETvv+ZqxDmiWo54N5pe6ZUHT0fX3/512byHOPxy/VHzpzZg1o8rlqwUzFr/9BriAAuxw+SevZiJuhfNd+vHZy/ri2uTjSm6omfu+5Ie6Y47d+qv4jov1y6g8uC0n2NqBZuzWY2yWn4uk1tKRpjCGCYwzXOaRw4rWEUhrv8cl7hSZpS8UlS2m1KlLfGM4Fso4gMiGppo</latexit> <latexit sha1_base64="/oo7JkZeSy5k0w3EiH49V3KI+bg=">AAACpHichVG7SgNRED2u7/WRqI1gIwaDVZgVQRELwcbCQo3xgcawu97okn2xexPQ4A/YWliohYKF+Bk2/oCFnyCWCjYWTjYrokEzl3vv3HPnzMxhDN+2Qkn01KK0trV3dHZ1qz29ff2J5MDgeuiVA1PkTM/2gk1DD4VtuSInLWmLTT8QumPYYsMoLdT+NyoiCC3PXZOHvsg7+r5rFS1Tlwxt7fiOUVWlelxIpihDkY02OlrspBDbspe8xw724MFEGQ4EXEj2begIeW1DA8FnLI8qYwF7VvQvcAyVuWWOEhyhM1ric59f2zHq8ruWM4zYJlexeQfMHMU4PdItvdID3dEzffyZqxrlqPVyyLdR5wq/kDgZzr43ZTl8Sxx8s/7p+Ss2ZDSIOhYcaTJqN9EqUcRMxLBYsx8hNfVmvW7l6Ow1O7s6Xk3TNb2w7it6ontW7lbezJsVsXoOlQen/R5To7M+mdEoo61Mpebn4hF2YQRjmOA5TWMei1hGjus6OMUFLpW0sqRklVw9VGmJOUP4YcruJwI5mEU=</latexit> 180° <latexit sha1_base64="quYQwZIAgkMR3dVU9Bf2+2395w0=">AAACsHichVHLSsNQED3Gd3xV3QhuxKK4KhMRFHEhuHGpra0FKyGJ1xqbF0laqaE/4A+4cCEKguJnuPEHXPgJ4rKCGxdO04ioqHO59849d87MHEb3LDMIiR47pM6u7p7evn55YHBoeCQ1OlYI3KpviLzhWq5f1LVAWKYj8qEZWqLo+UKzdUts65W11v92TfiB6TpbYd0Tu7ZWdsx909BChtTUeMmz9UguubYoa2qkHzXkhppKU4Zim/rpKImTRmIbbuoOJezBhYEqbAg4CNm3oCHgtQMFBI+xXUSM+eyZ8b9AAzJzqxwlOEJjtMJnmV87Cerwu5UziNkGV7F4+8ycwgw90A016Z5u6Ynefs0VxTlavdT51ttc4akjJxO5139ZNt8hDj5Zf/T8ERsw6scdC440GLX+0RpiH0sxw2TNXoy01BvturXj02ZuOTsTzdIlPbPuC3qkO1bu1F6Mq02RPYPMg1O+j+mnU5jPKJRRNhfSqyvJCPswiWnM8ZwWsYp1bCDPdes4xzVupHmpKKmS1g6VOhLOOL6YdPgOZqCc+w==</latexit> バンド幅 ゲイン交差 周波数 定常偏差 <latexit 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sha1_base64="7q3PaHPhdjePFckRKeGnpC73zvA=">AAAC3XichVFLaxRBEK6Mrzg+supF8LK4RDYHl5ogKKKw4EEPHvJwk8DOOvS0vbtNeh509y6szRy9iHjNwZOCgvgzcvHgNUJ+gniM4MWDtbMjokFTTXdXf11fVX1UnCtpLOL+nHfs+ImTp+ZP+2fOnju/ULtwccNkI81Fh2cq01sxM0LJVHSstEps5VqwJFZiM96+N/3fHAttZJY+spNc9BI2SGVfcmYJimrtME9i50+adulumDA75Ey5h8Vjdz0o6qESfdut34/cRBdNsxT2NeMuKJwpQi0HQ9vzi6jWwBaWVj/sBJXTgMpWstouhPAEMuAwggQEpGDJV8DA0OpCAAg5YT1whGnyZPkvoACfuCOKEhTBCN2mc0CvboWm9J7mNCWbUxVFWxOzDou4h+/xAD/iB/yCP/6Zy5U5pr1M6I5nXJFHC88vr38/kpXQbWH4m/Wfnn/FGkJ12bGgSE6oOkKrhT7cKhmSNOclMlXPZ3XHT3cO1m+vLbpr+Aa/ku7XuI+7pDwdf+NvV8XaK/BpcMHfYzrsbCy3AmwFqzca7TvVCOfhClyFJs3pJrThAaxAh+q+g0+wB5+9yHvmvfBezkK9uYpzCf4wb+cnFBSvIw==</latexit>
25.
Mechanical Dynamics Lab. 25 閉・開ループと時間応答の関係 ゲイン
ナイキスト線図 ステップ応答 <latexit sha1_base64="uty4//YjtVSbBtLWFsRb/WKRBMk=">AAACqXichVHLSsNAFD3GV42vqhvBjVgUQSg3IijiouDGpVWrRaslGccamhdJWtDiD/gDCq4UXIif4cYfcOEniEsFNy68SSOiRb0hM2fOnHPnXq7hWWYQEj22Ke0dnV3dqR61t69/YDA9NLwZuDVfyIJwLdcvGnogLdORhdAMLVn0fKnbhiW3jOpydL9Vl35gus5GeOTJXVuvOOaBKfSQqb2SZxsNteTasqKrJ+V0hrIUx3gr0BKQQRKrbvoOJezDhUANNiQchIwt6Aj424EGgsfcLhrM+YzM+F7iBCp7a6ySrNCZrfJa4dNOwjp8jnIGsVvwKxb/PjvHMUkPdEMvdE+39ETvv+ZqxDmiWo54N5pe6ZUHT0fX3/512byHOPxy/VHzpzZg1o8rlqwUzFr/9BriAAuxw+SevZiJuhfNd+vHZy/ri2uTjSm6omfu+5Ie6Y47d+qv4jov1y6g8uC0n2NqBZuzWY2yWn4uk1tKRpjCGCYwzXOaRw4rWEUhrv8cl7hSZpS8UlS2m1KlLfGM4Fso4gMiGppo</latexit> <latexit sha1_base64="/oo7JkZeSy5k0w3EiH49V3KI+bg=">AAACpHichVG7SgNRED2u7/WRqI1gIwaDVZgVQRELwcbCQo3xgcawu97okn2xexPQ4A/YWliohYKF+Bk2/oCFnyCWCjYWTjYrokEzl3vv3HPnzMxhDN+2Qkn01KK0trV3dHZ1qz29ff2J5MDgeuiVA1PkTM/2gk1DD4VtuSInLWmLTT8QumPYYsMoLdT+NyoiCC3PXZOHvsg7+r5rFS1Tlwxt7fiOUVWlelxIpihDkY02OlrspBDbspe8xw724MFEGQ4EXEj2begIeW1DA8FnLI8qYwF7VvQvcAyVuWWOEhyhM1ric59f2zHq8ruWM4zYJlexeQfMHMU4PdItvdID3dEzffyZqxrlqPVyyLdR5wq/kDgZzr43ZTl8Sxx8s/7p+Ss2ZDSIOhYcaTJqN9EqUcRMxLBYsx8hNfVmvW7l6Ow1O7s6Xk3TNb2w7it6ontW7lbezJsVsXoOlQen/R5To7M+mdEoo61Mpebn4hF2YQRjmOA5TWMei1hGjus6OMUFLpW0sqRklVw9VGmJOUP4YcruJwI5mEU=</latexit> ピークゲイン <latexit sha1_base64="SEZx0ZcnhVAeOWQPzhNR8eY25Lo=">AAACu3ichVFNSxxBEH1OTGImMW7iJSCIZDEIwlIjASVkYcFDclw1+wGuLDNtr472fNAzu7AZ9ubJP+DBk4EcEo/6D7z4Bzz4E4LHFXLJwdrZkZBIYjXdXf26XlU9ygmVG8VElyPGg9GHjx6PPTGfPht/PpF78bIaBW0tZEUEKtB1x46kcn1Zid1YyXqope05Stac3eXBf60jdeQG/qe4G8oNz97y3ZYr7JihZm66EXpOYn5oJl3dKzZa2hZJebmXWPN8mr1mLk8FSm3mrmNlTh6ZlYPcGRrYRACBNjxI+IjZV7AR8VqHBULI2AYSxjR7bvov0YPJ3DZHSY6wGd3lc4tf6xnq83uQM0rZgqso3pqZM5ilC/pGfTqnY/pBv/6ZK0lzDHrp8u0MuTJsTuy/Wvt5L8vjO8b2b9Z/er6NjRjVaceSIwWj6h6tMVpYShkuaw5TZKBeDOt2Ph/0196tziZv6Atdse4juqQzVu53rsXXFbl6CJMHZ/09prtOdaFgUcFaeZsvvc9GOIYpvMYcz2kRJXxEGRWuu4fvOMGpUTSEsWOoYagxknEm8YcZ7Rtp/aEE</latexit> <latexit sha1_base64="BCWq3Q7cHVtG16L53989a5L3XAk=">AAACp3ichVG7SgNRED2u7/UVtRFsxBDRJsyKoIiCkMZCMEbzgCTI7nrVxX2xuwlo8Af8AC0sfICF+Blp/AGLfIJYKthYONmsiIo6l3vv3HPnzMxhNNc0/ICo0Sa1d3R2dff0yn39A4NDseGRnO9UPF1kdcd0vIKm+sI0bJENjMAUBdcTqqWZIq8dpJr/+arwfMOxt4JDV5Qtdc82dg1dDRgqlVxLq8lry+mUfLwdi1OSQpv46SiRE0dkaSdWRwk7cKCjAgsCNgL2TajweRWhgOAyVkaNMY89I/wXOIbM3ApHCY5QGT3gc49fxQi1+d3M6YdsnauYvD1mTiBBD3RLz3RPd/RIb7/mqoU5mr0c8q21uMLdHjoZ23z9l2XxHWD/k/VHzx+xPqNe2LHgSJ1R8x+tAXaxEDIM1uyGSFO93qpbPTp73lzMJGpTdE1PrPuKGlRn5Xb1Rb/ZEJlzyDw45fuYfjq52aRCSWVjLr6yFI2wB+OYxDTPaR4rWEUaWa7r4hQXuJRmpHUpJxVaoVJbxBnFF5PUd/FkmQs=</latexit> <latexit sha1_base64="7q3PaHPhdjePFckRKeGnpC73zvA=">AAAC3XichVFLaxRBEK6Mrzg+supF8LK4RDYHl5ogKKKw4EEPHvJwk8DOOvS0vbtNeh509y6szRy9iHjNwZOCgvgzcvHgNUJ+gniM4MWDtbMjokFTTXdXf11fVX1UnCtpLOL+nHfs+ImTp+ZP+2fOnju/ULtwccNkI81Fh2cq01sxM0LJVHSstEps5VqwJFZiM96+N/3fHAttZJY+spNc9BI2SGVfcmYJimrtME9i50+adulumDA75Ey5h8Vjdz0o6qESfdut34/cRBdNsxT2NeMuKJwpQi0HQ9vzi6jWwBaWVj/sBJXTgMpWstouhPAEMuAwggQEpGDJV8DA0OpCAAg5YT1whGnyZPkvoACfuCOKEhTBCN2mc0CvboWm9J7mNCWbUxVFWxOzDou4h+/xAD/iB/yCP/6Zy5U5pr1M6I5nXJFHC88vr38/kpXQbWH4m/Wfnn/FGkJ12bGgSE6oOkKrhT7cKhmSNOclMlXPZ3XHT3cO1m+vLbpr+Aa/ku7XuI+7pDwdf+NvV8XaK/BpcMHfYzrsbCy3AmwFqzca7TvVCOfhClyFJs3pJrThAaxAh+q+g0+wB5+9yHvmvfBezkK9uYpzCf4wb+cnFBSvIw==</latexit> -1 Im Re 位相余裕
26.
Mechanical Dynamics Lab. 26 今⽇の⽬標 設計のためにどんなモデルを作るのか︖ 実現したい仕様は何か︖ 仕様を満たす制御系をどう設計するのか︖ 状態⽅程式,周波数伝達関数,伝達関数 安定性,速応性,減衰性,定常特性 1 2 3 制御系設計(モデルベース)の流れを復習する PID制御系の設計(極配置)
27.
Mechanical Dynamics Lab. 27 制御系設計 2次遅れ系(アーム,RCL回路)が対象 <latexit
sha1_base64="yEDhmn4zVKY1KZxSfC83f+1+bMQ=">AAACyHichVFNSxxBEH2Oxo9J1FUvgVyGLAaDsNSIoEgCQi7B06pZFVyzzLS962DPB9OzGzbDXjzmllMOnhLIQfwBXhUv+QM5+BNCjga8eEjt7IQQxVhNd1e/rldVj3Ij5emE6KLP6B94MDg0PGI+fDQ6Nl6YmNzQYTMWsiJCFcZbrqOl8gJZSbxEya0olo7vKrnp7r/q/m+2ZKy9MHiTtCO54zuNwKt7wkkYqhVmq5HvpmZ5Rj+3XlrVeuyI1O6kK/rtnDVrCc2H36hKpTpmp1YoUokys247du4UkVs5LJyjil2EEGjCh0SAhH0FB5rXNmwQIsZ2kDIWs+dl/xIdmMxtcpTkCIfRfT4b/NrO0YDf3Zw6YwuuonjHzLQwTd/piC7pGx3TD7q+M1ea5ej20ubb7XFlVBv/8Hj96l6Wz3eCvb+s//T8J1YzGmcdS44UjKp7tCaoYzFjeKw5ypCuetGr23r/6XJ9aW06fUZf6Cfr/kwXdM7Kg9Yv8XVVrh3C5MHZN8d029mYK9lUslfni8sv8hEO4wmeYobntIBlvEYZFa77ESc4xZmxYkTGO6PdCzX6cs4U/jHj4Dc0vKRm</latexit> g = 9.81 # 重力加速度[m/s^2] l = 0.141 # アームの長さ[m] m = 0.3 # アームの質量[kg] c = 1.33e-2 # 粘性摩擦係数 J = 9.56e-3 # 慣性モーメント 整定時間を0.5秒以下,オーバーシュートを10%以下にし, ステップ⽬標値&外乱に対して,定常偏差が⽣じないPID制 御系を構築しなさい 制御⽬標︓ステップ⽬標値への追従
28.
Mechanical Dynamics Lab. 28 制御系設計 ¥ <latexit
sha1_base64="1g1dGfzgGpoMQe7/3Xxe26pxzC8=">AAACpXichVG7SgNRED2ur7i+ojaCTTD4qMKsCIpYBGxshGhe4oOwu151yb7Y3QRiyA9YCxaioGAhfoaNP2DhJ4hlBBsLJ5sVUVHncu+de+6cmTmM5pqGHxA9dkidXd09vbE+uX9gcGg4PjJa8J2Kp4u87piOt6mpvjANW+QDIzDFpusJ1dJMUdTKK63/YlV4vuHYuaDmil1LPbCNfUNXA4a2dlxLq8uJmtwoxZOUotASPx0lcpKILOPE77CDPTjQUYEFARsB+yZU+Ly2oYDgMraLOmMee0b4L9CAzNwKRwmOUBkt83nAr+0ItfndyumHbJ2rmLw9ZiYwRQ90Q026p1t6ordfc9XDHK1eanxrba5wS8PH49nXf1kW3wEOP1l/9PwR6zPqhR0LjtQZNf/RGmAfiyHDYM1uiLTU6+261aPTZnZpY6o+TVf0zLov6ZHuWLldfdGv18XGGWQenPJ9TD+dwlxKoZSyPp9ML0cjjGECk5jlOS0gjVVkkOe6Nk5wjgtpRlqTclKhHSp1RJwxfDGp9A58g5h0</latexit> <latexit sha1_base64="vrY3vfo5GWP7HaCzfwIayu07foI=">AAACpXichVG7SgNRED1Z3+sjURvBJhh8VGFWBEUsBBsbwUQTxQdhd73qkn2xj0AM/oC1YCEKChbiZ6TxByzyCWKpYGPhZLMiKupc7r1zz50zM4fRXNPwA6JGQmpr7+js6u6Re/v6B5KpwaGi74SeLgq6Yzrepqb6wjRsUQiMwBSbridUSzPFhlZeav5vVITnG469HlRdsWupB7axb+hqwNDWjmtpNTkdyselVIayFFn6p6PETgaxrTqpOnawBwc6QlgQsBGwb0KFz2sbCgguY7uoMeaxZ0T/AseQmRtylOAIldEynwf82o5Rm9/NnH7E1rmKydtjZhrj9EC39Ez3dEeP9PZrrlqUo9lLlW+txRVuKXkysvb6L8viO8DhJ+uPnj9ifUa9qGPBkTqj5j9aA+xjLmIYrNmNkKZ6vVW3cnT2vDafH69N0DU9se4ralCdlduVF/0mJ/LnkHlwyvcx/XSK01mFskpuJrO4EI+wG6MYwxTPaRaLWMYqClzXxikucClNSivSulRshUqJmDOMLyaV3gFzm5hw</latexit> 制御器として,I-PD制御を考える(定常偏差は0になる) <latexit sha1_base64="MN5boUCXsoixAr9V9MqNVC37m4Q=">AAAC3nichVHPaxNBFP66Vq1rtVEvQi/B0JIQCLO1YCktVBRaPaWtaQtNu+6Ok3TJ7A9mNoG45OpBkB4reFIQEf+MXrx4VOmfIB4rePHg282KaNG+YWbefPN97wfPjaSnY8aORowzo2fPnR+7YF4cv3R5onDl6oYOu4qLBg9lqLZcRwvpBaIRe7EUW5ESju9Ksel27qT/mz2htBcGD+J+JHZ8px14LY87MUF24XYz8t3ELC7bSV8Nyrqy2Gwphycd+94gua93b1bLvNqx71b07ky17LebQsoiAfWKrqYcc2AXSqzGMiuedKzcKSG3elg4RBOPEIKjCx8CAWLyJRxoWtuwwBARtoOEMEWel/0LDGCStkssQQyH0A6dbXpt52hA7zSmztScskjaipRFTLGP7C07Zu/ZO/aF/fhnrCSLkdbSp9sdakVkTzy9vv79VJVPd4y936r/1PyLqwlVWcWCmJxQeUqvMVqYyxQe9RxlSNo9H+btPT44Xp9fm0qm2Sv2lfp+yY7YIXUe9L7x16ti7QVMGpz195hOOhszNYvVrNXZ0tJCPsIxTOIGyjSnW1jCCupoUN43+IBP+Gw8NJ4Yz4z9IdUYyTXX8IcZz38C4h6tPw==</latexit> 閉ループ系 を3次の規範モデルに⼀致させるゲインをもとめる <latexit sha1_base64="yFkCfC5NwLChVhOwvZa/MtT9XrY=">AAACuHichVG7SiRRED2266vXx+gmgsngoBgN1augiIJgoka+RgXHbbvbO7OX6RfdPQPaTLCpP2BgpCCybKLfYLI/YOAniKHCJgbW9LSIK2pd7r11z61TVYcyfVuGEdFNi9L6pa29o7NL/drd09uX6R/YCL1qYImC5dlesGUaobClKwqRjGyx5QfCcExbbJqV+cb/Zk0EofTc9WjfFzuOUXZlSVpGxJCeGSr6jhmrFX0xO5tdioueI8qG7v4Yr6t1PZOjPCWWfetoqZNDaste5gpF7MGDhSocCLiI2LdhIOS1DQ0En7EdxIwF7MnkX6AOlblVjhIcYTBa4bPMr+0UdfndyBkmbIur2LwDZmYxQtf0m+7pL/2hW3p8N1ec5Gj0ss+32eQKX+87HFz79ynL4TvCzxfWBz0/x4aMBknHgiMtRu1PtEYoYSphSNbsJ0hDvdWsWzs4ul+bXh2JR+mU7lj3Cd3QFSt3aw/W2YpYPYbKg9P+H9NbZ+N7XqO8tjKRm5tJR9iJIQxjjOc0iTksYBkFrvsL57jApTKt7CplRTZDlZaU8w2vTAmeADyTn0s=</latexit> <latexit sha1_base64="SMN3UyPkteE3gD5ie7SSNiUcoqs=">AAACx3ichVFLSxxBEP6c+NhMfKzJJZDLkkWRQJYaERIkASGXmNP6WBUcM/RM2nXYngczs0s2wx5yzSk3D54M5BBy96rgJX/Agz9BPBrw4sHa2RExEq2mu6u/rq+qPsoOlRsnRMd92oP+gcGhwkP90fDI6Fhx/PFKHDQjR9acQAXRmi1iqVxf1hI3UXItjKTwbCVX7ca77v9qS0axG/jLSTuUG56o++6m64iEIav4wgw9O9UbVrX0tpR+MIUKt4RlmIEn68LyP053Xnp1Uyqld6ximSqUWem2Y+ROGblVg+IhTHxCAAdNeJDwkbCvIBDzWocBQsjYBlLGIvbc7F+iA525TY6SHCEYbfBZ59d6jvr87uaMM7bDVRTviJklTNAR/aIz+kO/6YQu/psrzXJ0e2nzbfe4MrTGvj1dOr+X5fGdYOuadUfPV7Exo1HWseRIh1F1j9YEm3idMVzWHGZIV73Tq9v6sn22NLs4kU7SDzpl3bt0TIes3G/9dX4uyMUd6Dw4498x3XZWpisGVYyFmfLcm3yEBTzDc0zxnF5hDu9RRY3rfsce9nGgzWuB1tI+90K1vpzzBDdM+3oJhtSlcw==</latexit> <latexit sha1_base64="exVKiQBu/T7MPPRIi/8NlVrokeg=">AAACwHichVHLShxBFD12Eh9topNkI2QzOBjcZLgtghIUJHERXPnIqOBIU10pZ5qpftjdM6DNfEDyA1m4UshCsnBr1m78ARd+gmSpkE0WudPTIirGW1TVrVPn3AfXCbUbJ0TnPcaTp896+/oHzMHnL4aGCy9frcZBM5KqIgMdROuOiJV2fVVJ3ESr9TBSwnO0WnMaHzv/ay0VxW7gf052QrXpiZrvbrlSJAzZhVI19JzUbNjzxdliulAVOqwLe6IaeKombL/9TpptZlGZMived6zcKSG3xaBwgiq+IIBEEx4UfCTsawjEvDZggRAytomUsYg9N/tXaMNkbZNZihmC0QafNX5t5KjP707MOFNLzqJ5R6wsYozO6JAu6ZR+0gX9fTBWmsXo1LLDt9PVqtAe/jay8udRlcd3gvqN6j81X3NjRqOsYsVMyah+pNcEW5jOFC73HGZIp3vZzdva/X658n55LH1LB/Sb+96nczrhzv3WlfyxpJb3YPLgrLtjuu+sTpQtKltLk6W5mXyE/XiDUYzznKYwh09YRIXzfsURjvHL+GDUjcDY7lKNnlzzGrfM2P0HP1aiiA==</latexit>
29.
Mechanical Dynamics Lab. 29 制御系設計 オーバーシュート8.2%
整定時間が Ts 秒以下 -6 規範モデル を仕様をもとに決める 整定時間を0.5秒以下,オーバーシュートを10%以下にし, ステップ⽬標値に対して,定常偏差が⽣じない→ Re Imバターワース標準形 実部が -3/Ts 以下で
30.
Mechanical Dynamics Lab. 30 制御系設計 ↓オーバーシュートが10%以下 ←5%整定時間が0.5秒以下 ⽬標値を30[deg]にしたときのステップ応答 ← 定常偏差ゼロ
31.
Mechanical Dynamics Lab. 31 制御系設計 開ループ特性 設計前 設計後 ↓-20dB/dec
なので直流ゲインは∞になっている ゲイン交差周波数が ⼤きくなっている 位相余裕が⼤きく なっている
32.
Mechanical Dynamics Lab. 32 今⽇のお話 どう?できた︖ ほんと,意地悪だよね でもおかげさまで,なんとか そうだね.制御⼯学は奥が深いから, ゆっくり&何回も勉強してみて いろいろ勉強できてよかった まだまだ消化不良だけど そういえば,最近,先輩から名著と名⾼い 本をもらったから,それで勉強してみる
→ あっ,その前にテニスいってこよう〜