4
() , . , . (.1) : () ; ; ; BR, () ; , ().
:
T dU /dt + U = k U;
( ) T dU /dt + U = k U;
dq /dt =k w;
. , ( ) ( ) .
q q - ;
U - ;
K - ;
K - ;
K - ;
M - ;
- , ;
J - , ;
i - ;
kw - -;
;
T - ;
T - .
6 | |
K | |
K | |
K | |
T, . | 0,001 |
T,, | 0,005 |
T, . | 0,03 |
J, 2 | 0,005 |
I | |
Kw, / | 0,25 |
s, % | |
t, | 0,1 |
() , .
, . , , , .
, , .
, .
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( 0,05 ) , ( 15 10³ /) , , , .
:
;
;
;
;
( 154);
( );
;
( );
;
;
.
:
;
;
, ;
.
:
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w
q
:
) ;
) 1 ;
) 2 ;
) ;
) ;
) ;
) - ;
, :
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q
:
) W1 ;
) W2 ;
) W3 ;
) W4 ;
) W5 ;
) W6 .
.
2.1
- , .
. , .
:
Ldi/dt+Ri =u,
L- ;
R- ;
i ;
u- .
, .. , u :
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u=k1i ,
k1-, -
.
T=L/R k=k1/R,
:
Tdu/dt +du/dt =ku.
:
TºT, uºu, kºk, uºu
: Tdu/dt +du/dt =ku
, , , :
u(p) (Tp+1)= ku(p)
:
W1(p) = u(p)/u(p) = k/(Tp+1) = 30/(0,001p+1)
2.2
, . .
W2(p) = k/(Tp+1) = 7/(0,005p+1)
2.3
, , (), .
.
. .
. U i , , , () . U.. , .
:
Ldi/dt+Ri+Cw =u;
Jd w/dt=M= Ci;
E= Cew,
L- ;
R- ;
i- ;
Cw- ;
E- - ;
,-, - .
.
Ldi/dt+Ri+Cw =u
u=u-E Cw =-E,
Ldi/dt+Ri= u
TºL/R ,kº1/R,
Tpi(p) + i(p)= k u(p)
:
W3(p)= k/(Tp+1) = 2/(0,03p+1)
Jdw/dt = M
Jpw(p) = M(p)
W4(p) = w(p)/ M(p) = 1/ Jp = 1/0,005p
. , -
kω = Ce = 0,25.
2.4
.
,
ka=b (1)
(1)
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kda /dt=db/dt
, da /dt=w
, kw= db/dt
.
, , , :
pb(p) = kw(p)
:
W6(p) = b(p)/ w(p) = k/p = 1/70p = 0,0143/p
k = 1/I
2.5
W (p)=W1W2W6 W3 W4/(1+ W3 W4W5) (2)
: W= W3 W4/(1+ W3 W4W5)
(2) : W (p)=W1W2W6 W
2.6
(p)= W (p)/1+ W (p)= W1W2W6 W/(1+ W1W2W6 W)
2.7
. , ,
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f(p)=(W6 W4/1+ W3 W4W5)/1+ W1W2W6 W
2.8
e(p)=1- (p)= 1- W (p)/1+ W (p)=1/ W (p)+1=1/1+ W1W2W6 W
2.9
ef(p)=- f(p)= -(W6 W4/1+ W3 W4W5)/1+ W1W2W6 W
, . , .
3.1
:
W (p)=W1W2W6 W ,
W1 = k/(Tp+1);
W2 = k/(Tp+1);
W6= k/p;
W =W3 W4/(1+ W3 W4W5)
W
W =k/((Tp+1) Jp)/1+ k kw/((Tp+1) Jp) (3)
(3)
W = k/(Tp+1) Jp+ k kw
kº k/ k kw, T2 ºTJ/ k kw, 2Tpxº J/ k kw
,
W = k/ T2p2 +2Tpx+1
. , , .. k = k k k k , 1
, :
)W1 = 1/(Tp + 1);
)W2 = 1/(Tp + 1);
)W = 1/ T2p2 + 2Tx + 1;
)W6= k /p
:
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) W1 = 1/(0,001p + 1);
) W2 = 1/(0,005p + 1);
) W = 1/ (0,0173)2p2 + 20,01730,58p + 1;
) W6 = 12/p
- , , .
, 20lg40 = 32
.
, , , π. , .