g'.J g i ; i t { u,-t{": {! u'l : x t g t'.t''"' t I? lt {: r t tsv !

' {y y

1.3. Avorxro o0orrlpa eAy1ou

Oplotrl6g 1.9. 'Evq, p6vovon6 rov el"eyrcn1 oforqpu el"6y1ou snotel.ofpevo rcur to el"eyl6pevo o6o'rrlpo,6vu o6o'tqpu e)"6y1ou, 11 rou oruoiou etooSoq eivo,to,ve(&ptqrqon6 tqv o,ndvtrlo'q, rlV npoyponrcrl oupneprrpopd,, rrlv el"eyl6pevq6(o6o toir o"uotrlprotoq, 6vu, yivetat o'6otqpo e1,6y1ou tou onoiou q poli tcov rcl"qpoqoprcilv p6vo oe pfo rote60uvo'r1 ovopd(erotavoryrd oitorrlpad,6yyoo (open-loop controlsystem). H 6rcrDrrcq,oio el.6y1ou oe 6vo,ovorlr6 o'6o'tr1po i1 e)"6y1ou ovopd(etot6rc{t0ovorf (driving) rcar6u,1copi(ewr o64yqory an6 rq ouv0et6tepq 6to6trcoofs tou auropd,rou gl"6y1oo rcou 0a e(etdooupe orrl oruilrro. H ypsqtrcnonerrc6woq w6q ovorltof ouotrlporoq etr"6y1ou etvur q ev oepd 'Etor orivSeo'q s)"eyrc(rcorel"eyl6prvou ouotrlporoq. ro yevrrc6 Sruypoppu Bo0pi6cov ytCI, rrl 6rq,6rrcooio, trlq 6re60uvo'qg w6g ouorrlpu,toq eivot: Are00uvo4:
Ar*60uvo4:

err0rlrnnl eioo6oq
ovqgopdq

cfcy;Qlevn *[oSos

IX{pq 1.12. Aettoupyrr6 DraypappoBu0piSrrtv avorlrof ouo't(porog e}"6y1ou

H 6ro,6rrcootc tou el,6y1oul.orn6v oe 6vo ovorlt6 o-riotrlpu, el,6y1ou6yrcertor orqv npoo'460e1CI, vo Bpe0ei o rcutdl"l.ql"og el.eyrct(q rcot vu rcuOoproteiq rcot&)"\}.r1 d.eyyopwqpua?)rpry (controlled variable) u(t), aore q 6{o5oqtoo ouo'tqporoqvo ovtunorcptvsrolorqv entOupqtqetooSoovo<popdq.

1.3.1.l'lupcdriypqrq qvorxr6v ouorrlporov eAfylou

flapdEelypq 1: Hl.crcrprrc6q 6ran6ntrlq E(etd(oupe rrlg o-6oqpo 6vov r11"erctprrc6 l"opnqpo, pe 6(o60 rqv rotdoto,oq l.ettoupyictq p6ye0og <pcrrg-orcotd6r). rou Xapnrfpu (to 5uo6rrc6 @eolpofpe oq el.eyrctrj tou ouotr'lporog6vw ql,errprr6 6rorc6nrq, p rov orcotoenqped(oups rqv 6vrool1 pefprutog tou rcurc1"cill-rCI,roq rcor l"ertoupytug e)"6y1oulm rrlv rcurdotCI,oq tou l,opnt{po. Mts t6tots 5ro6rrcoo'iu el"6y1ou ovop&(erot il"eyyoE OII-OFF (ON-OFFcontrol).

il-. ii:

lra'.
:t1,:: j:ar.
:i".!,11. i'i:ir::

i::I
iF-

v! *.:, :+-i
Fi'i:

ig+

6to<6rcrrlq \ \
*--*^--9

trqlTn[poq

*z-*,\ gt
(oN- oFF)
tpolq- oro16&)

rtuwfiq

otcrwo $reVX6tsvn pstoP&ri

*vrailt palpcroq: pe$po- 61t PatiPo

6do6oq roriorcoll leiroupy'lcq rq^rlo$nrlps: goq - orordSt

Sial rot &cl(6nrn:

x.f,acn6g- cvot1r6q

XXrtpa 1.13.

'E),ey1oq )"opnn1popdoo ql"erctprrof 6tarc6rutq

Il c pu6e ly Vs 2.'E?'ey1oqfvtcloqg po6ro<pdrvoo os ql"tKrprrcdouotqpCI,ro,. ou1vd 6vo,ototleto e),6y1ou To rcotwcn6petpocr,Trors).si pfiopofpr vo el,6ylouperqv rdoq roD wlotr)tq rcorocrv Me to norw<rr6perpoero6SoD w6q po8roqcbvou. oto pe16<pc,lvo ouv6nerotqv 6vtooq roD r11ou

norevst6perpo

euoXuflC

poldgorvo

etso0oq Btorpotr norevonp6rpou

eleg0yaa pemplnnl 16on euoxuro0

6qoOoq 0wssrl rlXou

EXrtpa1.14.'ELtyyogtvroolq poSroqcbvou

38

#*s rx*{ tvur*tt{ # t"ttrv: t}f}#Twv e&tygrsa

1,2.EvorqpqeA6ylou
AvoprptoBrlaltotu ouv0et6teporcq,lral"sr6rspoouo'alporo eh6ylou etvCI,r or (clvtovot opyavropoi. H iSts q (on ea6Bol"l"e rljv CI,voyKor6tqto, el.6y1ou, prigpro.qg trov hertoupyrrilv ev6gopyovropoti, 6tor rirote,ove(dptq xa afio trg enr$pd,oetq, rouq tulotoug napayovregKc,r rq ruol.l"onl,6q e(oireprrcdg petuBol,6g,01 ouv0qrceq eorlteprrcrlq l"srtoupytuq tou opTovtoporir va, nu,pupdvouv oto0ep6q t'1yevrrc6repo vcx, 'Elueyyog eivsr 01 enr0upqr6q. or1 (c.tln o.qpo,iver p1o 6uvotrlrcr1 npoo,rd,Qeru 6to'lprioqq rnq roopponta,q,qq enr0utr'1c'1q rco,td,ora,o.qq )"enoupyiog ev6g
o'uofl1potog. xru, pr11crvrrd,, oru, rewrlra ouotrlpc,to TroD rcotq,orcedCI,oa o dv$prrlnog, to npo6rcurge on6 tqv cvdyrcrlernjproopori tou ououlpotoq lre -ap6Blqpo tou eL^6y1ou tftoro rp6no, rbore q 6(o5oq, 11o,n6rcproli, roo vCI,6ruo.1peiprov { ou;-rneprrpopd enr0uprlrr]flpq li vo a,rcol,ouOei prov enr0uprqtrl rcopeio,. ri.x. 'Enperce Aw a,prcofosvCI, KCI,rCI,o'KsuCI,otei to rupcirro nr,eo6tr1evo orc6<pog. vo, ro nr16d,l,ro, Bpe0ei Kor o prllovro'p6g nl"orlyqo'T16, to ap6vr, 6tor rbo.te to orcdrpog va, q,rcol,ou0et tqv enr0opqtr'q nopeto, 6tor cilore vu, eivor Duvot6g o 6l.ey1oq qg zcopefog rorl o.rcd,<poug. Oploltog 1.7. E)"eyxoE (control) ev6qSe8opfvou ouorrlpotoqeivorq 6ru6rrcsois rcu,0opropori, aa,pu,ycoyq6, np6rcl,qorlgrou rcotd)"Iql"ou oqporoq ero6Sourou ouorrlporog, 6to'r ciroteq 6(o6oq rou vo arcol,ouOet prov enrOupqtrlnopeio 11 vo Drotqpeiprov enrOuprloluprl. O pr11ovtop6g, to o'6oqpo, ercetvozrou ul,onorei tq 5ro,5rrcu,o.iq, el,6y1ou,nou erctel,eirov t)"eyyo ev6g el"eyl6pevoD ouoclpc,toq, ovopd,(eto t t ).qmr1 E (controller). n.x. To rcr166l"ro rou rul"otou sivo,r o e),eyrctqg,p6o,coroo ozuoiouel.fyleror ro el"eyl6prwo o6oc1po,, ro or<6<pog. To n),oio oro o6vol.o rou, orcd,eoqrcor nr166l"ro eivor 6vq,o-6oqpu el"6yXou.

lsroupyrxO&{ypott|ta

Zflfrpa 1.10. 'El"ey1og nopeiogrou orcdrpoug

&wrnN*g rye"tryTryperwv tv'satrg t A&yy*u 'El"egog qox6q 66opqq

flupddetypu 3:

@ecrlpofpe oov ofotqpo evov ro0p6nq o onoioq661etor 66oprr1 rpcrlt6q. fro rov flXeyyo trlq rcotef0uvoqq rqg ovrovurcl.cbpevqg 66opt1q ul,ld(oupe tq ycrrviu, rl.torlq rou p6oc,r rcoOpfntq ev6q rcof,iu,,o onoioqorcotel,ei Kolrov el,eyrctrl rou o'uotqpq,roq.

ovruuarldrgev4 6dgtn

afaYx{1pt/n |lalc9r$il lurb xllqqlou xn3pCnq: I trrrlo syrst/altltd$wrls 6tosqq: g-o+o

'Efteyloq IX{po 1.15. 66opqg <pror66

Flapd6elypq 4 :'El,ey26oq otpo<prfiv ctpootp6Brl"oo Me pra pu0trnonrrlBdvo otrlv TrpoooyoTrl rou otpof w6g a,tproo'rp6Brl"ou eivot 6uvu,t6v vo pu0pio'oDlrc rq otpotpfqorov Klvqo1pro 6[ova rou CI,rlroorp6Br],ou. H puOprotrrcr] tov el"eyrctr1 rou ouo't(porog. Bdvouftotel"ei
prggmnlFAw

q?lloq

xlvnnlgoqd[ovnC

a$osrp6$ oq dsyxq$vq |sta$ril{

nocirqn aqlo0

srpogats e0in,l|{pnr,0[ow

ETfiltu 1.16. El,eylog arpootp6Brl.ou orpogorv

OprolroE 1.8.

E6or4pail|yyoo (control system)aivo,r6vu ofvOeto ofoqpa rrcuv6 va e)"6y(er, vo rfil1prd,oer, vu rupooupp6ofl rq oupreprqopd rou, rqv 6(o5o rou, of prpotvopr plo rupo6royeypopp6vr'1 em0upqtrl nopeiu. H npoduyeypuppdvrl ouu1rcopeta sruorel.ai uy mt?otrqrry eloo\o (reference avarpopaE input)rou ouonlporoqe),6y1ou.

'Evs

o6oolpo el"6y1ouneprl,utrrBdver ),ouc6vro rcu,0'eo,utof d"eyydpevo oDorqpa.

(plant) Ku,lrov ileyrcu1 pr rov onoio eftr8r,cbrcetor o 6l"ey1oq rnq ouptnrplqopdq,qq on6rcproqq, o1qe(66ourou e)"ey16pwou ouodlporoq. rE.X. O 6l"ey1oqtqq nopetog ev6g o,epori)dvou pdocrltou uur6purou nrl,6rou ro1) dyrcettat o'tov rco,0oprcp6 proq oerpdqevrol"rirvun6 rcy out6poto nrl.6to Trpoq ro o6o'c1po nl,orlyqo'qqroo o,eponl"dvou, ro, nrtp,6yw KCI,t ro ruq6dl,rotou, 6ror rbote ro o,eponl"d,vo vu, o,rcol.ou0r1oer rqv npo8ruyeypopp6vrl enr0upqq nopeio. H enr0upqq oual nopaio,8ivator ouv 6vo olivol"o Se6op6votv orov our6poto nrl"6to Ku,torrort),si trlv eioo8o crvoqopd,g.O out6poroq nil,6rog anote),ei rov el"eyrtrl rcut o,o'rcet p6o'co rov Trrtpoyirrlvtov t)utyyo oto el.eyl6pevo oliotr1po,, nou eivur ro ocbpu, rou rr,spoTrl"dvou. To q,norrl)"sopCI, tou el,6y1ou, r'1 el,ey16pevr1 6(o6oqtou ouotrlprr,rog, etvotrel,rrcannparypcrrlKrl nopetorou o,epofi)crvou.

eru0uprlrl nopeto

ngy;toual nopeia ocpor&dvou

entouprlr{ nopelo

ewoMg

Klioerg rnepuytlov

r|psYilqnxn
qsponMvo nopdo

our6puroq m.i0roq

nrepqro nlorlynalq

arryxfiS

elryl0prvo orXo'rqpc

DXnta 1.11. 'E)"ey1og olg rcopeiaq ev6queponl.dvou

36

fuor1pqru AuroP<irouAfYYou {

1.5.1.Ilapcdeiypara effAt(qgrtl.tvouorrlpdrurv eAfylou

qq or60pqqprCIq pnopofpevo 6ei(oupe Me nopa6elyporo tqv el.6y1oo 6e(opevr16 pt1pl tov nl,{pro6 e(6li(r1 rov ouorqpd,rolvel.6gou, on6 qv oruffi ov0pconoprllovq p6vo6],eryopriorow6q rllsrrpovrrcof uao].oyrcn1. ooropu,rofiorq flopddelypo 1: Avor,26t6 ofotrlpo e}^ry1or Me q pdva el,ey26ou eivur 6uvcrf6vvo eiufy(oupsrTl otdOpq tou vepori otrl 'Oproq pra oroOepti06on pqq pdvo6el.eylou6w noipverun6yr1rrlg rtg 6e{opevr1. 'Etor 11otdOprltr1q petoBoLeq ru1a,ieq noo pTropef va nporol.6oeiq Brivoe(66ou. rrlq nopolq6e(66ou. 8e(opevTlg 0u lcupaiverot uvdl.oyops qrg6nrcupdvotlg

Fdvqltyx(r, erngqnr{ fi0qr4vep0

pdnocE66orl

----'> nqpoxtuq06ot qf&mruvdAorort

q: ruyah nopox{e66qr gton Fdvqq

el,fy1otl: 0

h:mdOplwporl efgVXopsvf *oOoS

elEyrrnS

o6mq|rg

Ifipa

qq otd,0pqg vepot 1.28. Avoqp6 ofoqpa e).pgou

52