{"id":83942,"date":"2020-06-04T07:42:41","date_gmt":"2020-06-04T05:42:41","guid":{"rendered":"https:\/\/prohoster.info\/blog\/administrirovanie\/vvedenie-v-teoriyu-avtomaticheskogo-upravleniya-osnovnye-ponyatiya-teorii-upravleniya-tehnicheskim-sistemami"},"modified":"2020-06-04T07:42:41","modified_gmt":"2020-06-04T05:42:41","slug":"vvedenie-v-teoriyu-avtomaticheskogo-upravleniya-osnovnye-ponyatiya-teorii-upravleniya-tehnicheskim-sistemami","status":"publish","type":"post","link":"https:\/\/prohoster.info\/sq\/blog\/administrirovanie\/vvedenie-v-teoriyu-avtomaticheskogo-upravleniya-osnovnye-ponyatiya-teorii-upravleniya-tehnicheskim-sistemami","title":{"rendered":"Hyrja n\u00eb teorin\u00eb e kontrollit automatizuar. Konceptet kryesore t\u00eb teoris\u00eb s\u00eb kontrollit t\u00eb sistemeve teknike","gt_translate_keys":[{"key":"rendered","format":"text"}]},"content":{"rendered":"<p>Po publikoj kapitullin e par\u00eb t\u00eb leksioneve mbi teorin\u00eb e kontrollit automatizuar, pas t\u00eb cilave jeta juaj nuk do t\u00eb jet\u00eb m\u00eb ashtu si\u00e7 ishte. <\/p>\n<p><\/p>\n<p>Leksionet e kursit \"Kontrolli i Sistemeve Teknike\", t\u00eb mbajtura nga Kozlov Oleg Stepanovich n\u00eb katedr\u00ebn \"Reaktor\u00ebt B\u00ebrthamor\u00eb dhe Instalimet Energetike\", Fakulteti i \"Inxhinieris\u00eb s\u00eb Energjis\u00eb\" n\u00eb MGTU im. N.E. Bauman. P\u00ebr k\u00ebt\u00eb i shprehim mir\u00ebnjohje t\u00eb madhe. <\/p>\n<p><\/p>\n<p>K\u00ebto leksione jan\u00eb duke u p\u00ebrgatitur p\u00ebr publikim n\u00eb form\u00ebn e nj\u00eb libri, dhe p\u00ebr shkak se k\u00ebtu ka specialist\u00eb p\u00ebr TAU, student\u00eb dhe thjesht njer\u00ebz t\u00eb interesuar p\u00ebr tem\u00ebn, \u00e7do kritik\u00eb \u00ebsht\u00eb e mir\u00ebpritur. <\/p>\n<p>\n<img decoding=\"async\" alt=\"Hyrja n\u00eb teorin\u00eb e kontrollit automatizuar. Konceptet kryesore t\u00eb teoris\u00eb s\u00eb kontrollit t\u00eb sistemeve teknike\" src=\"\/wp-content\/uploads\/2020\/06\/51ec35e261067ae210b961e3a4259d87.jpg\" style=\"display:block;margin: 0 auto;\" \/><noindex><a rel=\"nofollow\" name=\"habracut\"><\/a><\/noindex><\/p>\n<h1>1. Konceptet kryesore t\u00eb teoris\u00eb s\u00eb kontrollit t\u00eb sistemeve teknike<\/h1>\n<p><\/p>\n<h2>1.1. Q\u00ebllimet, parimet e kontrollit, llojet e sistemeve t\u00eb kontrollit, p\u00ebrkufizimet kryesore, shembuj<\/h2>\n<p><\/p>\n<p>Zhvillimi dhe p\u00ebrmir\u00ebsimi i prodhimit industrial (energjis\u00eb, transportit, inxhinieris\u00eb mekanike, teknologjis\u00eb hap\u00ebsinore etj.) k\u00ebrkon nj\u00eb rritje t\u00eb vazhdueshme t\u00eb produktivitetit t\u00eb makinerive dhe agregateve, rritjen e cil\u00ebsis\u00eb s\u00eb produkteve, uljen e kostove dhe, ve\u00e7an\u00ebrisht n\u00eb energjin\u00eb b\u00ebrthamore, nj\u00eb rritje t\u00eb mpreht\u00eb t\u00eb siguris\u00eb (b\u00ebrthamore, radiologjike etj.) gjat\u00eb operimit t\u00eb centraleve b\u00ebrthamore dhe instalimeve b\u00ebrthamore.<\/p>\n<p><\/p>\n<p>Realizimi i q\u00ebllimeve t\u00eb caktuara \u00ebsht\u00eb i pamundur pa implementimin e sistemeve moderne t\u00eb menaxhimit, duke p\u00ebrfshir\u00eb si sistemet automatike (me pjes\u00ebmarrjen e operatorit-njeri), ashtu edhe sistemet automatike (pa pjes\u00ebmarrjen e operatorit-njeri).<\/p>\n<p><\/p>\n<p><b>P\u00ebrcaktimi: <\/b><i>Menaxhimi \u00ebsht\u00eb nj\u00eb organizim i procesit teknologjik t\u00eb caktuar, i cili siguron arritjen e q\u00ebllimit t\u00eb caktuar.<\/i><\/p>\n<p><\/p>\n<p><i>Teoria e menaxhimit<\/i> \u00ebsht\u00eb nj\u00eb deg\u00eb e shkenc\u00ebs dhe teknik\u00ebs moderne. Ajo bazohet si n\u00eb disiplinat themelore (n\u00eb shkencat e p\u00ebrgjithshme) (p.sh., matematika, fizika, kimia etj.), ashtu edhe n\u00eb disiplinat e aplikueshme (elektronika, teknika e mikroprocesor\u00ebve, programimi etj.).<\/p>\n<p><\/p>\n<p>\u00c7do proces menaxhimi (autmatik) p\u00ebrb\u00ebhet nga k\u00ebto faza kryesore (elemente):<\/p>\n<p><\/p>\n<ul>\n<li> marrja e informacionit mbi detyr\u00ebn e menaxhimit;<\/li>\n<li> marrja e informacionit mbi rezultatin e menaxhimit;<\/li>\n<li> analiza e informacionit t\u00eb marr\u00eb;<\/li>\n<li> zbatimi i vendimit (ndikimi n\u00eb objektin e menaxhimit). <\/li>\n<\/ul>\n<p><\/p>\n<p>P\u00ebr t\u00eb realizuar Procesin e Menaxhimit, sistemi i menaxhimit (SM) duhet t\u00eb ket\u00eb:<\/p>\n<p><\/p>\n<ul>\n<li> burime informacioni mbi detyr\u00ebn e menaxhimit;<\/li>\n<li> burime informacioni mbi rezultatet e menaxhimit (sensor\u00eb t\u00eb ndrysh\u00ebm, pajisje mat\u00ebse, detektor\u00eb etj.);<\/li>\n<li> pajisje p\u00ebr analizimin e informacionit t\u00eb marr\u00eb dhe formimin e vendimeve;<\/li>\n<li> pajisje ekzekutuese q\u00eb ndikojn\u00eb n\u00eb Objektin e Menaxhimit, q\u00eb p\u00ebrfshijn\u00eb: rregullator, motor\u00eb, pajisje fuqizuese dhe transformuese etj.<\/li>\n<\/ul>\n<p><\/p>\n<p><b>P\u00ebrcaktimi:<\/b><i> N\u00ebse sistemi i menaxhimit (SM) p\u00ebrmban t\u00eb gjitha pjes\u00ebt e m\u00ebsip\u00ebrme, at\u00ebher\u00eb ai \u00ebsht\u00eb i mbyllur.<\/i><\/p>\n<p><\/p>\n<p><b>P\u00ebrcaktimi:<\/b> <i>Menaxhimi i objektit teknik duke p\u00ebrdorur informacionin mbi rezultatet e menaxhimit quhet parimi i reagimit t\u00eb mbrapsht\u00eb.<\/i><\/p>\n<p><\/p>\n<p>Sikur nj\u00eb sistem menaxhimi mund t\u00eb paraqitet n\u00eb form\u00ebn:<\/p>\n<p><\/p>\n<p><img decoding=\"async\" alt=\"Hyrja n\u00eb teorin\u00eb e kontrollit automatizuar. Konceptet kryesore t\u00eb teoris\u00eb s\u00eb kontrollit t\u00eb sistemeve teknike\" src=\"\/wp-content\/uploads\/2020\/06\/8c48f4621773bbe8620934de7b1c2e16.jpg\" style=\"display:block;margin: 0 auto;\" \/><br \/>\n<i>Fig. 1.1.1 \u2014 Struktura e sistemit t\u00eb menaxhimit (SM) <\/i><\/p>\n<p><\/p>\n<p> N\u00ebse sistemi i menaxhimit (SM) ka nj\u00eb skem\u00eb strukturore q\u00eb p\u00ebrputhet me figur\u00ebn 1.1.1 dhe funksionon (punon) pa ndihm\u00ebn e njeriut (operatorit), at\u00ebher\u00eb quhet <u>sistem i menaxhimit automatizuar (SMA)<\/u>.<\/p>\n<p><\/p>\n<p> N\u00ebse SM funksionon me ndihm\u00ebn e njeriut (operatorit), at\u00ebher\u00eb quhet <u>SM i automatizuar<\/u>.<\/p>\n<p><\/p>\n<p> N\u00ebse Menaxhimi garanton nj\u00eb ligj t\u00eb caktuar t\u00eb ndryshimit t\u00eb objektit n\u00eb koh\u00eb pavar\u00ebsisht nga rezultatet e menaxhimit, at\u00ebher\u00eb ky menaxhim realizohet sipas nj\u00eb cikli t\u00eb hapur, dhe vet\u00eb menaxhimi quhet <u>menaxhim programues<\/u>.<\/p>\n<p><\/p>\n<p> Sistemet q\u00eb punojn\u00eb sipas ciklit t\u00eb hapur p\u00ebrfshijn\u00eb automatik\u00ebt industriale (linjat e konvejer\u00ebve, linjat rrotulluese etj.), makinat me menaxhim numerik (CNC): shihni shembullin n\u00eb figur\u00ebn 1.1.2.<\/p>\n<p><\/p>\n<p><img decoding=\"async\" alt=\"Hyrja n\u00eb teorin\u00eb e kontrollit automatizuar. Konceptet kryesore t\u00eb teoris\u00eb s\u00eb kontrollit t\u00eb sistemeve teknike\" src=\"\/wp-content\/uploads\/2020\/06\/20c14fed7423b8be82da94b8e0eceae7.jpg\" style=\"display:block;margin: 0 auto;\" \/><br \/>\n<i>Figura 1.1.2 \u2014 Shembulli i menaxhimit programues<\/i><\/p>\n<p><\/p>\n<p>Dispozita e caktimit mund t\u00eb jet\u00eb, p\u00ebr shembull, dhe \"kopje\".<\/p>\n<p><\/p>\n<p>Pasi n\u00eb k\u00ebt\u00eb shembull nuk ka sensor\u00eb (mat\u00ebs) q\u00eb kontrollojn\u00eb pjes\u00ebn e prodhuar, n\u00ebse, p\u00ebr shembull, mjeti \u00ebsht\u00eb vendosur gabimisht ose ka d\u00ebshtuar, q\u00ebllimi i vendosur (prodhimi i pjes\u00ebs) nuk mund t\u00eb arrihet (realizohet). Zakonisht, n\u00eb sistemet e k\u00ebtij lloji \u00ebsht\u00eb e nevojshme nj\u00eb kontroll dal\u00ebs, i cili do t\u00eb regjistroj\u00eb vet\u00ebm devijimin e dimensioneve dhe form\u00ebs s\u00eb pjes\u00ebs nga ajo e d\u00ebshiruar.<\/p>\n<p><\/p>\n<p> Sistemet automatike t\u00eb kontrollit ndahen n\u00eb 3 lloje: <\/p>\n<p><\/p>\n<ul>\n<li> sistemet e kontrollit automatik (SCA); <\/li>\n<li> sistemet e rregullimit automatik (SRA);<\/li>\n<li> sistemet ndjek\u00ebse (SN). <\/li>\n<\/ul>\n<p><\/p>\n<p>SRA dhe SN jan\u00eb n\u00ebngrupe t\u00eb SCA ==&gt; <img decoding=\"async\" alt=\"Hyrja n\u00eb teorin\u00eb e kontrollit automatizuar. Konceptet kryesore t\u00eb teoris\u00eb s\u00eb kontrollit t\u00eb sistemeve teknike\" src=\"\/wp-content\/uploads\/2020\/06\/21f340c84febe0f6ab25cc5c9256dfb1.jpg\" style=\"display:block;margin: 0 auto;\" \/>.<\/p>\n<p><\/p>\n<p>P\u00ebrcaktimi: Nj\u00eb sistem automatike kontrolli q\u00eb siguron konstant\u00ebsin\u00eb e nj\u00eb sasi fizike (grupit t\u00eb sasis\u00eb) n\u00eb objektin e kontrollit quhet sistem i rregullimit automatike (SRA).<\/p>\n<p><\/p>\n<p> Sistemet e rregullimit automatik (SRA) jan\u00eb tipi m\u00eb i p\u00ebrhapur i sistemeve t\u00eb kontrollit automatik.<\/p>\n<p><\/p>\n<p> Regulatori automatik i par\u00eb n\u00eb bot\u00eb (shekulli 18) \u2013 regulatori i Watt-it. Kjo skem\u00eb (shih fig. 1.1.3) \u00e8 realizuar nga Watt n\u00eb Angli p\u00ebr t\u00eb mbajtur nj\u00eb shpejt\u00ebsi t\u00eb vazhdueshme t\u00eb rrotullimit t\u00eb rrot\u00ebs s\u00eb makin\u00ebs me avull dhe, p\u00ebr pasoj\u00eb, p\u00ebr t\u00eb mbajtur nj\u00eb vazhdim\u00ebsi t\u00eb shpejt\u00ebsis\u00eb s\u00eb rrotullimit (l\u00ebvizjes) s\u00eb boshteve (belit) t\u00eb transmetimit.<\/p>\n<p><\/p>\n<p> N\u00eb k\u00ebt\u00eb skem\u00eb <i>element\u00ebt ndjesor\u00eb<\/i> (sensor\u00ebt mat\u00ebs) jan\u00eb \u201cpeshat\u201d (sferat). \u201cPeshat\u201d (sferat) gjithashtu \u201cdetyrojn\u00eb\u201d t\u00eb l\u00ebviz\u00eb lev\u00eb dhe pastaj bllokuesin. Prandaj, kjo sistem mund t\u00eb quhet sistem i rregullimit t\u00eb drejtp\u00ebrdrejt\u00eb, dhe regjistratori \u00ebsht\u00eb <u>regulator i veprimit t\u00eb drejtp\u00ebrdrejt\u00eb<\/u>, pasi ai gjithashtu p\u00ebrmbush funksionet si \u201cmat\u00ebs\u201d dhe \u201cregulator\u201d. <\/p>\n<p>\nN\u00eb regulator\u00ebt e veprimit t\u00eb drejtp\u00ebrdrejt\u00eb <i>burimi shtes\u00eb<\/i> i energjis\u00eb p\u00ebr l\u00ebvizjen e organit rregullues nuk \u00ebsht\u00eb i nevojsh\u00ebm. <\/p>\n<p><img decoding=\"async\" alt=\"Hyrja n\u00eb teorin\u00eb e kontrollit automatizuar. Konceptet kryesore t\u00eb teoris\u00eb s\u00eb kontrollit t\u00eb sistemeve teknike\" src=\"\/wp-content\/uploads\/2020\/06\/95d2c1901c2cc5e962a5c5c23643f155.jpg\" style=\"display:block;margin: 0 auto;\" \/><br \/>\n<i>Fig. 1.1.3 \u2014 Skema e regulatorit automatizues t\u00eb Watt-it<\/i><\/p>\n<p>N\u00eb sistemet e rregullimit t\u00eb t\u00ebrthort\u00eb, \u00ebsht\u00eb e nevojshme t\u00eb ket\u00eb (prania) t\u00eb nj\u00eb amplifikatori (p\u00ebr shembull, fuqie), mekanizmi ekzekutiv shtes\u00eb, q\u00eb p\u00ebrmban, p\u00ebr shembull, motor elektrik, servomotor, hidro\u00e7el\u00ebs, etj.<\/p>\n<p><\/p>\n<p> Nj\u00eb shembull i nj\u00eb sistemi t\u00eb automatizuar t\u00eb menaxhimit (SAM), n\u00eb kuptimin e plot\u00eb t\u00eb k\u00ebtij termi, \u00ebsht\u00eb sistemi i menaxhimit q\u00eb siguron l\u00ebshimin e nj\u00eb rakete n\u00eb orbit\u00eb, ku variabla q\u00eb menaxhohet mund t\u00eb jet\u00eb, p\u00ebr shembull, k\u00ebndi midis boshtit t\u00eb raket\u00ebs dhe normal\u00ebs ndaj Tok\u00ebs ==&gt; shih fig. 1.1.4.a dhe fig. 1.1.4.b <\/p>\n<p><\/p>\n<p><img decoding=\"async\" alt=\"Hyrja n\u00eb teorin\u00eb e kontrollit automatizuar. Konceptet kryesore t\u00eb teoris\u00eb s\u00eb kontrollit t\u00eb sistemeve teknike\" src=\"\/wp-content\/uploads\/2020\/06\/e524a79caac45ea0e624938463f7b48e.jpg\" style=\"display:block;margin: 0 auto;\" \/><br \/>\n<i>Fig. 1.1.4 (a)<\/i><br \/>\n<img decoding=\"async\" alt=\"Hyrja n\u00eb teorin\u00eb e kontrollit automatizuar. Konceptet kryesore t\u00eb teoris\u00eb s\u00eb kontrollit t\u00eb sistemeve teknike\" src=\"\/wp-content\/uploads\/2020\/06\/a1f4ec58f29971dc866627f3cd5f8f44.jpg\" style=\"display:block;margin: 0 auto;\" \/><br \/>\n<i>Fig. 1.1.4 (b)<\/i><\/p>\n<p><\/p>\n<h2>1.2. Struktura e sistemeve t\u00eb menaxhimit: sisteme t\u00eb thjeshta dhe shum\u00eb-dimensionale<\/h2>\n<p><\/p>\n<p>N\u00eb teorin\u00eb e Menaxhimit t\u00eb Sistemeve Teknike, \u00e7do sistem zakonisht ndahet n\u00eb nj\u00eb grup lidhjesh t\u00eb lidhura n\u00eb struktura rrjet\u00eb. N\u00eb rastin m\u00eb t\u00eb thjesht\u00eb, sistemi p\u00ebrmban nj\u00eb lidhje, n\u00eb hyrje t\u00eb s\u00eb cil\u00ebs \u00ebsht\u00eb e aplikuar nj\u00eb ndikuese (hyrja), dhe n\u00eb daljen e tij rezultati i sistemit merr form\u00eb (dalja).<\/p>\n<p><\/p>\n<p>N\u00eb teorin\u00eb e Menaxhimit t\u00eb Sistemeve Teknike p\u00ebrdoren 2 m\u00ebnyra kryesore p\u00ebr t\u00eb paraqitur lidhjet e sistemeve t\u00eb menaxhimit:<\/p>\n<p><\/p>\n<p> \u2014 n\u00eb variablat 'hyrje-dalje';<\/p>\n<p><\/p>\n<p> \u2014 n\u00eb variablat e gjendjes (m\u00eb n\u00eb detaje shih kapitujt 6\u20267). <\/p>\n<p><\/p>\n<p>Paraqitja n\u00eb variablat 'hyrje-dalje' zakonisht p\u00ebrdoret p\u00ebr t\u00eb p\u00ebrshkruar sisteme relativisht t\u00eb thjeshta, q\u00eb kan\u00eb nj\u00eb 'hyrje' (nj\u00eb ndikim t\u00eb vetme) dhe nj\u00eb 'dalje' (nj\u00eb variab\u00ebl t\u00eb rregulluar, shih ilustrimin 1.2.1).<\/p>\n<p><\/p>\n<p><img decoding=\"async\" alt=\"Hyrja n\u00eb teorin\u00eb e kontrollit automatizuar. Konceptet kryesore t\u00eb teoris\u00eb s\u00eb kontrollit t\u00eb sistemeve teknike\" src=\"\/wp-content\/uploads\/2020\/06\/5771bf37f683d56890681a739ec80416.jpg\" style=\"display:block;margin: 0 auto;\" \/><br \/>\n<i>Fig. 1.2.1 \u2013 Paraqitje grafikore e nj\u00eb sistemi t\u00eb thjesht\u00eb t\u00eb kontrollit<\/i><\/p>\n<p><\/p>\n<p>Kjo p\u00ebrshkrim zakonisht p\u00ebrdoret p\u00ebr sisteme t\u00eb automatizuar q\u00eb nuk jan\u00eb teknologjikisht t\u00eb komplikuara.<\/p>\n<p><\/p>\n<p>N\u00eb koh\u00ebt e fundit, p\u00ebrfaq\u00ebsimi n\u00eb variablat e gjendjes ka fituar popullaritet, ve\u00e7an\u00ebrisht p\u00ebr sistemet teknologjikisht t\u00eb komplikuara, duke p\u00ebrfshir\u00eb edhe sistemet multidimensionale t\u00eb automatizimit. N\u00eb fig. 1.2.2 \u00ebsht\u00eb paraqitur nj\u00eb p\u00ebrfaq\u00ebsim grafik i nj\u00eb sistemi multidimensional t\u00eb kontrollit ku <b><i>u1(t)\u2026um(t)<\/i><\/b> \u2014 ndikimet e kontrollit (vektori i kontrollit), <i><b>y1(t)\u2026yp(t)<\/b><\/i> \u2014 parametrat e rregulluar t\u00eb sistemit t\u00eb kontrollit (vektori i daljes). <\/p>\n<p><\/p>\n<p><img decoding=\"async\" alt=\"Hyrja n\u00eb teorin\u00eb e kontrollit automatizuar. Konceptet kryesore t\u00eb teoris\u00eb s\u00eb kontrollit t\u00eb sistemeve teknike\" src=\"\/wp-content\/uploads\/2020\/06\/d0025fbc783222e6f87a5a9f56945785.jpg\" style=\"display:block;margin: 0 auto;\" \/><br \/>\n<i>Fig. 1.2.2 \u2014 Paraqitja grafike e nj\u00eb sistemi multidimensional t\u00eb kontrollit<\/i><\/p>\n<p>Le t\u00eb shqyrtojm\u00eb m\u00eb n\u00eb detaje struktur\u00ebn e sistemit t\u00eb automatizuar, e cila \u00ebsht\u00eb e paraqitur n\u00eb variablat \"hyrje-dalje\" dhe ka nj\u00eb hyrje (ndikimi hyr\u00ebs ose i parashikuar) dhe nj\u00eb dalje (ndikimi i daljes ose variabla e kontrolluar (ose e rregulluar)).<\/p>\n<p><\/p>\n<p>Supozoni se skema strukturore e k\u00ebtij sistemi t\u00eb automatizuar p\u00ebrb\u00ebhet nga nj\u00eb num\u00ebr elementesh (lidhjet). Duke grupuar lidhjet sipas parimit funksional (\u00e7far\u00eb b\u00ebjn\u00eb lidhjet), skema strukturore e sistemit t\u00eb automatizuar mund t\u00eb p\u00ebrfundoj\u00eb n\u00eb k\u00ebt\u00eb format model. <\/p>\n<p><\/p>\n<p><img decoding=\"async\" alt=\"Hyrja n\u00eb teorin\u00eb e kontrollit automatizuar. Konceptet kryesore t\u00eb teoris\u00eb s\u00eb kontrollit t\u00eb sistemeve teknike\" src=\"\/wp-content\/uploads\/2020\/06\/21b4fe1c08c1a168d1d68c0f47c3c186.jpg\" style=\"display:block;margin: 0 auto;\" \/><br \/>\n<i>Figura 1.2.3 \u2014 Schemi struktural i sistemit t\u00eb kontrollit automatik<\/i><\/p>\n<p><\/p>\n<p>Simboli <b><i>\u03b5(t)<\/i><\/b> ose variabla<b> <i>\u03b5(t)<\/i><\/b> tregon mosbalancimin (gabimin) n\u00eb daljen e pajisjes krahasuese, e cila mund t\u00eb \u201cpunoj\u00eb\u201d n\u00eb m\u00ebnyr\u00eb si operacione aritmetike krahasuese t\u00eb thjeshta (m\u00eb shpesh zbritje, m\u00eb rrall\u00eb shuarje), ashtu edhe n\u00eb operacione krahasuese m\u00eb t\u00eb komplikuara (pro\u00e7edura).<\/p>\n<p><\/p>\n<p>Sepse<i> <b>y1(t) = y(t)*k1<\/b><\/i>, ku <i><b>k1<\/b><\/i> \u2014 koeficienti i p\u00ebrforcimit, at\u00ebher\u00eb ==&gt; <br \/>\n<b><i>\u03b5(t) = x(t) \u2014 y1(t) = x(t) \u2014 k1*y(t)<\/i><\/b><\/p>\n<p><\/p>\n<p>Detyra e sistemit t\u00eb kontrollit \u00ebsht\u00eb q\u00eb (n\u00ebse \u00ebsht\u00eb stabil) t\u00eb \u201cpunoj\u00eb\u201d p\u00ebr t\u00eb eliminuar mosbalancimin (gabimin) <b><i>\u03b5(t)<\/i><\/b>, dmth ==&gt;<b> <i>\u03b5(t) \u2192 0<\/i><\/b>.<\/p>\n<p><\/p>\n<p>Duhet t\u00eb theksohet se sistemi i kontrollit ndikohet si nga ngacmimet e jashtme (kontrolluese, shqet\u00ebsuese, pengesa), ashtu edhe nga pengesat e brendshme. Pengesa dallon nga ndikimi me rast\u00ebsin\u00eb (stohastik\u00ebn) e ekzistenc\u00ebs s\u00eb saj, nd\u00ebrsa ndikimi pothuajse gjithmon\u00eb \u00ebsht\u00eb i p\u00ebrcaktuar.<\/p>\n<p><\/p>\n<p>P\u00ebr t\u00eb treguar ndikimin kontrollues (njer\u00ebzor), do t\u00eb p\u00ebrdorim ose<i><b> x(t)<\/b><\/i>, ose <i><b>u(t)<\/b><\/i>.<\/p>\n<p><\/p>\n<h2>1.3. Ligjet kryesore t\u00eb kontrollit<\/h2>\n<p><\/p>\n<p>N\u00ebse kthehemi n\u00eb figur\u00ebn e fundit (shkema strukturore e SAU n\u00eb fig. 1.2.3), duhet t\u00eb \u201cshkifrojm\u00eb\u201d rolin q\u00eb luan pajisja e amplifikimit dhe transformimit (cilat funksione kryen).<\/p>\n<p><\/p>\n<p>N\u00ebse pajisja e amplifikimit dhe transformimit (PAP) kryen vet\u00ebm amplifikimin (ose dob\u00ebsimin) e sinjalit t\u00eb \u00e7rregullimit \u03b5(t), dhe n\u00eb ve\u00e7anti: <b><img decoding=\"async\" alt=\"Hyrja n\u00eb teorin\u00eb e kontrollit automatizuar. Konceptet kryesore t\u00eb teoris\u00eb s\u00eb kontrollit t\u00eb sistemeve teknike\" src=\"\/wp-content\/uploads\/2020\/06\/0c09aa2ad2d14cb6d2f5666e33441afa.jpg\" style=\"display:block;margin: 0 auto;\" \/><\/b>, ku <img decoding=\"async\" alt=\"Hyrja n\u00eb teorin\u00eb e kontrollit automatizuar. Konceptet kryesore t\u00eb teoris\u00eb s\u00eb kontrollit t\u00eb sistemeve teknike\" src=\"\/wp-content\/uploads\/2020\/06\/be9dd549e8715f43c40c581217f29e3b.jpg\" style=\"display:block;margin: 0 auto;\" \/>\u2013 koeficienti i proporcionalitetit (n\u00eb rastin e ve\u00e7ant\u00eb <img decoding=\"async\" alt=\"Hyrja n\u00eb teorin\u00eb e kontrollit automatizuar. Konceptet kryesore t\u00eb teoris\u00eb s\u00eb kontrollit t\u00eb sistemeve teknike\" src=\"\/wp-content\/uploads\/2020\/06\/e16fccbb0217b69120081cd963525f6e.jpg\" style=\"display:block;margin: 0 auto;\" \/> = Const), at\u00ebher\u00eb ky regjim kontrolli i mbyllur t\u00eb SAU quhet regjim <u>i kontrollit proporcional <\/u>(P-kontroll).<\/p>\n<p><\/p>\n<p>N\u00ebse PAP formon sinjalin e daljes \u03b51(t), proporcionali me gabimin \u03b5(t) dhe integralin e \u03b5(t), pra, <img decoding=\"async\" alt=\"Hyrja n\u00eb teorin\u00eb e kontrollit automatizuar. Konceptet kryesore t\u00eb teoris\u00eb s\u00eb kontrollit t\u00eb sistemeve teknike\" src=\"\/wp-content\/uploads\/2020\/06\/6e6dbb0b4de0d9aaa3f6f788e61a3830.jpg\" style=\"display:block;margin: 0 auto;\" \/>, at\u00ebher\u00eb ky regjim kontrolli quhet <u>kontroll proporcional-integrues<\/u> (PI-kontroll). ==&gt; <img decoding=\"async\" alt=\"Hyrja n\u00eb teorin\u00eb e kontrollit automatizuar. Konceptet kryesore t\u00eb teoris\u00eb s\u00eb kontrollit t\u00eb sistemeve teknike\" src=\"\/wp-content\/uploads\/2020\/06\/9dd1d2b339c33e975225d3438d39bc6c.jpg\" style=\"display:block;margin: 0 auto;\" \/>, ku <i>b<\/i> \u2013 koeficienti i proporcionalitetit (n\u00eb rastin e ve\u00e7ant\u00eb <i>b = Const<\/i>). \n <\/p>\n<p><\/p>\n<p>Zakonisht kontrolli PI p\u00ebrdoret p\u00ebr t\u00eb rritur sakt\u00ebsin\u00eb e kontrollit (regulimit).<\/p>\n<p><\/p>\n<p>N\u00ebse PAP formon sinjalin e daljes \u03b51(t), proporcionali me gabimin \u03b5(t) dhe nxjerrjen e saj, at\u00ebher\u00eb ky regjim quhet<u> kontroll proporcional-diferencues<\/u> (PD-kontroll): ==&gt; <img decoding=\"async\" alt=\"Hyrja n\u00eb teorin\u00eb e kontrollit automatizuar. Konceptet kryesore t\u00eb teoris\u00eb s\u00eb kontrollit t\u00eb sistemeve teknike\" src=\"\/wp-content\/uploads\/2020\/06\/53491162f89bb3eb6d3afe53f8499ef7.jpg\" style=\"display:block;margin: 0 auto;\" \/><\/p>\n<p><\/p>\n<p>Zakonisht p\u00ebrdorimi i kontrollit PD rrit shpejt\u00ebsin\u00eb e SAU<\/p>\n<p><\/p>\n<p>N\u00ebse UPU formon nj\u00eb sinjal dal\u00ebs \u03b51(t), t\u00eb proporcionale ndaj gabimit \u03b5(t), derivativ\u00ebs s\u00eb tij, dhe integrali i gabimit ==&gt; <img decoding=\"async\" alt=\"Hyrja n\u00eb teorin\u00eb e kontrollit automatizuar. Konceptet kryesore t\u00eb teoris\u00eb s\u00eb kontrollit t\u00eb sistemeve teknike\" src=\"\/wp-content\/uploads\/2020\/06\/8ebae93d72b03b5c107a1246c077c348.jpg\" style=\"display:block;margin: 0 auto;\" \/>, at\u00ebher\u00eb ky mod quhet <u>modi i kontrollit proporcional-integral-diferencial<\/u> (PID-kontrolli).<\/p>\n<p><\/p>\n<p>PID-kontrolli shpesh siguron nj\u00eb sakt\u00ebsi \"t\u00eb mir\u00eb\" t\u00eb kontrollit me nj\u00eb \"performanc\u00eb t\u00eb mir\u00eb\". <\/p>\n<p><\/p>\n<h2>1.4. Klasifikimi i sistemeve t\u00eb automatizimit t\u00eb kontrollit <\/h2>\n<p><\/p>\n<h3>1.4.1. Klasifikimi sipas llojit t\u00eb p\u00ebrshkrimit matematikor<\/h3>\n<p><\/p>\n<p>Sipas llojit t\u00eb p\u00ebrshkrimit matematikor (barazimeve t\u00eb dinamik\u00ebs dhe statik\u00ebs) sistemet e automatizimit t\u00eb kontrollit (SAC) ndahen n\u00eb <u>linjare<\/u> dhe <u>jo-linjare<\/u> sisteme (SAC ose SAR). <\/p>\n<p><\/p>\n<p>\u00c7do \u201cpodklas\u00eb\u201d (linjare dhe jo-linjare) ndahet n\u00eb nj\u00eb gam\u00eb tjet\u00ebr \u201cpodklasash\u201d. P\u00ebr shembull, SAC-t\u00eb linjare (SAR) kan\u00eb ndryshime sipas llojit t\u00eb p\u00ebrshkrimit matematikor. <br \/>\nDuke qen\u00eb se n\u00eb k\u00ebt\u00eb semest\u00ebr do t\u00eb shqyrtohen vet\u00ebm pron\u00ebsit\u00eb dinamike t\u00eb sistemeve linjare t\u00eb automatizimit t\u00eb kontrollit (regullimit), m\u00eb posht\u00eb do t\u00eb paraqesim klasifikimin sipas llojit t\u00eb p\u00ebrshkrimit matematikor p\u00ebr SAC-t\u00eb linjare (SAR): <\/p>\n<p><\/p>\n<p>1) Sistemet linjare t\u00eb kontrollit automatik, t\u00eb p\u00ebrshkruara n\u00eb variablat \u00abinput-output\u00bb me ekuacione diferenciale ordinare (EDO) me <u>koeficient\u00eb <\/u>:<\/p>\n<\/p>\n<p><img decoding=\"async\" alt=\"Hyrja n\u00eb teorin\u00eb e kontrollit automatizuar. Konceptet kryesore t\u00eb teoris\u00eb s\u00eb kontrollit t\u00eb sistemeve teknike\" src=\"\/wp-content\/uploads\/2020\/06\/cb3af3b0b89fc1e74c2b8d6d2d7fdb22.jpg\" style=\"display:block;margin: 0 auto;\" \/><\/p>\n<\/p>\n<p><img decoding=\"async\" alt=\"Hyrja n\u00eb teorin\u00eb e kontrollit automatizuar. Konceptet kryesore t\u00eb teoris\u00eb s\u00eb kontrollit t\u00eb sistemeve teknike\" src=\"\/wp-content\/uploads\/2020\/06\/58090b17da60d2b517d3c94501cd59a2.jpg\" style=\"display:block;margin: 0 auto;\" \/><\/p>\n<p>\nku <i>x(t)<\/i> \u2013 ndikimi i hyrjes; <i>y(t)<\/i> \u2013 ndikimi i daljes (sasia e rregulluar). <\/p>\n<p>N\u00ebse p\u00ebrdorim formatin operativ (\u00abkompakt\u00bb) t\u00eb shkrimit t\u00eb EDO-s\u00eb linjare, ekuacioni (1.4.1) mund t\u00eb paraqitet n\u00eb k\u00ebt\u00eb form\u00eb: \n<\/p>\n<\/p>\n<p><img decoding=\"async\" alt=\"Hyrja n\u00eb teorin\u00eb e kontrollit automatizuar. Konceptet kryesore t\u00eb teoris\u00eb s\u00eb kontrollit t\u00eb sistemeve teknike\" src=\"\/wp-content\/uploads\/2020\/06\/b1c5ee221af3668d5f176a70ed14418f.jpg\" style=\"display:block;margin: 0 auto;\" \/><\/p>\n<p> ku, <i>p = d\/dt<\/i> \u2014 operatori i diferencimit; <i>L(p), N(p)<\/i> \u2014 operator\u00ebt p\u00ebrkat\u00ebs diferencial\u00eb linjare, t\u00eb cil\u00ebt jan\u00eb t\u00eb barabart:<\/p>\n<p><img decoding=\"async\" alt=\"Hyrja n\u00eb teorin\u00eb e kontrollit automatizuar. Konceptet kryesore t\u00eb teoris\u00eb s\u00eb kontrollit t\u00eb sistemeve teknike\" src=\"\/wp-content\/uploads\/2020\/06\/d43a08bffa114c25041a2f0980042c51.jpg\" style=\"display:block;margin: 0 auto;\" \/><\/p>\n<\/p>\n<p><img decoding=\"async\" alt=\"Hyrja n\u00eb teorin\u00eb e kontrollit automatizuar. Konceptet kryesore t\u00eb teoris\u00eb s\u00eb kontrollit t\u00eb sistemeve teknike\" src=\"\/wp-content\/uploads\/2020\/06\/42636426b82dce860e9e17987f50c057.jpg\" style=\"display:block;margin: 0 auto;\" \/><\/p>\n<p><\/p>\n<p>2) Sistemet linjare t\u00eb kontrollit automatik, t\u00eb p\u00ebrshkruara me ekuacione diferenciale ordinare (EDO) linjare me <u>koeficient\u00eb <\/u>(n\u00eb koh\u00eb): \n<\/p>\n<\/p>\n<p><img decoding=\"async\" alt=\"Hyrja n\u00eb teorin\u00eb e kontrollit automatizuar. Konceptet kryesore t\u00eb teoris\u00eb s\u00eb kontrollit t\u00eb sistemeve teknike\" src=\"\/wp-content\/uploads\/2020\/06\/6dbc99fe9b268fe6f6ff996975637e1c.jpg\" style=\"display:block;margin: 0 auto;\" \/><\/p>\n<\/p>\n<p><img decoding=\"async\" alt=\"Hyrja n\u00eb teorin\u00eb e kontrollit automatizuar. Konceptet kryesore t\u00eb teoris\u00eb s\u00eb kontrollit t\u00eb sistemeve teknike\" src=\"\/wp-content\/uploads\/2020\/06\/829ce6f7e73bfb06b4b76d0d4eeeef34.jpg\" style=\"display:block;margin: 0 auto;\" \/><\/p>\n<p><\/p>\n<p>N\u00eb rastin e p\u00ebrgjithsh\u00ebm, k\u00ebto sisteme mund t\u00eb p\u00ebrfshihen edhe n\u00eb klas\u00ebn e sistemeve jo-linjare (SNL).<\/p>\n<p><\/p>\n<p>3) Sistemet linjare t\u00eb kontrollit automatik, t\u00eb p\u00ebrshkruara me ekuacione diferencore: <\/p>\n<\/p>\n<p><img decoding=\"async\" alt=\"Hyrja n\u00eb teorin\u00eb e kontrollit automatizuar. Konceptet kryesore t\u00eb teoris\u00eb s\u00eb kontrollit t\u00eb sistemeve teknike\" src=\"\/wp-content\/uploads\/2020\/06\/3ff7a042761c218b77ac2263e548642c.jpg\" style=\"display:block;margin: 0 auto;\" \/><\/p>\n<\/p>\n<p><img decoding=\"async\" alt=\"Hyrja n\u00eb teorin\u00eb e kontrollit automatizuar. Konceptet kryesore t\u00eb teoris\u00eb s\u00eb kontrollit t\u00eb sistemeve teknike\" src=\"\/wp-content\/uploads\/2020\/06\/1adb8b5de9da0717c1d8af58023709db.jpg\" style=\"display:block;margin: 0 auto;\" \/><\/p>\n<p> ku <i>f(\u2026)<\/i> \u2013 funksioni linear i argumenteve;<i> k = 1, 2, 3\u2026<\/i> \u2014 numra t\u00eb plot\u00eb; <i>\u0394t<\/i> \u2013 intervali i kuantizimit (intervali i disktretim). <\/p>\n<p>Ekuacioni (1.4.4) mund t\u00eb paraqitet n\u00eb form\u00ebn \u00abkompakt\u00bb:\n<\/p>\n<\/p>\n<p><img decoding=\"async\" alt=\"Hyrja n\u00eb teorin\u00eb e kontrollit automatizuar. Konceptet kryesore t\u00eb teoris\u00eb s\u00eb kontrollit t\u00eb sistemeve teknike\" src=\"\/wp-content\/uploads\/2020\/06\/3a555933ea0689d2adee3746d6ddeaad.jpg\" style=\"display:block;margin: 0 auto;\" \/><\/p>\n<p><\/p>\n<p>P\u00ebrshkrimi i till\u00eb i sistemeve linjare t\u00eb automatizimit (S\u0410U) p\u00ebrdoret zakonisht n\u00eb sistemet digjitale t\u00eb menaxhimit (duke p\u00ebrdorur kompjuter\u00eb). <\/p>\n<p><\/p>\n<p>4) Sistemet linjare t\u00eb menaxhimit automatik me vones\u00eb:\n<\/p>\n<\/p>\n<p><img decoding=\"async\" alt=\"Hyrja n\u00eb teorin\u00eb e kontrollit automatizuar. Konceptet kryesore t\u00eb teoris\u00eb s\u00eb kontrollit t\u00eb sistemeve teknike\" src=\"\/wp-content\/uploads\/2020\/06\/7feca1e387cb0c6a1689e22d95e28a63.jpg\" style=\"display:block;margin: 0 auto;\" \/><\/p>\n<p>\nku <i>L(p), N(p)<\/i> \u2014 operator\u00eb diferencial\u00eb linear\u00eb; <i>\u03c4<\/i> \u2014 koha e vones\u00ebs ose konstanta e vones\u00ebs. <\/p>\n<p>N\u00ebse operator\u00ebt <i>L(p)<\/i> dhe <i>N(p)<\/i> deri te zero (<i>L(p) = 1; N(p) = 1<\/i>), at\u00ebher\u00eb ekuacioni (1.4.6) p\u00ebrputhet me p\u00ebrshkrimin matematikor t\u00eb dinamik\u00ebs s\u00eb nj\u00eb rruge ideale t\u00eb vones\u00ebs: \n<\/p>\n<\/p>\n<p><img decoding=\"async\" alt=\"Hyrja n\u00eb teorin\u00eb e kontrollit automatizuar. Konceptet kryesore t\u00eb teoris\u00eb s\u00eb kontrollit t\u00eb sistemeve teknike\" src=\"\/wp-content\/uploads\/2020\/06\/f3906140de2cd69b5ececf8b527a11e7.jpg\" style=\"display:block;margin: 0 auto;\" \/><\/p>\n<p> dhe ilustrohet grafiku i tij n\u00eb fig. 1.4.1<\/p>\n<p><img decoding=\"async\" alt=\"Hyrja n\u00eb teorin\u00eb e kontrollit automatizuar. Konceptet kryesore t\u00eb teoris\u00eb s\u00eb kontrollit t\u00eb sistemeve teknike\" src=\"\/wp-content\/uploads\/2020\/06\/862f0d412914840cf9f0722087ccfb50.jpg\" style=\"display:block;margin: 0 auto;\" \/><br \/>\n<i>Fig. 1.4.1 \u2014 Grafet e hyrjes dhe daljes s\u00eb nj\u00eb rruge ideale t\u00eb vones\u00ebs<\/i><\/p>\n<p>5) Sistemet linjare t\u00eb menaxhimit automatik, t\u00eb p\u00ebrshkruara nga ekuacione diferenciale linjare <i>n\u00eb pjes\u00ebtore.<\/i>S\u00eb shpeshti k\u00ebto \u0421\u0410\u0423 quhen <u>sisteme t\u00eb shp\u00ebrndara<\/u> . ==&gt; Shembulli 'abstrakt' i k\u00ebtij p\u00ebrshkrimi:<\/p>\n<\/p>\n<p><img decoding=\"async\" alt=\"Hyrja n\u00eb teorin\u00eb e kontrollit automatizuar. Konceptet kryesore t\u00eb teoris\u00eb s\u00eb kontrollit t\u00eb sistemeve teknike\" src=\"\/wp-content\/uploads\/2020\/06\/669b5c3c53ba7845842b18e5928ce839.jpg\" style=\"display:block;margin: 0 auto;\" \/><\/p>\n<p><\/p>\n<p>Sistemi i ekuacioneve (1.4.7) p\u00ebrshkruan dinamika e \u0421\u0410\u0423 linjare t\u00eb shp\u00ebrndara, dmth, sasia e rregulluar varet jo vet\u00ebm nga koha, por edhe nga nj\u00eb koordinat\u00eb hap\u00ebsinore. <br \/>\nN\u00ebse sistemi i menaxhimit p\u00ebrb\u00ebn nj\u00eb objekt 'hap\u00ebsinor', at\u00ebher\u00eb ==&gt;<\/p>\n<\/p>\n<p><img decoding=\"async\" alt=\"Hyrja n\u00eb teorin\u00eb e kontrollit automatizuar. Konceptet kryesore t\u00eb teoris\u00eb s\u00eb kontrollit t\u00eb sistemeve teknike\" src=\"\/wp-content\/uploads\/2020\/06\/3448a365047c1bab4de5e8f25546f50e.jpg\" style=\"display:block;margin: 0 auto;\" \/><\/p>\n<p><\/p>\n<p>ku <img decoding=\"async\" alt=\"Hyrja n\u00eb teorin\u00eb e kontrollit automatizuar. Konceptet kryesore t\u00eb teoris\u00eb s\u00eb kontrollit t\u00eb sistemeve teknike\" src=\"\/wp-content\/uploads\/2020\/06\/f9ff2f7da6ef14612bc7debb1a6b13df.jpg\" style=\"display:block;margin: 0 auto;\" \/> varet nga koha dhe koordinatat hap\u00ebsinore, t\u00eb p\u00ebrcaktuara nga radiusi-vektor <img decoding=\"async\" alt=\"Hyrja n\u00eb teorin\u00eb e kontrollit automatizuar. Konceptet kryesore t\u00eb teoris\u00eb s\u00eb kontrollit t\u00eb sistemeve teknike\" src=\"\/wp-content\/uploads\/2020\/06\/779241bc6119457bd084ae3b359be126.jpg\" style=\"display:block;margin: 0 auto;\" \/>\n<\/p>\n<p>6) SAI, t\u00eb p\u00ebrshkruara <u>sistemet<\/u> ODU, ose sistemet e ekuacioneve diferen\u00e7iale, ose sistemet e ekuacioneve t\u00eb p\u00ebrjashtimeve parciale ==&gt; dhe k\u00ebshtu me radh\u00eb...<\/p>\n<p><\/p>\n<p>Nj\u00eb klasifikim t\u00eb ngjash\u00ebm mund t\u00eb ofrohet edhe p\u00ebr SAI jo-lineare (SAR)...<\/p>\n<p><\/p>\n<p>P\u00ebr sistemet lineare, p\u00ebrmbushen k\u00ebrkesat e m\u00ebposhtme:<\/p>\n<ul>\n<li> lineariteti i karakteristik\u00ebs statike t\u00eb SAI; <\/li>\n<li> lineariteti i ekuacionit t\u00eb dinamik\u00ebs, dometh\u00ebn\u00eb, variablat n\u00eb ekuacionin e dinamik\u00ebs hyjn\u00eb <u>vet\u00ebm n\u00eb nj\u00eb kombinim linear.<\/u> <\/li>\n<\/ul>\n<p><\/p>\n<p>Karakteristika statike quhet var\u00ebsia e daljes nga sasia e ndikimit hyr\u00ebs n\u00eb modin e vendosur (kur t\u00eb gjitha proceset kalimtare jan\u00eb zbehur). <\/p>\n<p><\/p>\n<p>P\u00ebr sistemet q\u00eb p\u00ebrshkruhen nga ekuacione diferenciale t\u00eb zakonshme lineare me koeficient\u00eb t\u00eb vazhduesh\u00ebm, karakteristika statike merret nga ekuacioni i dinamik\u00ebs (1.4.1) duke e barazuar me zero t\u00eb gjith\u00eb an\u00ebtar\u00ebt jo-stabil\u00eb ==&gt;\n<\/p>\n<\/p>\n<p><img decoding=\"async\" alt=\"Hyrja n\u00eb teorin\u00eb e kontrollit automatizuar. Konceptet kryesore t\u00eb teoris\u00eb s\u00eb kontrollit t\u00eb sistemeve teknike\" src=\"\/wp-content\/uploads\/2020\/06\/bf0c596f0264b56e910f26fb3572d495.jpg\" style=\"display:block;margin: 0 auto;\" \/><\/p>\n<p><\/p>\n<p>N\u00eb fig.1.4.2 paraqiten shembuj t\u00eb karakteristikave statike lineare dhe jo-lineare t\u00eb sistemeve t\u00eb automatik\u00ebs (regullimit). <\/p>\n<p><\/p>\n<p><img decoding=\"async\" alt=\"Hyrja n\u00eb teorin\u00eb e kontrollit automatizuar. Konceptet kryesore t\u00eb teoris\u00eb s\u00eb kontrollit t\u00eb sistemeve teknike\" src=\"\/wp-content\/uploads\/2020\/06\/492e67e54fc30c8ffc81dbd922d44d69.jpg\" style=\"display:block;margin: 0 auto;\" \/><br \/>\n<i>Fig. 1.4.2 \u2014 Shembuj t\u00eb karakteristikave statike lineare dhe jo-lineare<\/i><\/p>\n<p>Nelineariteti i an\u00ebtar\u00ebve q\u00eb p\u00ebrmbajn\u00eb derivativ\u00eb me koh\u00eb n\u00eb ekuacionet dinamike mund t\u00eb ndodh\u00eb kur p\u00ebrdoren operacione matematikore nelineare (*, \/, <img decoding=\"async\" alt=\"Hyrja n\u00eb teorin\u00eb e kontrollit automatizuar. Konceptet kryesore t\u00eb teoris\u00eb s\u00eb kontrollit t\u00eb sistemeve teknike\" src=\"\/wp-content\/uploads\/2020\/06\/2cb392451693aaecdf1b0b3c9d893b64.jpg\" style=\"display:block;margin: 0 auto;\" \/>, <img decoding=\"async\" alt=\"Hyrja n\u00eb teorin\u00eb e kontrollit automatizuar. Konceptet kryesore t\u00eb teoris\u00eb s\u00eb kontrollit t\u00eb sistemeve teknike\" src=\"\/wp-content\/uploads\/2020\/06\/9b1e329d4a85a2633bbbc4f4ab024200.jpg\" style=\"display:block;margin: 0 auto;\" \/>, sin, ln etj.). P\u00ebr shembull, duke shqyrtuar ekuacionin dinamik t\u00eb nj\u00eb \"abstrakt\" SAI,<\/p>\n<\/p>\n<p><img decoding=\"async\" alt=\"Hyrja n\u00eb teorin\u00eb e kontrollit automatizuar. Konceptet kryesore t\u00eb teoris\u00eb s\u00eb kontrollit t\u00eb sistemeve teknike\" src=\"\/wp-content\/uploads\/2020\/06\/dae16ed9af4777cc0574d633840de24b.jpg\" style=\"display:block;margin: 0 auto;\" \/><\/p>\n<p><\/p>\n<p>v\u00ebrejm\u00eb se n\u00eb k\u00ebt\u00eb ekuacion, me karakteristika lineare statike, <img decoding=\"async\" alt=\"Hyrja n\u00eb teorin\u00eb e kontrollit automatizuar. Konceptet kryesore t\u00eb teoris\u00eb s\u00eb kontrollit t\u00eb sistemeve teknike\" src=\"\/wp-content\/uploads\/2020\/06\/ef499e876cf4b9835a61605b9155144c.jpg\" style=\"display:block;margin: 0 auto;\" \/> terma t\u00eb dyt\u00eb dhe t\u00eb tret\u00eb (an\u00ebtar\u00ebt dinamik\u00eb) n\u00eb an\u00ebn e majt\u00eb t\u00eb ekuacionit \u2014 <u>jo-linjare<\/u>, prandaj SAI e p\u00ebrshkruar nga nj\u00eb ekuacion i till\u00eb \u00ebsht\u00eb <u>nelineare n\u00eb <i>planin dinamik<\/i> plani<\/u>.<\/p>\n<p><\/p>\n<h3>1.4.2. Klasifikimi sipas natyr\u00ebs s\u00eb sinjaleve t\u00eb transmetuara<\/h3>\n<p><\/p>\n<p>Sipas natyr\u00ebs s\u00eb sinjaleve t\u00eb transmetuara, sistemet e kontrollit automatik (ose rregullimit) ndahen n\u00eb: <\/p>\n<ul>\n<li> sisteme t\u00eb vazhdueshme (sisteme t\u00eb veprimit t\u00eb vazhduesh\u00ebm);<\/li>\n<li> sisteme rel\u00eb (sisteme t\u00eb veprimit rel\u00eb);<\/li>\n<li> sisteme t\u00eb veprimit diskret (impulset dhe digjitalet).<\/li>\n<\/ul>\n<p><\/p>\n<p>Nj\u00eb sistem <u>veprimi<\/u> i vazhduesh\u00ebm quhet nj\u00eb SAI, n\u00eb secil\u00ebn nga nyjat e saj, <u>ndryshimit t\u00eb vazhduesh\u00ebm<\/u> t\u00eb sinjalit hyr\u00ebs me kalimin e koh\u00ebs <u>i p\u00ebrputhet nj\u00eb ndryshimi t\u00eb vazhduesh\u00ebm<\/u> ndryshimi i sinjalit t\u00eb daljes, nd\u00ebrsa ligji i ndryshimit t\u00eb sinjalit t\u00eb daljes mund t\u00eb jet\u00eb i rast\u00ebsish\u00ebm. N\u00eb m\u00ebnyr\u00eb q\u00eb SAU t\u00eb jet\u00eb vazhdueshme, \u00ebsht\u00eb e nevojshme q\u00eb karakteristikat statike t\u00eb t\u00eb gjitha <u>elementeve t\u00eb jen\u00eb t\u00eb vazhdueshme.<\/u><\/p>\n<\/p>\n<p><img decoding=\"async\" alt=\"Hyrja n\u00eb teorin\u00eb e kontrollit automatizuar. Konceptet kryesore t\u00eb teoris\u00eb s\u00eb kontrollit t\u00eb sistemeve teknike\" src=\"\/wp-content\/uploads\/2020\/06\/73b156157b5a43c62fdc848170722c2d.jpg\" style=\"display:block;margin: 0 auto;\" \/><br \/>\n<i>Fig. 1.4.3 \u2014 Shembuj i nj\u00eb sistemi t\u00eb vazhduesh\u00ebm<\/i><\/p>\n<p>Nj\u00eb sistem <u>veprimi relacional quhet SAU, n\u00eb t\u00eb cil\u00ebn t\u00eb pakt\u00ebn n\u00eb nj\u00eb element, me nj\u00eb ndryshim t\u00eb vazhduesh\u00ebm t\u00eb madh\u00ebsis\u00eb s\u00eb hyrjes, madh\u00ebsia e daljes n\u00eb disa momente t\u00eb procesit t\u00eb kontrollit ndryshon \u201cpapritur\u201d n\u00eb var\u00ebsi t\u00eb madh\u00ebsis\u00eb s\u00eb sinjalit t\u00eb hyrjes. Karakteristika statike e k\u00ebtij elementi ka<\/u> veprimi quhet S\u0410U, n\u00eb t\u00eb cilin t\u00eb pakt\u00ebn n\u00eb nj\u00eb shkall\u00eb, gjat\u00eb ndryshimit t\u00eb vazhduesh\u00ebm t\u00eb madh\u00ebsis\u00eb hyr\u00ebse, madh\u00ebsia dal\u00ebse n\u00eb disa momente t\u00eb procesit t\u00eb menaxhimit ndryshon \"me skok\" n\u00eb var\u00ebsi t\u00eb madh\u00ebsis\u00eb s\u00eb sinjalit hyr\u00ebs. Karakteristika statike e k\u00ebtij shkalle ka <u>pik\u00ebprerjesh<\/u> ose <u>ndryshimi me nd\u00ebrprerje<\/u>.<\/p>\n<p><\/p>\n<p><img decoding=\"async\" alt=\"Hyrja n\u00eb teorin\u00eb e kontrollit automatizuar. Konceptet kryesore t\u00eb teoris\u00eb s\u00eb kontrollit t\u00eb sistemeve teknike\" src=\"\/wp-content\/uploads\/2020\/06\/edfc6a65398bb0f409297d40a3aee0e2.jpg\" style=\"display:block;margin: 0 auto;\" \/><br \/>\n<i>Fig. 1.4.4 \u2014 Shembuj t\u00eb karakteristikave statike relacionales<\/i><\/p>\n<p>Nj\u00eb sistem <u>veprimi diskret quhet sistem, n\u00eb t\u00eb cilin t\u00eb pakt\u00ebn n\u00eb nj\u00eb element, me nj\u00eb ndryshim t\u00eb vazhduesh\u00ebm t\u00eb madh\u00ebsis\u00eb s\u00eb hyrjes, madh\u00ebsia e daljes ka<\/u> pamjen e impulsieve t\u00eb ve\u00e7anta <u>, t\u00eb cilat shfaqen pas nj\u00eb intervali t\u00eb caktuar kohor.<\/u>Elementi q\u00eb transformon nj\u00eb sinjal t\u00eb vazhduesh\u00ebm n\u00eb nj\u00eb sinjal diskret quhet impuls. Ky lloj i sinjaleve q\u00eb transmetohen ndodh n\u00eb SAU me kompjuter ose kontrollues. <\/p>\n<p><\/p>\n<p>Shkalla q\u00eb transformon nj\u00eb sinjal t\u00eb vazhduesh\u00ebm n\u00eb nj\u00eb sinjal diskret quhet impuls. Ky lloj sinjalesh \u00ebsht\u00eb i pranish\u00ebm n\u00eb S\u0410U me kompjuter ose kontrollues. <\/p>\n<p><\/p>\n<p>Metodat (algoritmet) m\u00eb t\u00eb p\u00ebrdorura p\u00ebr transformimin e sinjalit t\u00eb vazhduesh\u00ebm n\u00eb nj\u00eb sinjal dal\u00ebs impuls jan\u00eb: <\/p>\n<ul>\n<li> modulimi i impulsit amplitudinal (AIM); <\/li>\n<li> modulimi i impulsit me gjer\u00ebsi (\u0160IM). <\/li>\n<\/ul>\n<p><\/p>\n<p>N\u00eb fig. 1.4.5 \u00ebsht\u00eb paraqitur nj\u00eb ilust\u00ebrim grafik i algoritmit t\u00eb modulimit t\u00eb impulsit amplitudinal (AIM). N\u00eb pjes\u00ebn e sip\u00ebrme t\u00eb fig. \u00ebsht\u00eb paraqitur var\u00ebsia n\u00eb koh\u00eb <i>x(t)<\/i> e sinjalit <u>n\u00eb hyrje<\/u> n\u00eb nj\u00eb nj\u00ebsin\u00eb impuls. Sinjali dal\u00ebs i nj\u00ebsis\u00eb impuls <i>y(t)<\/i> \u00ebsht\u00eb nj\u00eb radhitje impulsash katror\u00eb, q\u00eb shfaqen me <u>p\u00ebrher\u00eb<\/u> periodin e kvantizimit \u0394t (shih pjes\u00ebn e poshtme t\u00eb figur\u00ebs). Koha e impulsave \u00ebsht\u00eb e nj\u00ebjt\u00eb dhe e barabart\u00eb me \u0394. Amplituda e impulsit n\u00eb daljen e nj\u00ebsis\u00eb \u00ebsht\u00eb proporcionale me vler\u00ebn p\u00ebrkat\u00ebse t\u00eb sinjalit t\u00eb vazhduesh\u00ebm x(t) n\u00eb hyrjen e k\u00ebsaj nj\u00ebsie. <\/p>\n<p><\/p>\n<p><img decoding=\"async\" alt=\"Hyrja n\u00eb teorin\u00eb e kontrollit automatizuar. Konceptet kryesore t\u00eb teoris\u00eb s\u00eb kontrollit t\u00eb sistemeve teknike\" src=\"\/wp-content\/uploads\/2020\/06\/c9a3c132c1ad71a56582f30d6d11f847.jpg\" style=\"display:block;margin: 0 auto;\" \/><br \/>\n<i>Fig. 1.4.5 \u2014 Realizimi i modulimit t\u00eb impulsit amplitudinal<\/i><\/p>\n<p>Ky metod\u00eb i modulimit t\u00eb impulsit ka qen\u00eb shum\u00eb i p\u00ebrhapur n\u00eb aparatur\u00ebn elektronike t\u00eb matjes n\u00eb sistemet e kontrollit dhe mbrojtjes (SUZ) t\u00eb impianteve energjetike b\u00ebrthamore (JEU) n\u00eb vitet 70...80 t\u00eb shekullit t\u00eb kaluar. <\/p>\n<p><\/p>\n<p>N\u00eb fig. 1.4.6 \u00ebsht\u00eb paraqitur nj\u00eb ilust\u00ebrim grafik i algoritmit t\u00eb modulimit me impuls t\u00eb gjer\u00eb (PWM). N\u00eb pjes\u00ebn e sip\u00ebrme t\u00eb fig. 1.14 \u00ebsht\u00eb paraqitur var\u00ebsia n\u00eb koh\u00eb <i>x(t)<\/i> \u2013 e sinjalit n\u00eb hyrje t\u00eb nj\u00ebsis\u00eb impuls. Sinjali dal\u00ebs i bllokut impuls (nj\u00ebsis\u00eb) <i>y(t)<\/i> \u2013 \u00ebsht\u00eb nj\u00eb seri impulsesh katrore, q\u00eb shfaqen me nj\u00eb periudh\u00eb t\u00eb vazhdueshme kuantizimi <i>\u0394t <\/i>(shih pjes\u00ebn e poshtme t\u00eb fig. 1.14). Amplituda e t\u00eb gjith\u00eb impulseve \u00ebsht\u00eb e nj\u00ebjt\u00eb. Koh\u00ebzgjatja e impulsit <i>\u0394t<\/i> n\u00eb daljen e nj\u00eb blloku \u00ebsht\u00eb proporcionale me mas\u00ebn p\u00ebrkat\u00ebse t\u00eb sinjalit t\u00eb vazhduesh\u00ebm <i>x(t)<\/i> n\u00eb hyrje t\u00eb bllokut impuls.<\/p>\n<p><\/p>\n<p><img decoding=\"async\" alt=\"Hyrja n\u00eb teorin\u00eb e kontrollit automatizuar. Konceptet kryesore t\u00eb teoris\u00eb s\u00eb kontrollit t\u00eb sistemeve teknike\" src=\"\/wp-content\/uploads\/2020\/06\/e9375a87c49f84b4b20891b024160264.jpg\" style=\"display:block;margin: 0 auto;\" \/><br \/>\n<i>Fig. 1.4.6 \u2014 Realizimi i modulimit me impuls t\u00eb gjer\u00eb<\/i><\/p>\n<p>Ky metod\u00eb i modulimit me impuls aktualisht \u00ebsht\u00eb m\u00eb e p\u00ebrdorura n\u00eb aparatur\u00ebn elektronike t\u00eb matjes s\u00eb sistemeve t\u00eb kontrollit dhe mbrojtjes (CUM) t\u00eb instalimeve energjetike b\u00ebrthamore (IEB) dhe t\u00eb CUM t\u00eb sistemeve teknike t\u00eb tjera.<\/p>\n<p><\/p>\n<p>P\u00ebr t\u00eb p\u00ebrfunduar k\u00ebt\u00eb n\u00ebnkapitull, \u00ebsht\u00eb e nevojshme t\u00eb theksohet se n\u00ebse konstanta karakteristike t\u00eb koh\u00ebs n\u00eb nj\u00ebsit\u00eb e tjera t\u00eb CUM (CUM) <u>\u00ebsht\u00eb duksh\u00ebm m\u00eb e lart\u00eb<\/u> \u0394t (n\u00eb rendin e madh\u00ebsis\u00eb), at\u00ebher\u00eb sistemi impuls <u>mund t\u00eb konsiderohet si nj\u00eb sistem i vazhduesh\u00ebm i menaxhimit automatiko (n\u00eb p\u00ebrdorimin e<\/u> si PWM ashtu edhe PMW). <\/p>\n<p><\/p>\n<h3>1.4.3. Klasifikimi sipas natyr\u00ebs s\u00eb menaxhimit<\/h3>\n<p><\/p>\n<p>Sipas natyr\u00ebs s\u00eb proceseve t\u00eb menaxhimit, sistemet e menaxhimit automatik ndahen n\u00eb lloje t\u00eb ndryshme: <\/p>\n<ul>\n<li> sistemet e menaxhimit deterministik, ku sinjali hyr\u00ebs i p\u00ebrgjigjet n\u00eb m\u00ebnyr\u00eb t\u00eb qart\u00eb nj\u00eb sinjali dal\u00ebs (dhe anasjelltas);<\/li>\n<li> sistemet e menaxhimit stohastik (statistik, probabilistik), ku ky sinjal hyr\u00ebs \u201cp\u00ebrgjigjet\u201d <u>me nj\u00eb<\/u> (stohastik) sinjal dal\u00ebs. <\/li>\n<\/ul>\n<p><\/p>\n<p>Sinjali dal\u00ebs stohastik karakterizohet nga: <\/p>\n<ul>\n<li>ligji i shp\u00ebrndarjes; <\/li>\n<li>pritur matematikore (vlera mesatare); <\/li>\n<li>varianza (shk\u00ebputja standarde).<\/li>\n<\/ul>\n<p>\nStohastik\u00ebsia e natyr\u00ebs s\u00eb procesit t\u00eb menaxhimit zakonisht observohet n\u00eb <u>sistemet e menaxhimit thelb\u00ebsisht jo-lineare<\/u> si n\u00eb aspektin e karakteristik\u00ebs statike, ashtu dhe (madje n\u00eb nj\u00eb shkall\u00eb m\u00eb t\u00eb madhe) n\u00eb non-linearitetin e pjeseve dinamike n\u00eb ekuacionet e dinamik\u00ebs.<\/p>\n<p><\/p>\n<p><img decoding=\"async\" alt=\"Hyrja n\u00eb teorin\u00eb e kontrollit automatizuar. Konceptet kryesore t\u00eb teoris\u00eb s\u00eb kontrollit t\u00eb sistemeve teknike\" src=\"\/wp-content\/uploads\/2020\/06\/30bfdc2e2b7df726f11ebfb859c8f094.jpg\" style=\"display:block;margin: 0 auto;\" \/><br \/>\n<i>Fig. 1.4.7 \u2014 Shp\u00ebrndarja e madh\u00ebsis\u00eb dal\u00ebse t\u00eb sistemit t\u00eb menaxhimit stohastik<\/i><\/p>\n<p>P\u00ebrve\u00e7 llojeve kryesore t\u00eb klasifikimit t\u00eb sistemeve t\u00eb menaxhimit, ekzistojn\u00eb edhe klasifikime t\u00eb tjera. P\u00ebr shembull, klasifikimi mund t\u00eb b\u00ebhet sipas metod\u00ebs s\u00eb menaxhimit dhe t\u00eb bazohet n\u00eb nd\u00ebrveprimin me mjedisin e jasht\u00ebm dhe mund\u00ebsin\u00eb e adaptimit t\u00eb SAU-ve ndaj ndryshimeve n\u00eb parametrat e mjedisit. Sistemet ndahen n\u00eb dy klasat e m\u00ebdha:<\/p>\n<p><\/p>\n<p>1) Sistemat e zakonshme (pa vet\u00ebkonfigurim) pa adaptim; k\u00ebto sisteme i p\u00ebrkasin kategoris\u00eb s\u00eb thjeshta, t\u00eb cilat nuk ndryshojn\u00eb struktur\u00ebn e tyre gjat\u00eb procesit t\u00eb menaxhimit. Ato jan\u00eb m\u00eb t\u00eb zhvilluarat dhe p\u00ebrdoren gjer\u00ebsisht. Sistemat e zakonshme ndahen n\u00eb tre n\u00ebnklasa: sisteme t\u00eb hapura, t\u00eb mbyllura dhe sisteme t\u00eb menaxhimit t\u00eb kombinuara.<\/p>\n<p><\/p>\n<p>2) Sistemat vet\u00ebkonfigurues (adaptive). N\u00eb k\u00ebto sisteme, kur kushtet e jashtme ose karakteristikat e objektit t\u00eb rregullimit ndryshojn\u00eb, ndodh nj\u00eb ndryshim automatiku (i paracaktuar) i parametrave t\u00eb pajisjes menaxhuese p\u00ebrmes ndryshimit t\u00eb koeficient\u00ebve t\u00eb sistemit t\u00eb menaxhimit, struktur\u00ebs s\u00eb sistemit t\u00eb menaxhimit, apo madje introdukimit t\u00eb elementeve t\u00eb rinj.<\/p>\n<p><\/p>\n<p>Nj\u00eb tjet\u00ebr shembull klasifikimi: sipas kriterit hierarkik (n\u00eb nj\u00eb nivel, dy nivele, shum\u00eb nivele). <\/p>\n<p class=\"for_users_only_msg\">Vet\u00ebm p\u00ebrdoruesit e regjistruar mund t\u00eb marrin pjes\u00eb n\u00eb anket\u00eb. <noindex><a rel=\"nofollow\" href=\"https:\/\/habr.com\/ru\/auth\/login\/\">Hyni<\/a><\/noindex>, ju lutemi.<\/p>\n<h2 class=\"default-block__polling-title\">A duhet t\u00eb vazhdojme publikimin e leksioneve mbi UTS?<\/h2>\n<ul class=\"poll-result\">\n<li class=\"poll-result__item\">\n<p>                <strong class=\"poll-result__data-percent  poll-result__data-percent_winner\">88,7%<\/strong>Po118<\/p>\n<\/li>\n<li class=\"poll-result__item\">\n<p>                <strong class=\"poll-result__data-percent\">7,5%<\/strong>Jo<\/p>\n<\/li>\n<li class=\"poll-result__item\">\n<p>                <strong class=\"poll-result__data-percent\">3,8%<\/strong>Nuk e di<\/p>\n<\/li>\n<\/ul>\n<p>    Ka votuar 133 p\u00ebrdorues. 10 p\u00ebrdorues jan\u00eb abstenuar.<br \/>\n<br \/>Burimi: <a content=\"nofollow\" rel=\"nofollow\" href=\"https:\/\/habr.com\/ru\/post\/503820\/\">habr.com<\/a> <\/p>","protected":false,"gt_translate_keys":[{"key":"rendered","format":"html"}]},"excerpt":{"rendered":"<p>\u041f\u0443\u0431\u043b\u0438\u043a\u0443\u044e \u043f\u0435\u0440\u0432\u0443\u044e \u0433\u043b\u0430\u0432\u0443 \u043b\u0435\u043a\u0446\u0438\u0439 \u043f\u043e \u0442\u0435\u043e\u0440\u0438\u0438 \u0430\u0432\u0442\u043e\u043c\u0430\u0442\u0438\u0447\u0435\u0441\u043a\u043e\u0433\u043e \u0443\u043f\u0440\u0430\u0432\u043b\u0435\u043d\u0438\u044f, \u043f\u043e\u0441\u043b\u0435 \u043a\u043e\u0442\u043e\u0440\u044b\u0445 \u0432\u0430\u0448\u0430 \u0436\u0438\u0437\u043d\u044c \u0443\u0436\u0435 \u043d\u0438\u043a\u043e\u0433\u0434\u0430 \u043d\u0435 \u0431\u0443\u0434\u0435\u0442 \u043f\u0440\u0435\u0436\u043d\u0435\u0439. \u041b\u0435\u043a\u0446\u0438\u0438 \u043f\u043e \u043a\u0443\u0440\u0441\u0443 \u00ab\u0423\u043f\u0440\u0430\u0432\u043b\u0435\u043d\u0438\u0435 \u0422\u0435\u0445\u043d\u0438\u0447\u0435\u0441\u043a\u0438\u043c\u0438 \u0421\u0438\u0441\u0442\u0435\u043c\u0430\u043c\u0438\u00bb, \u0447\u0438\u0442\u0430\u0435\u0442 \u041a\u043e\u0437\u043b\u043e\u0432 \u041e\u043b\u0435\u0433 \u0421\u0442\u0435\u043f\u0430\u043d\u043e\u0432\u0438\u0447 \u043d\u0430 \u043a\u0430\u0444\u0435\u0434\u0440\u0435 \u00ab\u042f\u0434\u0435\u0440\u043d\u044b\u0435 \u0440\u0435\u0430\u043a\u0442\u043e\u0440\u044b \u0438 \u044d\u043d\u0435\u0440\u0433\u0435\u0442\u0438\u0447\u0435\u0441\u043a\u0438\u0435 \u0443\u0441\u0442\u0430\u043d\u043e\u0432\u043a\u0438\u00bb, \u0444\u0430\u043a\u0443\u043b\u044c\u0442\u0435\u0442\u0430 \u00ab\u042d\u043d\u0435\u0440\u0433\u043e\u043c\u0430\u0448\u0438\u043d\u043e\u0441\u0442\u0440\u043e\u0435\u043d\u0438\u044f\u00bb \u041c\u0413\u0422\u0423 \u0438\u043c. \u041d.\u042d. \u0411\u0430\u0443\u043c\u0430\u043d\u0430. \u0417\u0430 \u0447\u0442\u043e \u0435\u043c\u0443 \u043e\u0433\u0440\u043e\u043c\u043d\u0430\u044f \u0431\u043b\u0430\u0433\u043e\u0434\u0430\u0440\u043d\u043e\u0441\u0442\u044c. \u0414\u0430\u043d\u043d\u044b\u0435 \u043b\u0435\u043a\u0446\u0438\u0438 \u0442\u043e\u043b\u044c\u043a\u043e \u0433\u043e\u0442\u043e\u0432\u044f\u0442\u0441\u044f \u043a \u043f\u0443\u0431\u043b\u0438\u043a\u0430\u0446\u0438\u0438 \u0432 \u0432\u0438\u0434\u0435 \u043a\u043d\u0438\u0433\u0438, \u0430 [&hellip;]<\/p>\n","protected":false,"gt_translate_keys":[{"key":"rendered","format":"html"}]},"author":1,"featured_media":83943,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[688],"tags":[],"class_list":["post-83942","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-administrirovanie"],"aioseo_notices":[],"aioseo_head":"\n\t\t<!-- All in One SEO 4.9.10 - aioseo.com -->\n\t<meta name=\"description\" content=\"\u041f\u0443\u0431\u043b\u0438\u043a\u0443\u044e \u043f\u0435\u0440\u0432\u0443\u044e \u0433\u043b\u0430\u0432\u0443 \u043b\u0435\u043a\u0446\u0438\u0439 \u043f\u043e \u0442\u0435\u043e\u0440\u0438\u0438 \u0430\u0432\u0442\u043e\u043c\u0430\u0442\u0438\u0447\u0435\u0441\u043a\u043e\u0433\u043e \u0443\u043f\u0440\u0430\u0432\u043b\u0435\u043d\u0438\u044f, \u043f\u043e\u0441\u043b\u0435 \u043a\u043e\u0442\u043e\u0440\u044b\u0445 \u0432\u0430\u0448\u0430 \u0436\u0438\u0437\u043d\u044c \u0443\u0436\u0435 \u043d\u0438\u043a\u043e\u0433\u0434\u0430 \u043d\u0435 \u0431\u0443\u0434\u0435\u0442 \u043f\u0440\u0435\u0436\u043d\u0435\u0439. \u041b\u0435\u043a\u0446\u0438\u0438 \u043f\u043e \u043a\u0443\u0440\u0441\u0443 \u00ab\u0423\u043f\u0440\u0430\u0432\u043b\u0435\u043d\u0438\u0435 \u0422\u0435\u0445\u043d\u0438\u0447\u0435\u0441\u043a\u0438\u043c\u0438 \u0421\u0438\u0441\u0442\u0435\u043c\u0430\u043c\u0438\u00bb, \u0447\u0438\u0442\u0430\u0435\u0442 \u041a\u043e\u0437\u043b\u043e\u0432 \u041e\u043b\u0435\u0433 \u0421\u0442\u0435\u043f\u0430\u043d\u043e\u0432\u0438\u0447 \u043d\u0430 \u043a\u0430\u0444\u0435\u0434\u0440\u0435 \u00ab\u042f\u0434\u0435\u0440\u043d\u044b\u0435 \u0440\u0435\u0430\u043a\u0442\u043e\u0440\u044b \u0438 \u044d\u043d\u0435\u0440\u0433\u0435\u0442\u0438\u0447\u0435\u0441\u043a\u0438\u0435 \u0443\u0441\u0442\u0430\u043d\u043e\u0432\u043a\u0438\u00bb, \u0444\u0430\u043a\u0443\u043b\u044c\u0442\u0435\u0442\u0430 \u00ab\u042d\u043d\u0435\u0440\u0433\u043e\u043c\u0430\u0448\u0438\u043d\u043e\u0441\u0442\u0440\u043e\u0435\u043d\u0438\u044f\u00bb \u041c\u0413\u0422\u0423 \u0438\u043c. \u041d.\u042d. \u0411\u0430\u0443\u043c\u0430\u043d\u0430. \u0417\u0430 \u0447\u0442\u043e \u0435\u043c\u0443 \u043e\u0433\u0440\u043e\u043c\u043d\u0430\u044f \u0431\u043b\u0430\u0433\u043e\u0434\u0430\u0440\u043d\u043e\u0441\u0442\u044c. \u0414\u0430\u043d\u043d\u044b\u0435 \u043b\u0435\u043a\u0446\u0438\u0438 \u0442\u043e\u043b\u044c\u043a\u043e \u0433\u043e\u0442\u043e\u0432\u044f\u0442\u0441\u044f \u043a \u043f\u0443\u0431\u043b\u0438\u043a\u0430\u0446\u0438\u0438 \u0432 \u0432\u0438\u0434\u0435 \u043a\u043d\u0438\u0433\u0438, \u0430\" \/>\n\t<meta name=\"robots\" content=\"max-image-preview:large\" \/>\n\t<meta name=\"author\" content=\"Yuri Gagarin\"\/>\n\t<link rel=\"canonical\" href=\"https:\/\/prohoster.info\/sq\/blog\/administrirovanie\/vvedenie-v-teoriyu-avtomaticheskogo-upravleniya-osnovnye-ponyatiya-teorii-upravleniya-tehnicheskim-sistemami\" \/>\n\t<meta name=\"generator\" content=\"All in One SEO (AIOSEO) 4.9.10\" \/>\n\t\t<meta property=\"og:locale\" content=\"sq_AL\" \/>\n\t\t<meta property=\"og:site_name\" content=\"ProHoster | \u041a\u0443\u043f\u0438\u0442\u044c \u043d\u0430\u0434\u0435\u0436\u043d\u044b\u0439 \u0445\u043e\u0441\u0442\u0438\u043d\u0433 \u0434\u043b\u044f \u0441\u0430\u0439\u0442\u043e\u0432 \u0441 \u0437\u0430\u0449\u0438\u0442\u043e\u0439 \u043e\u0442 DDoS, VPS VDS \u0441\u0435\u0440\u0432\u0435\u0440\u044b\" \/>\n\t\t<meta property=\"og:type\" content=\"article\" \/>\n\t\t<meta property=\"og:title\" content=\"\ud83e\udd47\u0412\u0432\u0435\u0434\u0435\u043d\u0438\u0435 \u0432 \u0442\u0435\u043e\u0440\u0438\u044e \u0430\u0432\u0442\u043e\u043c\u0430\u0442\u0438\u0447\u0435\u0441\u043a\u043e\u0433\u043e \u0443\u043f\u0440\u0430\u0432\u043b\u0435\u043d\u0438\u044f. \u041e\u0441\u043d\u043e\u0432\u043d\u044b\u0435 \u043f\u043e\u043d\u044f\u0442\u0438\u044f \u0442\u0435\u043e\u0440\u0438\u0438 \u0443\u043f\u0440\u0430\u0432\u043b\u0435\u043d\u0438\u044f \u0442\u0435\u0445\u043d\u0438\u0447\u0435\u0441\u043a\u0438\u043c \u0441\u0438\u0441\u0442\u0435\u043c\u0430\u043c\u0438 | ProHoster\" \/>\n\t\t<meta property=\"og:description\" content=\"\u041f\u0443\u0431\u043b\u0438\u043a\u0443\u044e \u043f\u0435\u0440\u0432\u0443\u044e \u0433\u043b\u0430\u0432\u0443 \u043b\u0435\u043a\u0446\u0438\u0439 \u043f\u043e \u0442\u0435\u043e\u0440\u0438\u0438 \u0430\u0432\u0442\u043e\u043c\u0430\u0442\u0438\u0447\u0435\u0441\u043a\u043e\u0433\u043e \u0443\u043f\u0440\u0430\u0432\u043b\u0435\u043d\u0438\u044f, \u043f\u043e\u0441\u043b\u0435 \u043a\u043e\u0442\u043e\u0440\u044b\u0445 \u0432\u0430\u0448\u0430 \u0436\u0438\u0437\u043d\u044c \u0443\u0436\u0435 \u043d\u0438\u043a\u043e\u0433\u0434\u0430 \u043d\u0435 \u0431\u0443\u0434\u0435\u0442 \u043f\u0440\u0435\u0436\u043d\u0435\u0439. \u041b\u0435\u043a\u0446\u0438\u0438 \u043f\u043e \u043a\u0443\u0440\u0441\u0443 \u00ab\u0423\u043f\u0440\u0430\u0432\u043b\u0435\u043d\u0438\u0435 \u0422\u0435\u0445\u043d\u0438\u0447\u0435\u0441\u043a\u0438\u043c\u0438 \u0421\u0438\u0441\u0442\u0435\u043c\u0430\u043c\u0438\u00bb, \u0447\u0438\u0442\u0430\u0435\u0442 \u041a\u043e\u0437\u043b\u043e\u0432 \u041e\u043b\u0435\u0433 \u0421\u0442\u0435\u043f\u0430\u043d\u043e\u0432\u0438\u0447 \u043d\u0430 \u043a\u0430\u0444\u0435\u0434\u0440\u0435 \u00ab\u042f\u0434\u0435\u0440\u043d\u044b\u0435 \u0440\u0435\u0430\u043a\u0442\u043e\u0440\u044b \u0438 \u044d\u043d\u0435\u0440\u0433\u0435\u0442\u0438\u0447\u0435\u0441\u043a\u0438\u0435 \u0443\u0441\u0442\u0430\u043d\u043e\u0432\u043a\u0438\u00bb, \u0444\u0430\u043a\u0443\u043b\u044c\u0442\u0435\u0442\u0430 \u00ab\u042d\u043d\u0435\u0440\u0433\u043e\u043c\u0430\u0448\u0438\u043d\u043e\u0441\u0442\u0440\u043e\u0435\u043d\u0438\u044f\u00bb \u041c\u0413\u0422\u0423 \u0438\u043c. \u041d.\u042d. \u0411\u0430\u0443\u043c\u0430\u043d\u0430. \u0417\u0430 \u0447\u0442\u043e \u0435\u043c\u0443 \u043e\u0433\u0440\u043e\u043c\u043d\u0430\u044f \u0431\u043b\u0430\u0433\u043e\u0434\u0430\u0440\u043d\u043e\u0441\u0442\u044c. \u0414\u0430\u043d\u043d\u044b\u0435 \u043b\u0435\u043a\u0446\u0438\u0438 \u0442\u043e\u043b\u044c\u043a\u043e \u0433\u043e\u0442\u043e\u0432\u044f\u0442\u0441\u044f \u043a \u043f\u0443\u0431\u043b\u0438\u043a\u0430\u0446\u0438\u0438 \u0432 \u0432\u0438\u0434\u0435 \u043a\u043d\u0438\u0433\u0438, \u0430\" \/>\n\t\t<meta property=\"og:url\" content=\"https:\/\/prohoster.info\/sq\/blog\/administrirovanie\/vvedenie-v-teoriyu-avtomaticheskogo-upravleniya-osnovnye-ponyatiya-teorii-upravleniya-tehnicheskim-sistemami\" \/>\n\t\t<meta property=\"og:image\" content=\"https:\/\/prohoster.info\/wp-content\/uploads\/2021\/11\/logo-350.jpg\" \/>\n\t\t<meta property=\"og:image:secure_url\" content=\"https:\/\/prohoster.info\/wp-content\/uploads\/2021\/11\/logo-350.jpg\" \/>\n\t\t<meta property=\"og:image:width\" content=\"350\" \/>\n\t\t<meta property=\"og:image:height\" content=\"350\" \/>\n\t\t<meta property=\"article:published_time\" content=\"2020-06-04T05:42:41+00:00\" \/>\n\t\t<meta property=\"article:modified_time\" content=\"2020-06-04T05:42:41+00:00\" \/>\n\t\t<meta property=\"article:publisher\" content=\"https:\/\/www.facebook.com\/prohoster\" \/>\n\t\t<meta property=\"article:author\" content=\"https:\/\/www.facebook.com\/prohoster\" \/>\n\t\t<!-- All in One SEO -->\n\n","aioseo_head_json":{"title":"\ud83e\udd47Hyrje n\u00eb teorin\u00eb e kontrollit automatizuar. Konceptet kryesore t\u00eb teoris\u00eb s\u00eb menaxhimit t\u00eb sistemeve teknike | ProHoster","description":"Po publikoj kapitullin e par\u00eb t\u00eb leksioneve mbi teorin\u00eb e kontrollit automatizuar, pas t\u00eb cilave jeta juaj nuk do t\u00eb jet\u00eb m\u00eb e nj\u00ebjt\u00eb. Leksionet p\u00ebr kursin \"Menaxhimi i Sistemeve Teknike\", t\u00eb cilat i ligj\u00ebron Kozlov Oleg Stepanovi\u00e7 n\u00eb katedr\u00ebn \"Reaktor\u00eb B\u00ebrthamor\u00eb dhe Instalime Energjike\", fakulteti \"Inxhinieria Energjis\u00eb\" t\u00eb MGTU im. N.E. Baumani. P\u00ebr k\u00ebt\u00eb i jepet nj\u00eb fal\u00ebnderim i madh. K\u00ebto leksione po p\u00ebrgatiten p\u00ebr publikim n\u00eb form\u00eb libri, dhe","canonical_url":"https:\/\/prohoster.info\/sq\/blog\/administrirovanie\/vvedenie-v-teoriyu-avtomaticheskogo-upravleniya-osnovnye-ponyatiya-teorii-upravleniya-tehnicheskim-sistemami","robots":"max-image-preview:large","keywords":"","webmasterTools":{"miscellaneous":""},"schema":null,"og:locale":"sq_AL","og:site_name":"ProHoster | \u041a\u0443\u043f\u0438\u0442\u044c \u043d\u0430\u0434\u0435\u0436\u043d\u044b\u0439 \u0445\u043e\u0441\u0442\u0438\u043d\u0433 \u0434\u043b\u044f \u0441\u0430\u0439\u0442\u043e\u0432 \u0441 \u0437\u0430\u0449\u0438\u0442\u043e\u0439 \u043e\u0442 DDoS, VPS VDS \u0441\u0435\u0440\u0432\u0435\u0440\u044b","og:type":"article","og:title":"\ud83e\udd47\u0412\u0432\u0435\u0434\u0435\u043d\u0438\u0435 \u0432 \u0442\u0435\u043e\u0440\u0438\u044e \u0430\u0432\u0442\u043e\u043c\u0430\u0442\u0438\u0447\u0435\u0441\u043a\u043e\u0433\u043e \u0443\u043f\u0440\u0430\u0432\u043b\u0435\u043d\u0438\u044f. \u041e\u0441\u043d\u043e\u0432\u043d\u044b\u0435 \u043f\u043e\u043d\u044f\u0442\u0438\u044f \u0442\u0435\u043e\u0440\u0438\u0438 \u0443\u043f\u0440\u0430\u0432\u043b\u0435\u043d\u0438\u044f \u0442\u0435\u0445\u043d\u0438\u0447\u0435\u0441\u043a\u0438\u043c \u0441\u0438\u0441\u0442\u0435\u043c\u0430\u043c\u0438 | ProHoster","og:description":"\u041f\u0443\u0431\u043b\u0438\u043a\u0443\u044e \u043f\u0435\u0440\u0432\u0443\u044e \u0433\u043b\u0430\u0432\u0443 \u043b\u0435\u043a\u0446\u0438\u0439 \u043f\u043e \u0442\u0435\u043e\u0440\u0438\u0438 \u0430\u0432\u0442\u043e\u043c\u0430\u0442\u0438\u0447\u0435\u0441\u043a\u043e\u0433\u043e \u0443\u043f\u0440\u0430\u0432\u043b\u0435\u043d\u0438\u044f, \u043f\u043e\u0441\u043b\u0435 \u043a\u043e\u0442\u043e\u0440\u044b\u0445 \u0432\u0430\u0448\u0430 \u0436\u0438\u0437\u043d\u044c \u0443\u0436\u0435 \u043d\u0438\u043a\u043e\u0433\u0434\u0430 \u043d\u0435 \u0431\u0443\u0434\u0435\u0442 \u043f\u0440\u0435\u0436\u043d\u0435\u0439. \u041b\u0435\u043a\u0446\u0438\u0438 \u043f\u043e \u043a\u0443\u0440\u0441\u0443 \u00ab\u0423\u043f\u0440\u0430\u0432\u043b\u0435\u043d\u0438\u0435 \u0422\u0435\u0445\u043d\u0438\u0447\u0435\u0441\u043a\u0438\u043c\u0438 \u0421\u0438\u0441\u0442\u0435\u043c\u0430\u043c\u0438\u00bb, \u0447\u0438\u0442\u0430\u0435\u0442 \u041a\u043e\u0437\u043b\u043e\u0432 \u041e\u043b\u0435\u0433 \u0421\u0442\u0435\u043f\u0430\u043d\u043e\u0432\u0438\u0447 \u043d\u0430 \u043a\u0430\u0444\u0435\u0434\u0440\u0435 \u00ab\u042f\u0434\u0435\u0440\u043d\u044b\u0435 \u0440\u0435\u0430\u043a\u0442\u043e\u0440\u044b \u0438 \u044d\u043d\u0435\u0440\u0433\u0435\u0442\u0438\u0447\u0435\u0441\u043a\u0438\u0435 \u0443\u0441\u0442\u0430\u043d\u043e\u0432\u043a\u0438\u00bb, \u0444\u0430\u043a\u0443\u043b\u044c\u0442\u0435\u0442\u0430 \u00ab\u042d\u043d\u0435\u0440\u0433\u043e\u043c\u0430\u0448\u0438\u043d\u043e\u0441\u0442\u0440\u043e\u0435\u043d\u0438\u044f\u00bb \u041c\u0413\u0422\u0423 \u0438\u043c. \u041d.\u042d. \u0411\u0430\u0443\u043c\u0430\u043d\u0430. \u0417\u0430 \u0447\u0442\u043e \u0435\u043c\u0443 \u043e\u0433\u0440\u043e\u043c\u043d\u0430\u044f \u0431\u043b\u0430\u0433\u043e\u0434\u0430\u0440\u043d\u043e\u0441\u0442\u044c. \u0414\u0430\u043d\u043d\u044b\u0435 \u043b\u0435\u043a\u0446\u0438\u0438 \u0442\u043e\u043b\u044c\u043a\u043e \u0433\u043e\u0442\u043e\u0432\u044f\u0442\u0441\u044f \u043a \u043f\u0443\u0431\u043b\u0438\u043a\u0430\u0446\u0438\u0438 \u0432 \u0432\u0438\u0434\u0435 \u043a\u043d\u0438\u0433\u0438, \u0430","og:url":"https:\/\/prohoster.info\/sq\/blog\/administrirovanie\/vvedenie-v-teoriyu-avtomaticheskogo-upravleniya-osnovnye-ponyatiya-teorii-upravleniya-tehnicheskim-sistemami","og:image":"https:\/\/prohoster.info\/wp-content\/uploads\/2021\/11\/logo-350.jpg","og:image:secure_url":"https:\/\/prohoster.info\/wp-content\/uploads\/2021\/11\/logo-350.jpg","og:image:width":350,"og:image:height":350,"article:published_time":"2020-06-04T05:42:41+00:00","article:modified_time":"2020-06-04T05:42:41+00:00","article:publisher":"https:\/\/www.facebook.com\/prohoster","article:author":"https:\/\/www.facebook.com\/prohoster"},"aioseo_meta_data":{"post_id":"83942","title":null,"description":null,"keywords":null,"keyphrases":null,"primary_term":null,"canonical_url":null,"og_title":null,"og_description":null,"og_object_type":"default","og_image_type":"default","og_image_url":null,"og_image_width":null,"og_image_height":null,"og_image_custom_url":null,"og_image_custom_fields":null,"og_video":null,"og_custom_url":null,"og_article_section":null,"og_article_tags":null,"twitter_use_og":false,"twitter_card":"default","twitter_image_type":"default","twitter_image_url":null,"twitter_image_custom_url":null,"twitter_image_custom_fields":null,"twitter_title":null,"twitter_description":null,"schema":{"blockGraphs":[],"customGraphs":[],"default":{"data":{"Article":[],"Course":[],"Dataset":[],"FAQPage":[],"Movie":[],"Person":[],"Product":[],"ProductReview":[],"Car":[],"Recipe":[],"Service":[],"SoftwareApplication":[],"WebPage":[]},"graphName":"","isEnabled":true},"graphs":[]},"schema_type":null,"schema_type_options":null,"pillar_content":false,"robots_default":true,"robots_noindex":false,"robots_noarchive":false,"robots_nosnippet":false,"robots_nofollow":false,"robots_noimageindex":false,"robots_noodp":false,"robots_notranslate":false,"robots_max_snippet":null,"robots_max_videopreview":null,"robots_max_imagepreview":"large","priority":null,"frequency":null,"local_seo":null,"seo_analyzer_scan_date":null,"breadcrumb_settings":null,"limit_modified_date":false,"reviewed_by":null,"ai":null,"created":"2021-02-28 15:07:50","updated":"2022-09-28 07:19:34"},"gt_translate_keys":[{"key":"link","format":"url"}],"_links":{"self":[{"href":"https:\/\/prohoster.info\/sq\/wp-json\/wp\/v2\/posts\/83942","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/prohoster.info\/sq\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/prohoster.info\/sq\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/prohoster.info\/sq\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/prohoster.info\/sq\/wp-json\/wp\/v2\/comments?post=83942"}],"version-history":[{"count":0,"href":"https:\/\/prohoster.info\/sq\/wp-json\/wp\/v2\/posts\/83942\/revisions"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/prohoster.info\/sq\/wp-json\/wp\/v2\/media\/83943"}],"wp:attachment":[{"href":"https:\/\/prohoster.info\/sq\/wp-json\/wp\/v2\/media?parent=83942"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/prohoster.info\/sq\/wp-json\/wp\/v2\/categories?post=83942"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/prohoster.info\/sq\/wp-json\/wp\/v2\/tags?post=83942"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}