popo.txt

----Z3----
te=SD.time;
ue=SD.signals(1).values;
he=SD.signals(2).values;

% subplot(211)
% plot(te,ue);grid
% subplot(212)
% plot(te,he);grid

n=max(find(ue<ue(end)));
t=te(n:end)-te(n);
h=he(n:end)-he(n);
u=ue(n:end)-ue(n-1);
% subplot(211)
% plot(t,u);grid
% subplot(212)
% plot(t,h);grid

hu=h(end);
uu=u(end);
k=hu/uu;

dh=diff(h)./diff(t);
dt=t(1:end-1);
[mdh n]=max(dh);
hp=h(n);
factor=(hp/hu)*100

n=max(find(h<=0.1*hu));
t10=t(n);
n=max(find(h<=0.9*hu));
t90=t(n);
T=(t90-t10)/2.2;
tau=t10-0,1*T;
tr=7.2*tau;
kp=(0.34*T)/(k*tau);
Ti=T;
P=kp;
I=kp/Ti;

----Z2----
te=SD.time;
ue=SD.signals(1).values;
he=SD.signals(2).values;

% subplot(211)
% plot(te,ue);grid
% subplot(212)
% plot(te,he);grid

n=max(find(ue<ue(end)));
t=te(n:end)-te(n);
u=ue(n:end)-ue(n-1);
h=he(n:end)-he(n);
plot(t,h);grid

hu=h(end);
uu=u(end);
k=hu/uu;

dh=diff(h)./diff(t);
dt=t(1:end-1);
[mdh n]=max(dh);
hp=h(n);
factor=(hp/hu)*100

n=max(find(h<=hu*0.1));
t10=t(n);
n=max(find(h<=hu*0.9));
t90=t(n);
T=(t90-t10)/3.3;
tau=t10-0.53*T;
tr=7.2*tau;
kp=(0.68*T)/(k*tau);
Ti=2*T;
Td=Ti/4;
P=kp
I=kp/Ti;
D=kp*Td
N=8/Td;

%przeregulowanie
tp=sd.time;
up=sd.signals(1).values;
hp=sd.signals(2).values;

n=max(find(up<up(end)));
t1=tp(n:end)-tp(n);
h1=hp(n:end)-hp(n);
u1=up(n:end)-up(n-1);
plot(t1,h1,t1,u1);grid
ymax=max(h1);
yust=h1(end);
p=((ymax-yust)/yust)*100

----Z1----
te = SD.time;
ue = SD.signals(1).values;
he = SD.signals(2).values;
 
te = SD.time;
ue = SD.signals(1).values;
he = SD.signals(2).values;

% subplot(211)
% plot(te,ue);grid
% subplot(212)
% plot(te,he);grid

n = max(find(ue<ue(end)));
t = te(n:end)- te(n);
h = he(n:end)- he(n);
u = ue(n:end)- ue(n-1);
plot(t,u,t,h);

hu = h(end);
uu = u(end);
k = hu/uu;

n = max(find(h<=hu*0.1));
t10 = t(n);
n = max(find(h<=hu*0.9));
t90 = t(n);
T=(t90-t10)/2.2;

L=k;
M=[T 1];
hm = lsim(L,M,u,t);
plot(t,h,'r*',t,hm,'b-');grid
legend('h','hm');

kp = (4*T)/(10*60*k);
Ti=T;


P=kp
I=kp/Ti