2.1. ,
. ,
1.
: ; ; .
:
= 0,003 ;
= 0,0018 ;
= 180 ×;
= 10 ;
= 2 .
. 1. :
= ;
:
;
:
; ; .
3 = 0,002 .
:
.
2. . (. 2.10)
Simulink . 2.10.
Start Simulation. , 6 ÷ 10 ( Simulation Parameters Solver Stop Time).
. 2.10.
Simulink
Step , Step 1 . . 2.11 .
Ω(t), /
t, c
. 2.11.
, , Step , Step 1 . . 2.12.
W(t), /
t, c
. 2.12.
3. .
. 2.11 Wmax = 329 /
W = 314 /. :
.
, , 4,3 %. . = 0, 4,3 %, :
W (s) = .
:
|
|
.
W :
0,026 .
:
.
. 2.12 , ΔW 0,4 . , .
.
4. Command Window MatLab. , , , , :
.
= sys1, = sys2, = sys3, = sys4, :
num1 = [ T pc1 T pc2 T pc1 1];
den1 = [2 K K K T pc3 2 K K K 0];
sys1 = tf (num1, den1);
num2 = [ K ];
den2 = [ T 1];
sys2 = tf(num2, den2);
num3 = [ K ];
den3 = [ T T T 1];
sys3 = tf(num3, den3);
num4 = [ K ];
den4 = [ T 1];
sys4 = tf(num4, den4);
sys5 = sys1*sys2*sys3*sys4
b 2, b 1, b 0, d 6, d 5, d 4, d 3, d 2, d 1, d 0 = 0:
. (2.25)
:
w = logspace ( n, m);
num = [ b 2 b 1 b 0];
den = [ d 6 d 5 d 4 d 3 d 2 d 1 0];
bode(num, den, w)
( n, m) 10, . 3, 3. , .
, , , Transfer Fcn, Transfer Fcn1, Gain, Transfer Fcn2, Transfer Fcn3 , . 2.10:
num1=[0.001264 0.0316 1];
>> den1=[0.0001395 0.0698 0];
>> sys1=tf(num1, den1)
Transfer function:
0.001264 s^2 + 0.0316 s + 1
---------------------------
0.0001395 s^2 + 0.0698 s
>> num2=[30];
den2=[0.003 1];
sys2=tf(num2, den2)
Transfer function:
-----------
0.003 s + 1
>> num3=[5.376];
den3=[0.001264 0.0316 1];
sys3=tf(num3, den3)
Transfer function:
5.376
---------------------------
0.001264 s^2 + 0.0316 s + 1
>> num4=[0.0318];
den4=[0.0018 1];
sys4=tf(num4, den4)
Transfer function:
0.0318
------------
0.0018 s + 1
>> sys5=sys1*sys2*sys3*sys4
Transfer function:
0.006483 s^2 + 0.1621 s + 5.129
-----------------------------------------------------------------------------------------
9.522e-013 s^6 + 1.347e-009 s^5 + 6.336e-007 s^4 + 0.0001043 s^3 + 0.00268 s^2 + 0.0698 s
>> w=logspace (-3, 3);
>> num=[0.006483 0.1621 5.129];
>> den=[9.522e-013 1.347e-009 6.336e-007 0.0001043 0.00268 0.0698 0];
>> bode(num, den, w)
. 2.13.
|
|
, : L = 14,8 (Gain Margin) (Phase Margin), .
, L 0 - () , 180.
:
.
w, .. 0 .
. 2.13.
, .
1. .
2. .
3. .
4. .
1. .
2. .
3. , .
4. , .
5.
.
6.
MatLab.
3