


EF

‫א‬٢٦٣
  ٢٦٣  ‫א‬
 
 EF  

 
 
 W،،‫א‬‫א‬،‫א‬ 
 
  ‫א‬ ‫א‬ ‫א‬ ‫א‬‫א‬  ‫א‬ ‫א‬  ‫א‬ ‫א‬  
‫א‬‫א‬‫א‬،‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 K ‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ 
  ‫א‬        ،‫א‬ ‫א‬‫א‬  
‫א‬  ‫א‬ ‫א‬ ‫א‬ ‫א‬ ‫א‬   ‫א‬    ،  
‫א‬،‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬،‫א‬
 K‫א‬‫א‬،‫א‬
 ?   ? EF    ? ‫א‬ ‫א‬   
‫א‬ ‫א‬ ‫א‬‫א‬ ‫א‬     ‫א‬ ‫א‬  ? 
 K‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ 
،‫א‬،‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬‫א‬‫א‬
   W    ‫א‬ ‫א‬  ‫א‬    ‫א‬ 
 K‫א‬
 
‫א‬‫א‬‫א‬‫א‬
  ‫א‬٢٦٣  ‫א‬
 
 EF  
 

 W‫א‬‫א‬
 W‫א‬‫א‬‫א‬
K‫א‬ K١
K‫א‬‫א‬‫א‬ K٢
K‫א‬‫א‬‫א‬ K٣
K‫א‬‫א‬‫א‬‫א‬‫א‬ K٤
 
 W‫א‬‫א‬
 W‫א‬
K‫א‬‫א‬ K١
K‫א‬‫א‬‫א‬ K٢
K‫א‬‫א‬‫א‬‫א‬ K٣
K‫א‬‫א‬ K٤

 .‫ ﺳﺎﻋﺔ ﺗﺪرﻳﺐ‬٢٦W‫א‬‫א‬

 

 
 
  ‫א‬‫א‬‫א‬
‫اﻟﻤﺆﺳﺴﺔ اﻟﻌﺎﻣﺔ ﻟﻠﺘﻌﻠﻴﻢ اﻟﻔﻨﻲ واﻟﺘﺪرﻳﺐ اﻟﻤﻬﻨﻲ‬
‫א‬‫א‬‫א‬‫א‬

EF
‫א‬‫א‬
 ‫א‬‫א‬

١
  ‫א‬‫א‬  ‫א‬٢٦٣  ‫א‬
 ‫א‬‫א‬  EF  
 

 W‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬
 W‫א‬‫א‬‫א‬
+15V
W(DC Power supply)‫א‬ K١
~
، ‫א‬ ‫א‬‫א‬‫א‬
= K
 ‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬
 K0V±15V
0V
-15V
 
W(Setpoint potentiometer)‫א‬ K٢
‫א‬‫א‬‫א‬‫א‬
0V‫א‬‫א‬‫א‬،‫א‬
-10V‫א‬،7‫א‬+10V
K3‫א‬
  +10V
  ‫א‬‫א‬5‫א‬
1‫א‬0V‫א‬‫א‬
 K0V‫א‬
 
W(Simulated controlled system)  K٣
‫א‬‫א‬‫א‬
‫א‬،10‫א‬‫א‬‫א‬
K11‫א‬‫א‬‫א‬‫א‬
6‫א‬‫א‬‫א‬
K1.5‫א‬0‫א‬‫א‬

 ‫א‬ ‫א‬‫א‬
 KT2138‫א‬، T157‫א‬

-١-
  ‫א‬‫א‬  ‫א‬٢٦٣  ‫א‬
 ‫א‬‫א‬  EF  
 

W(Comparator) K٤
 ‫א‬‫א‬ ‫א‬‫א‬‫א‬
2‫א‬‫א‬‫א‬‫א‬‫א‬1‫א‬
 K3‫א‬‫א‬‫א‬

 
W(Summing Junction) K٥
‫א‬
،1 ‫א‬‫א‬‫א‬‫א‬
2‫א‬
 K3‫א‬‫א‬K1‫א‬

 
W(P-Controller) K٦
‫א‬،‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬K2‫א‬‫א‬1‫א‬
 K3‫א‬4‫א‬KP‫א‬
 

 

-٢-
  ‫א‬‫א‬  ‫א‬٢٦٣  ‫א‬
 ‫א‬‫א‬  EF  
 

W(I-Controller) K٧
،‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬K2‫א‬‫א‬1‫א‬‫א‬
‫א‬5‫א‬KI‫א‬
‫א‬4‫א‬K6
 K‫א‬
 

 
W(D-Controller) K٨
،‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬K2‫א‬‫א‬1‫א‬‫א‬
‫א‬4‫א‬KD‫א‬
‫א‬3‫א‬K5
 K‫א‬
 

 
W(PID-Controller)  K٩
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬

-٣-
  ‫א‬‫א‬  ‫א‬٢٦٣  ‫א‬
 ‫א‬‫א‬  EF  
 

W(Motor-Generator set.) - K١٠

‫א‬‫א‬
 K‫א‬‫א‬
 


W(Power amplifier)‫א‬ K١١
1‫א‬‫א‬‫א‬ ‫א‬‫א‬‫א‬
 ‫א‬‫א‬ ‫א‬
‫א‬‫א‬2 ‫א‬‫א‬
 K‫א‬
 

 
 W(Digital Multimeter) ‫א‬‫א‬ K١٢
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬‫א‬
 

 

-٤-
  ‫א‬‫א‬  ‫א‬٢٦٣  ‫א‬
 ‫א‬‫א‬  EF  
 

W(Cassy lab) K١٣

‫א‬  ‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬K‫א‬
K
 ‫א‬‫א‬‫א‬‫א‬
 K
 

 
W(PC computer) K١٤
‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬،‫א‬
 K
 

 

-٥-
  ‫א‬‫א‬‫א‬
‫اﻟﻤﺆﺳﺴﺔ اﻟﻌﺎﻣﺔ ﻟﻠﺘﻌﻠﻴﻢ اﻟﻔﻨﻲ واﻟﺘﺪرﻳﺐ اﻟﻤﻬﻨﻲ‬
‫א‬‫א‬‫א‬‫א‬

EF
‫א‬‫א‬‫א‬‫א‬
 ‫א‬‫א‬‫א‬‫א‬

٢
  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬‫א‬‫א‬  EF  
 

 W‫א‬‫א‬ ١ J٢

‫א‬‫א‬‫א‬‫א‬ K١
 K‫א‬‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬‫א‬ K٢
 W‫א‬‫א‬‫ א‬٢ J٢
 .(DC Power supply)‫א‬ K١
 K(Setpoint potentiometer)‫א‬ K٢
 K(Simulated controlled system) K٣
 K(Digital Multimeter)‫א‬‫א‬ K٤
 K(Cassy lab) K٥
 K(PC computer) K٦
 K K٧
W‫א‬‫ א‬٣ J٢
x(t)=5V Ks y(t)
T1 s + 1

 W‫א‬‫ א‬٤ J٢

 

-٦-
  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬‫א‬‫א‬  EF  
 

W‫א‬‫א‬ ٥ J٢
 K‫א‬‫א‬Cassy lab K١
 K‫א‬‫א‬‫א‬ K٢
‫א‬WFK5V‫א‬‫א‬‫א‬ K٣
 ECassy lab‫א‬‫א‬‫א‬
K‫א‬‫א‬KsWFK1‫א‬Ks‫א‬‫א‬ K٤
 E‫א‬‫א‬
‫א‬‫א‬‫א‬T1WFK10sec.‫א‬T1‫א‬‫א‬ K٥
 E‫א‬‫א‬τ
 K‫א‬ K٦
 W‫ א‬٦ J٢
KCassy lab‫א‬A‫א‬‫א‬‫א‬‫א‬
 W‫א‬‫א‬‫א‬

                                 
                                 
                                 
                                 
                                 
                                 

 

-٧-
  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬‫א‬‫א‬  EF  
 

 W‫ א‬٧ J٢
W
‫א‬ K١
K‫א‬‫א‬‫א‬ E
 

K‫א‬‫ א‬E
 
 

K‫א‬‫א‬ E
 
 
 
W
 ‫א‬‫א‬‫א‬ K٢
K‫א‬ E

K‫א‬ E
 
 
 
 
K‫א‬‫א‬ E
 
 
 
K‫א‬‫א‬ E

-٨-
  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬‫א‬‫א‬  EF  
 

W‫ א‬٨ J٢
 
 

-٩-
  ‫א‬‫א‬‫א‬
‫اﻟﻤﺆﺳﺴﺔ اﻟﻌﺎﻣﺔ ﻟﻠﺘﻌﻠﻴﻢ اﻟﻔﻨﻲ واﻟﺘﺪرﻳﺐ اﻟﻤﻬﻨﻲ‬
‫א‬‫א‬‫א‬‫א‬

EF
‫א‬‫א‬‫א‬‫א‬
 ‫א‬‫א‬‫א‬‫א‬

٣
  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬‫א‬‫א‬  EF  
  

 W‫א‬‫א‬ ١ J٣
‫א‬‫א‬‫א‬ ‫א‬ K١
K‫א‬
K‫א‬‫א‬ K٢
 K‫א‬‫א‬‫א‬‫א‬ K٣
 W‫א‬‫א‬‫ א‬٢ J٣
 .(DC Power supply)‫א‬ K١
 K(Setpoint potentiometer)‫א‬ K٢
 K(Simulated controlled system) K٣
 K(Digital Multimeter)‫א‬‫א‬ K٤
 K(Cassy lab) K٥
K(PC computer) K٦
 K K٧
W‫א‬‫ א‬٣ J٣
x(t)=5V Ks y(t)
(T1 s + 1)(T2 s + 1)

 W‫א‬‫ א‬٤ J٣

 

- ١٠ -
  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬‫א‬‫א‬  EF  
  

W‫א‬‫א‬ ٥ J٣
 K‫א‬‫א‬Cassy lab K١
 K‫א‬‫א‬‫א‬ K٢
‫א‬WFK5V‫א‬  ‫א‬‫א‬ K٣
 ECassy lab‫א‬‫א‬‫א‬
K‫א‬‫א‬KsWFK1‫א‬Ks‫א‬‫א‬ K٤
 E‫א‬
 K10sec.‫א‬T1‫א‬‫א‬ K٥
 K1sec.‫א‬T2‫א‬‫א‬ K٦
 K‫א‬ K٧
 W‫ א‬٦ J٣
 KCassy lab‫א‬B‫א‬‫א‬‫א‬‫א‬
 W‫א‬‫א‬‫א‬
 

                                 
                                 
                                 
                                 
                                 
                                 
                                 
                                 

 

- ١١ -
  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬‫א‬‫א‬  EF  
  

 W‫ א‬٧ J٣
W
‫א‬ K١
K‫א‬‫א‬‫א‬ E
 
K‫א‬ E

K‫א‬ E
 
K‫א‬ E
 
K E
 
K‫א‬‫א‬ E
 
W
 ‫א‬‫א‬‫א‬ K٢
K‫א‬ E
 

K ‫א‬‫א‬ E

 
 
K ‫א‬‫א‬‫א‬‫א‬ E
 
 
K‫א‬ E
 
 
 
- ١٢ -
  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬‫א‬‫א‬  EF  
  

K‫א‬ E
 
 
K‫א‬ E
 
 

K‫א‬ E
 
 
 
 
K‫א‬‫א‬ E
 

- ١٣ -
  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬‫א‬‫א‬  EF  
  

 
 W‫ א‬٨ J٣
 

- ١٤ -
  ‫א‬‫א‬‫א‬
‫اﻟﻤﺆﺳﺴﺔ اﻟﻌﺎﻣﺔ ﻟﻠﺘﻌﻠﻴﻢ اﻟﻔﻨﻲ واﻟﺘﺪرﻳﺐ اﻟﻤﻬﻨﻲ‬
‫א‬‫א‬‫א‬‫א‬

EF
‫א‬‫א‬‫א‬
 ‫א‬‫א‬‫א‬

٤
  ‫א‬‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬‫א‬  EF  
 

 W‫א‬‫א‬ ١ J٤
K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ K١
K‫א‬‫א‬‫א‬‫א‬‫א‬ K٢
K‫א‬‫א‬‫א‬‫א‬‫א‬ K٣
 
 W‫א‬‫א‬‫ א‬٢ J٤
 .(DC Power supply)‫א‬ K١
 K(Setpoint potentiometer)‫א‬ K٢
 K(Simulated controlled system) K٣
 K(Comparator) K٤
 K(Summing Junction) K٥
 K(P Controller) K٦
K(I Controller) K٧
 K(Digital Multimeter)‫א‬‫א‬ K٨
 K(Cassy lab) K٩
K(PC computer) K١٠
K K١١
 
W‫א‬‫ א‬٣ J٤

KP
x(t)=5V 1
y(t)
+
+ s +1
_
KI
s

-١٥-
  ‫א‬‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬‫א‬  EF  
 

 W‫א‬‫ א‬٤ J٤

 
W‫א‬‫א‬ ٥ J٤
 K‫א‬‫א‬Cassy lab K١
 K‫א‬‫א‬‫א‬ K٢
 K5V‫א‬‫א‬‫א‬ K٣
 K1‫א‬Ks‫א‬‫א‬ K٤
 K1sec.‫א‬T1‫א‬‫א‬ K٥
 K‫א‬ K٦
 W‫ א‬٦ J٤
KKI = 0.5‫א‬ K١
KE 10, 5, 1 FKP‫א‬ K٢
 W‫א‬‫א‬‫א‬‫א‬‫א‬ K٣

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  ‫א‬‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬‫א‬  EF  
 

                                 
                                 
                                 
                                 
                                 
                                 
                                 
                                 

 
KKP=10‫א‬ K٤
KE 1, 0.5, 0.3 FKI‫א‬ K٥
 W‫א‬‫א‬‫א‬‫א‬‫א‬ K٦

                                 
                                 
                                 
                                 
                                 
                                 
                                 
                                 

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  ‫א‬‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬‫א‬  EF  
 

 W‫ א‬٧ J٤
W
 ‫א‬‫א‬
K‫א‬‫א‬ K١
 
 
 
K‫א‬‫א‬‫א‬‫א‬ K٢
 
 
 
 
 
 
 
 
 

 K‫א‬‫א‬‫א‬‫א‬ K٣

 

 

-١٨-
  ‫א‬‫א‬‫א‬
‫اﻟﻤﺆﺳﺴﺔ اﻟﻌﺎﻣﺔ ﻟﻠﺘﻌﻠﻴﻢ اﻟﻔﻨﻲ واﻟﺘﺪرﻳﺐ اﻟﻤﻬﻨﻲ‬
‫א‬‫א‬‫א‬‫א‬

EF
‫א‬‫א‬‫א‬
 ‫א‬‫א‬‫א‬

٥
  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬‫א‬  EF  
 

 W‫א‬‫א‬ ١ J٥
K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ K١
K‫א‬‫א‬‫א‬‫א‬‫א‬ K٢
K‫א‬‫א‬‫א‬‫א‬‫א‬ K٣
 
 W‫א‬‫א‬‫ א‬٢ J٥
 .(DC Power supply)‫א‬ K١
 K(Setpoint potentiometer)‫א‬ K٢
 K(Simulated controlled system) K٣
 K(Comparator) K٤
 K(Summing Junction) K٥
 K(P Controller) K٦
K(D Controller) K٧
 K(Digital Multimeter)‫א‬‫א‬ K٨
 K(Cassy lab) K٩
K(PC computer) K١٠
K K١١
 
W‫א‬‫ א‬٣ J٥

KP
x(t)=5V 1
y(t)
+
+ s +1
_
KDs

-١٩-
  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬‫א‬  EF  
 

 W‫א‬‫ א‬٤ J٥

 
 
W‫א‬‫א‬ ٥ J٥
 K‫א‬‫א‬Cassy lab K١
 K‫א‬‫א‬‫א‬ K٢
 K5V‫א‬‫א‬‫א‬ K٣
 K1‫א‬Ks‫א‬‫א‬ K٤
 K1sec.‫א‬T1‫א‬‫א‬ K٥
 K‫א‬ K٦
 W‫ א‬٦ J٥
KKD = 0.2‫א‬ K١
KE 20, 15, 10 FKP‫א‬ K٢
 W‫א‬‫א‬‫א‬‫א‬‫א‬ K٣

-٢٠-
  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬‫א‬  EF  
 

                                 
                                 
                                 
                                 
                                 
                                 
                                 
                                 

 
KKP=10‫א‬ K٤
KE 0.3, 0.2, 0.1 FKD‫א‬ K٥
 W‫א‬‫א‬‫א‬‫א‬‫א‬ K٦

                                 
                                 
                                 
                                 
                                 
                                 
                                 
                                 

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  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬‫א‬  EF  
 

 W‫ א‬٧ J٥
W
 ‫א‬‫א‬
K‫א‬‫א‬ K١
 
 
 
K‫א‬‫א‬‫א‬‫א‬ K٢
 
 
 
 
 
 
 
 
 

 K‫א‬‫א‬‫א‬‫א‬ K٣

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  ‫א‬‫א‬‫א‬
‫اﻟﻤﺆﺳﺴﺔ اﻟﻌﺎﻣﺔ ﻟﻠﺘﻌﻠﻴﻢ اﻟﻔﻨﻲ واﻟﺘﺪرﻳﺐ اﻟﻤﻬﻨﻲ‬
‫א‬‫א‬‫א‬‫א‬

EF
‫א‬‫א‬‫א‬‫א‬
 ‫א‬‫א‬‫א‬‫א‬

٦
  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬‫א‬‫א‬  EF  
  

 W‫א‬‫א‬ ١ J٦
K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ K١
K‫א‬‫א‬‫א‬‫א‬‫א‬ K٢
K‫א‬‫א‬‫א‬‫א‬‫א‬ K٣
K‫א‬‫א‬‫א‬‫א‬‫א‬ K٤
 W‫א‬‫א‬‫ א‬٢ J٦
 .(DC Power supply)‫א‬ K١
 K(Setpoint potentiometer)‫א‬ K٢
 K(Simulated controlled system) K٣
 K(Comparator) K٤
 K(Summing Junction) K٥
 K(P Controller) K٦
K(I Controller) K٧
K(D Controller) K٨
 K(Digital Multimeter)‫א‬‫א‬ K٩
 K(Cassy lab) K١٠
K(PC computer) K١١
K K١٢
W‫א‬‫ א‬٣ J٦

KP
x(t)=5V 1
y(t)
+ KI
+ s +1
_ s

KDs

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  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬‫א‬‫א‬  EF  
  

 W‫א‬‫ א‬٤ J٦

 
W‫א‬‫א‬ ٥ J٦
 K‫א‬‫א‬Cassy lab K١
 K‫א‬‫א‬‫א‬ K٢
 K5V‫א‬‫א‬‫א‬ K٣
 K1‫א‬Ks‫א‬‫א‬ K٤
 K1sec.‫א‬T1‫א‬‫א‬ K٥
 K‫א‬ K٦
 W‫ א‬٦ J٦
KKD‫א‬KI‫א‬ K١
KKP‫א‬‫א‬ K٢
 W‫א‬‫א‬‫א‬‫א‬ K٣

                                 
                                 
                                 
                                 
                                 
                                 
 
-٢٤-
  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬‫א‬‫א‬  EF  
  

KKD‫א‬KP‫א‬ K٤
KKI‫א‬‫א‬ K٥
 W‫א‬‫א‬‫א‬‫א‬‫א‬ K٦

                                 
                                 
                                 
                                 
                                 
                                 
                                 
                                 
 
KKI‫א‬KP‫א‬ K٧
KKD‫א‬‫א‬ K٨
 W‫א‬‫א‬‫א‬‫א‬‫א‬ K٩

                                 
                                 
                                 
                                 
                                 
                                 
                                 
                                 
 
-٢٥-
  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬‫א‬‫א‬‫א‬  EF  
  

 W‫ א‬٧ J٦
W
 ‫א‬‫א‬
K‫א‬‫א‬ K١
 
K‫א‬‫א‬‫א‬‫א‬ K٢
 
K‫א‬‫א‬‫א‬‫א‬ K٣
 
 
 
 
 
 

K‫א‬‫א‬‫א‬‫א‬ K٤
 
 

 

-٢٦-
  ‫א‬‫א‬‫א‬
‫اﻟﻤﺆﺳﺴﺔ اﻟﻌﺎﻣﺔ ﻟﻠﺘﻌﻠﻴﻢ اﻟﻔﻨﻲ واﻟﺘﺪرﻳﺐ اﻟﻤﻬﻨﻲ‬
‫א‬‫א‬‫א‬‫א‬

EF
‫א‬
 ‫א‬

٧
  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬  EF  

 W‫א‬‫א‬ ١ J٧
‫א‬‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬
 W‫א‬‫א‬‫ א‬٢ J٧
 .(DC Power supply)‫א‬ K١
 K(Power amplifier) K٢
K(Servo setpoint potentiometer)‫א‬‫א‬‫א‬ K٣
K(PID Controller) K٤
K(DC-Servo) K٥
K K٦
W‫א‬‫ א‬٣ J٧
‫وﺿﻊ‬
‫اﻟﺪﺧﻞ‬
‫اﻟﻤﺤﺮك‬
‫اﻟﻤﺮﺟﻌﻲ‬ DC ‫إﻟﻰ ﺟﻬﺎز‬
Input PID- Power
Transducer controller Amplifier Motor ‫اﻟﻌﺮض‬

Output
Transducer
 
 W‫א‬‫ א‬٤ J٧

 

-٢٧-
  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬  EF  

 W‫א‬‫א‬‫א‬ ٥ J٧
 K‫א‬‫א‬‫א‬‫א‬ K١
W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ K٢

 EF‫א‬  EF ‫א‬‫א‬ EF ‫א‬‫א‬

    30
    60
    90
    120
 K‫א‬‫א‬‫א‬‫א‬ K٣
K‫א‬‫א‬‫א‬‫א‬‫א‬ K٤
W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ K٥

 EF‫א‬  EF ‫א‬‫א‬ EF ‫א‬‫א‬

    30
    60
    90
    120

 W‫ א‬٦ J٧
 

-٢٨-
  ‫א‬‫א‬‫א‬
‫اﻟﻤﺆﺳﺴﺔ اﻟﻌﺎﻣﺔ ﻟﻠﺘﻌﻠﻴﻢ اﻟﻔﻨﻲ واﻟﺘﺪرﻳﺐ اﻟﻤﻬﻨﻲ‬
‫א‬‫א‬‫א‬‫א‬

EF
  ‫א‬
 ‫א‬

٨
  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬  EF  

 W‫א‬‫א‬ ١ J٨
 K‫א‬‫א‬
 W‫א‬‫א‬‫ א‬٢ J٨
 .(DC Power supply)‫א‬ K١
 K(Setpoint potentiometer)‫א‬ K٢
 K(Comparator) K٣
 K(Motor-Generator set.)- K٤
 K(Power amplifier)‫א‬ K٥
 K(Digital Multimeter)‫א‬‫א‬ K٦
 K(Cassy lab) K٧
K(PC computer) K٨
 K K٩
W‫א‬‫ א‬٣ J٨
‫א‬ 
‫א‬ Power
ω ‫א‬
DC Tacho-
Amplifier Motor generator

 W‫א‬‫ א‬٤ J٨

 
-٢٩-
  ‫א‬‫א‬  ٢٦٣  ‫א‬
 ‫א‬  EF  

 W‫א‬‫א‬ ٥ J٨
 K‫א‬‫א‬Cassy lab K١
 K‫א‬‫א‬‫א‬ K٢
 K‫א‬ K٣
‫א‬‫א‬‫א‬ K٤
W‫א‬‫א‬‫א‬K‫א‬
E‫א‬F‫א‬‫א‬ EF‫א‬ EF‫א‬

1000‫א‬‫א‬1V‫א‬‫א‬ K٥
K‫א‬‫א‬،‫א‬
W‫ א‬٦ J٨

-٣٠-
  ‫א‬‫א‬‫א‬
‫اﻟﻤﺆﺳﺴﺔ اﻟﻌﺎﻣﺔ ﻟﻠﺘﻌﻠﻴﻢ اﻟﻔﻨﻲ واﻟﺘﺪرﻳﺐ اﻟﻤﻬﻨﻲ‬
‫א‬‫א‬‫א‬‫א‬

EF
PID‫א‬ ‫א‬
 PID‫א‬‫א‬

٩
  ‫א‬‫א‬  ٢٦٣  ‫א‬
PID‫א‬‫א‬  EF  
 

 W‫א‬‫א‬ ١ J٩
 KPID‫א‬‫א‬‫א‬ K١
K‫א‬PID‫א‬‫א‬‫א‬ K٢
K‫א‬PID‫א‬‫א‬‫א‬ K٣
 K‫א‬PID‫א‬‫א‬‫א‬ K٤
 
 W‫א‬‫א‬‫ א‬٢ J٩
 .(DC Power supply)‫א‬ K١
 K(Setpoint potentiometer)‫א‬ K٢
 K(Comparator) K٣
 K(PID Controller) K٤
 K(Motor-Generator set.)- K٥
 K(Power amplifier)‫א‬ K٦
 K(Digital Multimeter)‫א‬‫א‬ K٧
 K(Cassy lab) K٨
K(PC computer) K٩
 K K١٠

W‫א‬‫ א‬٣ J٩

‫א‬ 
‫א‬ PID Power
ω ‫א‬
DC Tacho-
Controller Amplifier Motor generator

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  ‫א‬‫א‬  ٢٦٣  ‫א‬
PID‫א‬‫א‬  EF  
 

 W‫א‬‫ א‬٤ J٩

 

 W‫א‬‫א‬ ٥ J٩
 K‫א‬‫א‬Cassy lab K١
 K‫א‬‫א‬‫א‬ K٢
 K‫א‬ K٣
K‫א‬‫א‬‫א‬‫א‬ K٤
W‫ א‬٦ J٩
KI
 ‫א‬‫א‬،KP
  ‫א‬‫א‬‫ א‬K١
K‫א‬‫א‬KKD‫א‬‫א‬

                                 
                                 
                                 
                                 
                                 
                                 

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  ‫א‬‫א‬  ٢٦٣  ‫א‬
PID‫א‬‫א‬  EF  
 

 KI‫א‬ ‫א‬ KP‫א‬ ‫א‬ K٢

K‫א‬‫א‬KD‫א‬‫א‬

                                 
                                 
                                 
                                 
                                 
                                 

KD‫א‬‫א‬KP‫א‬‫א‬ K٣
K‫א‬‫א‬‫א‬KI‫א‬‫א‬

                                 
                                 
                                 
                                 
                                 
                                 

 KD‫א‬‫א‬KI‫א‬‫א‬ K٤
K‫א‬‫א‬‫א‬KP‫א‬‫א‬

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  ‫א‬‫א‬  ٢٦٣  ‫א‬
PID‫א‬‫א‬  EF  
 

                                 
                                 
                                 
                                 
                                 
                                 

 
W‫ א‬٧ J٩
 K‫א‬PID‫א‬‫א‬‫א‬ K١
 
 
 
 
 K‫א‬PID ‫א‬‫א‬‫א‬ K٢
 
 
 
 
 K‫א‬PID ‫א‬‫א‬‫א‬ K٣
 
 

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  ‫א‬‫א‬‫א‬
‫اﻟﻤﺆﺳﺴﺔ اﻟﻌﺎﻣﺔ ﻟﻠﺘﻌﻠﻴﻢ اﻟﻔﻨﻲ واﻟﺘﺪرﻳﺐ اﻟﻤﻬﻨﻲ‬
‫א‬‫א‬‫א‬‫א‬

EF
‫א‬‫א‬MATLAB‫א‬‫א‬
‫א‬‫א‬MATLAB‫א‬‫א‬

  PID‫א‬
 PID‫א‬

١٠
  ‫א‬‫א‬  ٢٦٣  ‫א‬
PID‫א‬‫א‬‫א‬MATLAB‫א‬‫א‬  EF  

 
 W‫א‬‫א‬ ١ J١٠
‫א‬‫א‬‫א‬MATLAB‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬‫א‬،PID
 W‫א‬‫ א‬٢ J١٠
K K١
KMATLAB K٢
 WSIMULINK‫א‬‫א‬‫ א‬٣ J١٠
Kp

21.81
5 1
Reference Ki
s
0.0063s 2 + 0.379 s + 1
Input Scope

Transfer Function of
DC Motor
Kd du/dt

 
 W‫א‬‫א‬ ٤ J١٠
 KSIMULINK K١
K‫א‬‫א‬‫א‬‫א‬ K٢
‫א‬‫א‬‫א‬‫א‬ K٣
 KPID‫א‬
 W‫א‬‫ א‬٥ J١٠
 K‫א‬‫א‬‫א‬
 W‫ א‬٦ J١٠
 K‫א‬PID‫א‬‫א‬‫א‬ K١
 
 
 
 
-٣٥-
  ‫א‬‫א‬  ٢٦٣  ‫א‬
PID‫א‬‫א‬‫א‬MATLAB‫א‬‫א‬  EF  

 
 K‫א‬PID ‫א‬‫א‬‫א‬ K٢
 
 
 
 
 
 K‫א‬PID ‫א‬‫א‬‫א‬ K٣
 
 
 
 
 
 
 K‫א‬‫א‬‫א‬‫א‬‫א‬ K٤
 
 

-٣٦-
  ‫א‬‫א‬‫א‬
‫اﻟﻤﺆﺳﺴﺔ اﻟﻌﺎﻣﺔ ﻟﻠﺘﻌﻠﻴﻢ اﻟﻔﻨﻲ واﻟﺘﺪرﻳﺐ اﻟﻤﻬﻨﻲ‬
‫א‬‫א‬‫א‬‫א‬

EF
  ‫א‬‫א‬‫א‬‫א‬
 ‫א‬‫א‬‫א‬‫א‬

١١
  ‫א‬‫א‬  ٢٦٣  ‫א‬
‫א‬‫א‬‫א‬‫א‬  EF  
  
  
 W‫א‬‫א‬ ١ J١١
K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 W‫א‬‫ א‬٢ J١١
K K١
 KMATLAB K٢
 W‫א‬‫א‬‫א‬ ٣ J١١
W‫א‬‫א‬‫א‬‫א‬‫ א‬K١
K n( s )
  G( s) = =
τs + 1 d ( s )
  d ( s) = τs + 1  n( s) = K ‫א‬
W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ K٢
» K=10;
» tau=0.1;
» n=k;
» d=[tau 1];
» bode(n,d)
KFigure No.1‫א‬‫א‬‫א‬ K٣
‫א‬‫א‬K‫א‬‫א‬ K٤
‫א‬K‫א‬‫א‬
W‫א‬‫א‬
» hold
Current plot held
  ‫א‬ ‫א‬
 ‫א‬‫א‬‫א‬ K٥
W‫א‬‫א‬‫א‬‫א‬
» hold
Current plot released
 W‫א‬‫א‬‫א‬ K٦
» k=1;
» tau=1;
» n=k;
» d=[tau 1];
» bode(n,d)

- ٣٧ -
  ‫א‬‫א‬  ٢٦٣  ‫א‬
‫א‬‫א‬‫א‬‫א‬  EF  
  
  
‫א‬‫א‬K‫א‬‫א‬‫א‬‫א‬ K٧
 W‫א‬‫א‬‫א‬‫א‬
» hold
Current plot held
 W‫ א‬٤ J١١
 K‫א‬‫א‬‫א‬
W‫ א‬٥ J١١
K‫א‬‫א‬‫א‬ K١
 
 
 
 
 
 
 
 K‫א‬‫א‬‫א‬‫א‬ K٢
 

- ٣٨ -
  ‫א‬‫א‬‫א‬
‫اﻟﻤﺆﺳﺴﺔ اﻟﻌﺎﻣﺔ ﻟﻠﺘﻌﻠﻴﻢ اﻟﻔﻨﻲ واﻟﺘﺪرﻳﺐ اﻟﻤﻬﻨﻲ‬
‫א‬‫א‬‫א‬‫א‬

EF
  ‫א‬‫א‬‫א‬‫א‬
 ‫א‬‫א‬‫א‬‫א‬

١٢
  ‫א‬‫א‬  ٢٦٣  ‫א‬
‫א‬‫א‬‫א‬‫א‬  EF  

  

 W‫א‬‫א‬ ١ J١٢
K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 W‫א‬‫ א‬٢ J١٢
K K١
 KMATLAB K٢
 W‫א‬‫א‬‫א‬ ٣ J١٢
W‫א‬‫א‬‫א‬‫א‬‫ א‬K١
ω 02 n( s)
  G ( s) = =
s 2 + 2ζω 0 s + ω02 d ( s)

  d ( s) = s 2 + 2ζω0 s + ω02  n( s ) = ω02 ‫א‬

 ζ=zeta ω0 = omegaW‫א‬‫א‬‫א‬
W‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ K٢
» omega=4;
» zeta=2;
» n=omega^2;
» d=[1 2*zeta*omega omega^2];
» bode(n,d)
KFigure No.1‫א‬‫א‬‫א‬ K٣
‫א‬ζ‫א‬ζ‫א‬‫א‬ K٤
‫א‬‫א‬ K‫א‬
W‫א‬
» hold
Current plot held
‫א‬ ‫א‬ω0‫א‬‫א‬ K٥
W‫א‬‫א‬‫א‬‫א‬
» hold
Current plot released
 W‫א‬‫א‬ K٦
» zeta=0.1;
» omega=4;
» n=omega^2;
» d=[1 2*zeta*omega omega^2];
-٣٩-
  ‫א‬‫א‬  ٢٦٣  ‫א‬
‫א‬‫א‬‫א‬‫א‬  EF  

  
» bode(n,d)
‫א‬‫א‬K‫א‬‫א‬‫א‬‫א‬ K٧
 W‫א‬‫א‬‫א‬‫א‬
» hold
Current plot held
 W‫ א‬٤ J١٢
 K‫א‬‫א‬‫א‬
W‫ א‬٥ J١٢
K‫א‬‫א‬ζ‫א‬ K٣
 
 
 
 
 
 
 
 K‫א‬‫א‬ω0‫א‬ K٤
 

-٤٠-
  ‫א‬  ٢٦٣  ‫א‬
   EF  

 

 ‫א‬
١  ‫א‬‫א‬  ‫א‬‫א‬
٧  ‫א‬‫א‬‫א‬‫א‬  ‫א‬‫א‬
١١  ‫א‬‫א‬‫א‬‫א‬  ‫א‬‫א‬
١٥  ‫א‬‫א‬‫א‬  ‫א‬‫א‬‫א‬
١٩  ‫א‬‫א‬‫א‬  ‫א‬‫א‬
٢٣  ‫א‬‫א‬‫א‬‫א‬  ‫א‬‫א‬
٢٧  ‫א‬  ‫א‬‫א‬
٢٩  ‫א‬  ‫א‬‫א‬
٣١  PID‫א‬‫א‬  ‫א‬‫א‬
٣٥  PID‫א‬‫א‬‫א‬MATLAB‫א‬‫א‬  ‫א‬‫א‬
٣٧  ‫א‬‫א‬‫א‬‫ א‬‫א‬‫א‬
٣٩  ‫א‬‫א‬‫א‬‫ א‬‫א‬‫א‬
 