, 3 - , . , , , . .
1. . 1 (. 4.1, 4.2) , . , , . . . , , .
2. . , (. . . 4) , ( ), , , -, .
, , . , , 20 /, , . , , , , , .
, .
5.2.
5.1. 1. . 4.1 (. 1).
2. -, (. 4.2) 4.1. 0 = 0,001 .
|
|
. 1. , 1 ( 4.1),
:
>>num=[0.5405 80.31 5964 8679 0];
>>den=[0.07268 42.64 1258 0 0];
>>sys=tf(num, den);
>>minreal(sys)
Transfer function:
7.437 s^3 + 1105 s^2 + 8.206e004 s + 1.194e005
----------------------------------------------
s^3 + 586.7 s^2 + 1.731e004 s
W (z) (bilinear) MatLab:
>> num=[7.437 1105 8.206e004 1.194e005];
>> den=[ 1 586.7 1.731e004 0];
>> Fs=1000;
>>[numd, dend]=bilinear(num, den, Fs)
numd =
6.1726 -17.6029 16.7515 -5.3210
dend =
1.0000 -2.5345 2.0824 -0.5479
, Fs 0. .
:
(5.1)
:
. (5.2)
(5.2) :
, (5.3)
.
. (5.4)
(5.3) (5.4) , . 5.1.
. 5.1.
, . 5.1, .
:
:
- :
, B, C D, :
(5.5)
2. - 4.1 :
- :
>> num=[0.00417 0.721 2.4246];
>> den=[4.3725e-004 0.2915 0];
>> Fs=1000;
>>[numd, dend]=bilinear(num, den, Fs)
numd =
7.7720 -14.3031 6.5352
dend =
1.0 -1.5000 0.5000
-:
, . 3.2, (3.8) (3.12).
, B, C, D:
(5.6)
5.3
5.2.
, . . .
. 1. , . 5.2.
, (Discrete State-Space1).
|
|
. 5.2. Discrete State-Space1 Discrete State-Space3 |
. 5.3. Discrete State-Space1
. 5.4. Discrete State-Space3
. 5.3 Discrete State-Space1
, , , D , (5.5).
. 5.2 -, (Discrete State-Space3). Discrete State-Space3
, , , D, (5.6), . 5.4.
2. . Step Step1 . . 5.5
, Scope1.
a(t),
. 5.5.
. 1 , . 2 -. , 23 %; 20 %. - 0,2 , 1 0,1 . , - ,
.
. (. 5.2) Ramp3, Ramp4 Ramp7, Ramp8.
= -2.
Scope2 . 5.6. , ( 1) = 0,0033, -, (. 2) = 0,0061. - (. . 4.2).
. 5.6.
. 5.7 , Scope2. (. 5.2) Ramp1, Ramp2 Ramp5, Ramp6.
.
. 5.7.
, ( 1) . -, , 2.
5.4
|
|
5.3. . 4.2 (. 1). -, (. 4.9) 4.2. 0 = 0,001 .
. :
>> num=[4.73 702.7 5.219e004 7.594e004 0];
>> den=[0.1454 85.36 2558 1258 0];
>> sys=tf(num, den);
>> minreal(sys)
Transfer function:
32.53 s^3 + 4833 s^2 + 3.589e005 s + 5.223e005
----------------------------------------------
s^3 + 587.1 s^2 + 1.759e004 s + 8652
W (z) (bilinear) MatLab.
>> num=[32.53 4833 3.589e005 5.223e005];
>> den=[ 1 587.1 1.759e004 8652];
>> Fs=1000;
>> [numd, dend]=bilinear(num, den, Fs)
numd =
26.9936 -76.9804 73.2571 -23.2699
dend =
1.0000 -2.5341 2.0818 -0.5477
z. 5.1 (. 5.1). , (. 5.1), :
:
- :
- , B, C, D, :
; ; .
- 4.2
.
- :
>> num=[0.20842 38.2264 60.256];
>> den=[6.4935e-003 4.3305 1];
>> Fs=1000;
>>[numd, dend]=bilinear(num, den, Fs)
numd =
26.2788 -48.1360 21.8642
dend =
1.0000 -1.4998 0.4999
:
-,
5.1, :
; ; ; .
5.5
5.4.
, 5.3. . .
. 5.8. Discrete State-Space1 Discrete State-Space3 |
. 1. , . 5.8.
, (Discrete State-Space1). . 5.9 Discrete State-Space1 , , , D , (5.4).
. 5.9. Discrete State-Space1
. 5.8 -, (Discrete State-Space3). Discrete State-Space3
, , , D, (5.5), . 5.10.
|
|
2. . Step Step1 . . 5.11 , Scope1.
. 5.10. Discrete State-Space3
a(t),
. 5.11.
. 1 , . 2 -. , 36 %; 3,7 %. - 0,088 , 1 0,04 . - , .
. (. 5.8) Ramp3 Ramp4 = = 0,8772 t -1
Scope2 . 5.12, 5.13.
. 5.12.
, ( 1) , -, (. 2) = 0,0035. - (. . 4.9).
. 5.13.
, ., 5.13, , ( 1) . -, , , , 2.
1. .
2. - .
3.
.
4. . .
1. .
2. .
3. , .
4. .
5. .
1. . ., . ., . . : . . .: . . ., 1982.
2. .. . .: , - , 1976.
3. . ., . . . .: . ., 1986.
4. . / .
. . , . . . .: , 1972.
5. . : . . .: , 1984.
6. . . .: , 1986.
7. ., . : .
. .: , 1987.
8. . . : . . 3- ., . .: , 2005.
|
|
9. . /
. . . .: , 1968.
10. / .
. . . .: . . . .-. ., 1987.
11. . / . . . . . .-. . - , 1978.
12. . . .: , 1989.
13. . . . . .: , 1971.
............................................. | |
1. 1. - | |
1.1. - ................................................. | |
1.2. ....................................... | |
1.3. ............................ | |
1.4. ................... | |
2. 2. | |
2.1 ............... | |
2.1.1. ................ | |
2.1.2. ............. | |
2.2. .............................. | |
2.2.1. ........................................... | |
2.2.2. ....... | |
2.3. | |
3. 3. | |
3.1. ........................................ | |
3.2. ... | |
3.3. u-................................... | |
3.4. .............................. | |
4. 4. | |
4.1. ......... | |
4.2. .................................. | |
4.3. .................................. | |
5. 5. | |
5.1. .. | |
5.2. .................................................... | |
5.3. ............................................ | |
5.4. .................................................... | |
5.5. ............................................ | |
. ................... | |
.............................. |