P-T1-Strecke
Regler FO und Kennwerte FW und Kennwerte FZv und Kennwerte ebw ebZv eb
P
P-T1-Verhalten
PR PS
Pg K K
K = •
1
1 T
Tg =
P-T1-Verhalten
(
PS PR)
PR PS
Pg K K
K K K
• +
= • 1
(
PS PR)
g K K
T T
•
= + 1
1 1
P-T1-Verhalten
(
PS PR)
PS
Pg K K
K K
•
= + 1
(
PS PR)
g K K
T T
•
= + 1
1 1
PR PS
bw K K
e W
•
= +
1 PS PR
V PS
bZv K K
Z e K
• +
= • 1
( )
PR PS
V PS
b K K
Z K e W
• +
•
= − 1
I
I-T1-Verhalten
IR PS
Ig K K
K = •
IR PS Ig T K = K
1
1 T
Tg =
P-T2-Verhalten
=1 KPg
IR PS
g K K
T = 1•
1
IR PS
g K K
T T
= •1
2 2
D-T2-Verhalten
IR
Dg K
K 1
=
IR PS
g K K
T = 1•
1
IR PS
g K K
T T
= •1
2 2
0 0 0
PI
PI-T1-Verhalten
PR PS
Pg K K
K = •
IR PS
Ig K K
K = •
1
1 T
Tg =
PD-T2-Verhalten
=1 KPg
IR Dg PR
K K = K
D-T2-Verhalten
IR
Dg K
K 1
=
IR PS
PR PS
g K K
K T K
•
•
=1+
1 0 0 0
P-T1-Strecke
Regler FO und Kennwerte FW und Kennwerte FZv und Kennwerte ebw ebZv eb
PD
PD-T1-Verhalten
PR PS
Pg K K
K = •
DR PS
Dg K K
K = •
1
1 T
Tg =
PD-T1-Verhalten
PR PS
PS PR
Pg K K
K K K
• +
= • 1
PR PS
DR PS
Dg K K
K K K
• +
= • 1
PR PS
PS DR
g K K
K K T T
• +
•
= + 1
1 1
P-T1-Verhalten
PR PS
PS
Pg K K
K K
•
= + 1
PR PS
PS DR
g K K
K K T T
• +
•
= + 1
1 1
PR PS
bw K K
e W
•
= +
1 PS PR
V PS
bZv K K
Z e K
• +
= • 1
( )
PR PS
V PS
b K K
Z K e W
• +
•
= − 1
PID
PID-T1-Verhalten
PR PS
Pg K K
K = •
IR PS
Ig K K
K = •
DR PS
Dg K K
K = •
1
1 T
Tg =
PDD
2-T2-Verhalten
=1 KPg
IR PR
Dg K
K = K
IR DR
Dg K
K 2 = K
IR PS
PR PS
g K K
K T K
•
•
=1+
1
IR PS
PS DR
g K K
K K T T
•
•
= 1+
2 2
D-T2-Verhalten
IR
Dg K
K 1
=
IR PS
PR g PS
K K
K T K
•
•
=1+
1
IR PS
PS g DR
K K
K K T T
•
•
= 1+
2 2
0 0 0
P-T2-Strecke
Regler FO und Kennwerte FW und Kennwerte FZv und Kennwerte ebw ebZv eb
P
P-T2-Verhalten
PR PS
Pg K K
K = •
1
1 T
Tg =
2 2
2 T
T g =
P-T2-Verhalten
(
PS PR)
PR PS
Pg K K
K K K
• +
= • 1
(
PS PR)
g K K
T T
•
= + 1
1 1
(
PS PR)
g K K
T T
•
= + 1
2 2 2
P-T2-Verhalten
(
PS PR)
PS
Pg K K
K K
•
= + 1
(
PS PR)
g K K
T T
•
= + 1
1 1
(
PS PR)
g K K
T T
•
= + 1
2 2 2
PR PS
bw K K
e W
•
= +
1 PS PR
V PS
bZv K K
Z e K
• +
= • 1
( )
PR PS
V PS
b K K
Z K e W
• +
•
= − 1
I
I-T2-Verhalten
IR PS
Ig K K
K = •
IR PS Ig T K = K
1
1 T
Tg = T2g2 =T2
P-T3-Verhalten
=1 KPg
IR PS
g K K
T = 1•
1
IR PS
g K K
T T
= •1
2
2
IR PS
g K K
T T
= •2
3 3
D-T3-Verhalten
IR
Dg K
K 1
=
IR PS
g K K
T = 1•
1
IR PS
g K K
T T
= •1
2 2
IR PS
g K K
T T
= •2
3 3
0 0 0
P-T2-Strecke
Regler FO und Kennwerte FW und Kennwerte FZv und Kennwerte ebw ebZv eb
PI
PI-T2-Verhalten
PR PS
Pg K K
K = •
IR PS
Ig K K
K = •
1
1 T
Tg =
2 2
2 T
T g =
PD-T3-Verhalten
=1 KPg
IR Dg PR
K K = K
IR PS
PR g PS
K K
K T K
•
•
=1+
1
IR PS
g K K
T T
= •1
2 2
IR PS
g K K
T T
= •2
3 3
D-T3-Verhalten
IR
Dg K
K 1
=
IR PS
PR PS
g K K
K T K
•
•
=1+
1
IR PS
g K K
T T
= •1
2 2
IR PS
g K K
T T
= •2
3 3
0 0 0
PD
PD-T2-Verhalten
PR PS
Pg K K
K = •
DR PS
Dg K K
K = •
1
1 T
Tg =
2 2
2 T
T g =
PD-T2-Verhalten
PR PS
PR PS
Pg K K
K K K
• +
= • 1
PR PS
PS DR
Dg K K
K K K
• +
= • 1
PR PS
PS DR
g K K
K K T T
• +
•
= + 1
1 1
PR PS
g K K
T T
•
= + 1
2 2 2
P-T2-Verhalten
PR PS
PS
Pg K K
K K
•
= + 1
PR PS
PS DR
g K K
K K T T
• +
•
= + 1
1 1
PR PS
g K K
T T
•
= + 1
2 2 2
PR PS
bw K K
e W
•
= +
1 PS PR
V PS
bZv K K
Z e K
• +
= •
1 bw KPS KPR
e W
•
= + 1
P-T2-Strecke
Regler FO und Kennwerte FW und Kennwerte FZv und Kennwerte ebw ebZv eb
PID
PID-T2-Verhalten
PR PS
Pg K K
K = •
IR PS
Ig K K
K = •
DR PS
Dg K K
K = •
1
1 T
Tg = T2g2 =T2
PDD
2-T3-Verhalten
=1 KPg
IR Dg PR
K K = K
IR Dg DR
K K 2= K
IR PS
PR g PS
K K
K T K
•
•
=1+
1
IR PS
PS g DR
K K
K K T T
•
•
= 1+
2 2
IR PS
g K K
T T
= •2
3 3
D-T3-Verhalten
IR
Dg K
K 1
=
IR PS
PR PS
g K K
K T K
•
•
=1+
1
IR PS
PS DR
g K K
K K T T
•
•
= 1+
2 2
IR PS
g K K
T T
= •2
3 3
0 0 0
I-Strecke
Regler FO und Kennwerte FW und Kennwerte FZv und Kennwerte ebw ebZv eb
P
I-Verhalten
PR IS
Ig K K
K = •
P-T1-Verhalten
=1 KPg
PR IS
g K K
T = •1
1
P-T1-Verhalten
PR
Pg K
K 1
=
PR IS
g K K
T = •1
1
0
PR V bZv K
e = Z ⎟⎟
⎠
⎜⎜ ⎞
⎝
−⎛
=
PR b V
K e Z
PI
I I
2-Verhalten
PR IS
Ig K K
K = •
IR IS
Ig K K
K 2 = •
PD-T2-Verhalten
=1 KPg
IR Dg PR
K K = K
IR g PR
K T1 = K
IR IS
g K K
T 2 = •1
2
D-T2-Verhalten
IR
Dg K
K 1
=
IR g PR
K T1 = K
IR IS
g K K
T 2 = •1
2
0 0 0
I-Strecke
Regler FO und Kennwerte FW und Kennwerte FZv und Kennwerte ebw ebZv eb
PD
PI-Verhalten
DR IS
Pg K K
K = •
PR IS
Ig K K
K = •
PD-T1-Verhalten
=1 KPg
PR Dg DR
K K = K
PR IS
DR g IS
K K
K T K
•
•
=1+
1
P-T1-Verhalten
PR
Pg K
K 1
=
PR IS
DR IS
g K K
K T K
•
•
=1+
1
0
PR bZv V
K
e = Z ⎟⎟
⎠
⎜⎜ ⎞
⎝
−⎛
=
PR V
b K
e Z
PID
PII
2-Verhalten
DR IS
Pg K K
K = •
IS PR
Ig K K
K = •
IR IS
Ig K K
K 2 = •
PDD
2-Verhalten
=1 KPg
IR Dg PR
K K = K
IR Dg DR
K K 2 = K
IR g PR
K T1 = K
IR IS
DR IS
g K K
K T K
•
•
=1+
2 2
D-T2-Verhalten
IR
Dg K
K 1
=
IR g PR
K T1 = K
IR IS
DR IS
g K K
K T K
•
•
=1+
2 2
0 0 0
I-T1-Strecke
Regler FO und Kennwerte FW und Kennwerte FZv und Kennwerte ebw ebZv eb
P
I-T1-Verhalten
PR IS
Ig K K
K = •
1
1 T
T g =
P-T2-Verhalten
=1 KPg
PR IS
g K K
T = •1
1
PR IS
g K K
T T
= •1
2 2
P-T2-Verhalten
PR
Pg K
K 1
=
PR IS
g K K
T = •1
1
PR IS
g K K
T T
= •1
2 2
0
PR V
bZv K
e = Z ⎟⎟
⎠
⎜⎜ ⎞
⎝
−⎛
=
PR v
b K
e Z
PI
I I
2-T1-Verhalten
PR IS
Ig K K
K = •
IR g IS
I K K
K 2 = •
1
1 T
Tg =
PD-T3-Verhalten
=1 KPg
IR PR
Dg K
K = K
IR PR
g K
T1 = K
IR IS
g K K
T 2 = •1
2
IR IS
g K K
T T
= •1
3 3
D-T3-Verhalten
IR
Dg K
K 1
=
IR PR
g K
T1 = K
IR IS
g K K
T 2 = 1•
2
IR IS
g K K
T T
= •1
3 3
0 0 0
I-T1-Strecke
Regler FO und Kennwerte FW und Kennwerte FZv und Kennwerte ebw ebZv eb
PD
PI-T1-Verhalten
DR IS
Pg K K
K = •
PR IS
Ig K K
K = •
1
1 T
Tg =
PD-T2-Verhalten
=1 KPg
PR Dg DR
K K = K
IR IS
DR IS
g K K
K T K
•
•
=1+
1
PR IS
g K K
T T
= •1
2 2
P-T2-Verhalten
PR
Pg K
K 1
=
IR IS
DR IS
g K K
K T K
•
•
=1+
1
PR IS
g K K
T T
= •1
2 2
0
PR V
bZv K
e = Z ⎟⎟⎠
⎜⎜ ⎞
⎝
−⎛
=
PR v
b K
e Z
PID
PI I
2-T1-Verhalten
DR IS
Pg K K
K = •
PR IS
Ig K K
K = •
IR g IS
I K K
K 2 = •
1
1 T
Tg =
2 2 2
2 T
T g =
PDD
2-T3-Verhalten
=1
KPg
IR PR
Dg K
K = K
IR DR g
D K
K 2 = K
IR PR
g K
T1 = K
DR IS
g K K
K T K
•
•
=1+
2 2
D-T3-Verhalten
PR
Dg K
K 1
=
IR PR
g K
T1 = K
IR IS
DR IS
g K K
K T K
•
•
=1+
2 2
g K K
T T
= •1
3 3
0 0 0
I-T2-Strecke
Regler FO und Kennwerte FW und Kennwerte FZv und Kennwerte ebw ebZv eb
P
I-T2-Verhalten
PR IS
Ig K K
K = •
1
1 T
T g =
2 2 2
2 T
T g =
P-T3-Verhalten
=1 KPg
PR IS
g K K
T = •1
1
PR IS
g K K
T T
= •1
2 2
PR IS
g K K
T T
= •
2 3 2
3
P-T3-Verhalten
PR
Pg K
K 1
=
PR IS
g K K
T = •1
1
PR IS
g K K
T T
= •1
2 2
PR IS
g K K
T T
= •
2 3 2
3
0
PR V
bZv K
e = Z ⎟⎟
⎠
⎜⎜ ⎞
⎝
−⎛
=
PR b v
K e Z
PI
I I
2-T2-Verhalten
PR IS
Ig K K
K = •
IR g IS
I K K
K 2 = •
1
1 T
Tg =
2 2 2
2 T
T g =
PD-T4-Verhalten
=1 KPg
IR Dg PR
K K = K
IR g PR
K T1 = K
IR IS
g K K
T 2 = •1
2
IR IS
g K K
T T
= •1
3 3
g
T T
= •22
4 4
D-T4-Verhalten
IR
Dg K
K 1
=
IR g PR
K T1 = K
IR IS
g K K
T 2 = 1•
2
IR IS
g K K
T T
= •1
3 3
g
T T
= •22
4 4
0 0 0
I-T2-Strecke
Regler FO und Kennwerte FW und Kennwerte FZv und Kennwerte ebw ebZv eb
PD
PI-T2-Verhalten
DR IS
Pg K K
K = •
PR IS
Ig K K
K = •
1
1 T
Tg =
2 2 2
2 T
T g =
PD-T3-Verhalten
=1 KPg
PR Dg DR
K K = K
IR IS
DR IS
g K K
K T K
•
•
=1+
1
PR IS
g K K
T T
= •1
2 2
PR IS
g K K
T T
= •22
2 3
P-T3-Verhalten
PR
Pg K
K 1
=
IR IS
DR IS
g K K
K T K
•
•
=1+
1
PR IS
g K K
T T
= •1
2 2
PR IS
g K K
T T
= •
2 3 2
3
0
PR V
bZv K
e = Z ⎟⎟
⎠
⎜⎜ ⎞
⎝
−⎛
=
PR v
b K
e Z
PID
PI I
2-T2-Verhalten
DR IS
Pg K K
K = •
PR IS
Ig K K
K = •
IR g IS
I K K
K 2 = •
1
1 T
Tg =
2 2 2
2 T
T g =
PDD
2-T4-Verhalten
=1
KPg
IR Dg PR
K K = K
IR DR g
D K
K 2 = K
IR g PR
K T1 = K
IR IS
DR IS
g K K
K T K
•
•
=1+
2 2
T 3 = T1
D-T4-Verhalten
PR
Dg K
K 1
=
IR g PR
K T1 = K
IR IS
DR IS
g K K
K T K
•
•
=1+
2 2
T 3 = T1
0 0 0
