5.2. . 5.1. .
. (5.8).
1.
2.
1.
(5.8)
;
.
.
,
1.
>> 1/ = 1/7,85 = 0,127 .
= 2 .
. 5.1.
num1=[128.84 220.617];
den1=[0.0556 2.0278 1 0];
sys1=tf(num1, den1);
num2=[0.005409 0.8371 36.97 397.5];
den2=[4.259e-10 4.09e-07 0.0001152 0.01153 0.5681 14.25 122.2 0];
sys2=tf(num2, den2);
sys3=sys1/sys2
sys3 =
5.487e-08 s^8 + 5.279e-05 s^7 + 0.01493 s^6 + 1.511 s^5 + 75.74 s^4 + 1961 s^3 + 1.889e04 s^2 + 2.696e04 s
-------------------------------------------------------------------------------------------------- 0.0003007 s^6 + 0.05751 s^5 + 3.758 s^4 + 97.91 s^3 + 843 s^2 + 397.5 s
, . 5.9:
num=[5.487e-08 5.279e-05 0.01493 1.511 75.74 1961 1.889e04 2.696e04 0];
den=[0.0003007 0.05751 3.758 97.91 843 397.5 0];
bode(num, den)
. , 0 20 / 0 /. 20 40 /. - .
. 5.9.
.
. . 5.9
,
= 67,608. w1 = 0,344 1; w2 = 1,65 1; w3 = 100 1; w4 = 1000 1
; ;
; .
.
, . 5.10. Ramp Ramp1.
. 5.10. MatLab |
|
|
. 5.11 5.13.
α(t),
t, c
. 5.11.
,
t, c
. 5.12.
,
t, c
. 5.13.
(. 5.11) , 1 , N = 2, .
, , . . 5.12 . 17,8 .
. 5.13 , . , , 0,58 4 . .
1. - .
2. - .
3. - .
4. - .
5. . .
1. .
2. .
3. MatLab - .
4. MatLab - .
5. - .
6. - .
7. - -.
8. - .
9. - .
6