' , .
s = a + j b, s . s, W(s) = 0, , , W(s) = ∞, - . (2.7) , B(s), - A(s).
B(s) A(s) . , (2.7)
A(s) , ,
k - ; limW * (s) =1;
r - A(s).
, (2.7) ,
A(s) : 
: 
, r > 0, , , . r . r =0, .
(2.8)
:
, r = 0 x0 y(t)
r >0 .
2.2.
W(s) k= 1,
.
. (a0s2 + a1s + a2)Y(s) = kX (s).
˳
г . x(t), y(t) F , , . .
2.3. -, . 2.8.
2.8. :
R, L - ;
R, L - (, ..); i(t) - ; i(t), R, L - , ; J J - ;
w(t) - ;
M(t) - , ; (t) - .
г.
, u(t), ,
u(t), 䳿 M(t) .
|
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u(t), u(t) M(t), -w(t)
, :
- R, L, R, L, R L ;
- ' () ;
- ;
- , () .
Գ :
-
(2.9)
-
- ( );
-
(2.12)
.
c = pN /(2p a) - ; p - ; N - ; a - . ϳ (2.10) (2.11) (2.6) (2.9), :
г (2.13) (2.14) , (2.11) . , .
(2.15) . (2.15) :
. 2.9 - (2.16) Simulink.
, ', u(t) u(t), M(t) .
. 2.9 (2.13) Simulink
( , -) . 䳿 . . ' . . , , , . :
- ;
F (x(t), ′(t), y(t), y′(t), ′′(t)..., yn(t)), (2.1), , .
-, ( ).
|
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, , . , 䳿 , , .
|
x, y, y . -
(2.17),
; 
, ; R , , , .
, , , , , R 0.
³ (2.18)
г (2.19) . , x0 (t), y0(t), f0(t) ( ). , . (2.19) Dx(t) Dy(t), x(t) y(t), .
.
, y(t) x(t) . . 2.10,
F (x(t), y(t)) = y(t) - f [x(t)] :
| a - |
[x0, y0], :
. 2.10
, Dx(t), , .
³, ,
, . ˳ .
2.4. 2.3. . (2.13). :
F \e (t), w(t),(t)\ = e(t)-c× w(t) × (t) = 0 (2.21)
˳ (2.21) e0,
w0 0, .
(2.21)
|
ϳ (2.23) (2.22), :
,
(2.9)
(2.25) (2.24) DE (s), :
˳ (2.14). :
˳ (2.27) M,0, i,0 0, : (2.27)
ϳ (2.28) (2.27), :
(2.12):
(2.29) (2.30) DM (s), :
(2.26) (2.31) D (s)
D I(s). (t) i(t), (2.11) .
˳ F = (t)- f[i(t) w] , i ,0 0, (2.20) :
(2.10):
(2.29) (2.30) DI (s), :
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(2.26), (2.31) (2.34)
(2.15) :
T = LS / R S ; 
;
T = L / R - ;
k ,u = 1(c0) - k,
= R S -
