I- :
(t) = K[Td(t)/dt + (t)]
, , , (t) .
.
, . - , , .
.
h(t) = L-1[W(s)/s] = K1(t) + KTδ(t)
.
w(t) = L-1[W(s)] = Kδ(t) + KTdδ(t)/dt
I- () :
(t) = t (s) = 1/s2.
(t) = L-1[W(s)(s)] = L-1[K(Ts + 1)/s2] = L-1[KT/s + K/s2] = KT1(t) + Kt.
, I- , 0 KT, , .. . , , () . .
.
, , I- :
W(jω) = K + KTωj
A(ω) = = K
φ(ω) = arctg(KTω/K) = arctg(Tω)
L(ω) = 20lgK + 10lg(1+T2ω2)
, I- I- .
II-
.
II- :
W(s) = K(T12s2 + T2s + 1) K ; T1 T2 .
.
II- :
(t) = K[T12d2(t)/dt2 + T2d(t)/dt + (t)]
, , , y(t) .
.
h(t) = L-1[W(s)/s] = K1(t) + KT2δ(t) + KT12dδ(t)/dt
.
w(t) = L-1[W(s)] = Kδ(t) + KT2dδ(t)/dt + KT12d2δ(t)/dt2
II- :
(t) = t2 (s) = 2/s3.
(t) = L-1[W(s)(s)] = L-1[2K(T12s2 + T2s + 1)/s3] = 2KT121(t) + 2KT2t + Kt2
, II- , 0 2KT12, , .. . , I- , , , () .
|
|
.
II- , .. . , , I- , II- , , T1 T2.
, .
.
:
W(s) = e-τ s τ .