.
, , . .
X(t). . .
. , :
(5.1) |
, .
, . :
(5.2) |
.
1. . . D, a h .5.
2. .
3. .
1. .
2. .
3. , .
4. , .
5. SciLab.
.5.
D | h | D | h | ||||
0.001 | 0.001 | ||||||
0.1 | 0.05 | 0.001 | |||||
0.5 | 0.002 | 0.1 | 0.2 | 0.01 | |||
0.1 | 0.001 | 0.001 | |||||
0.01 | 0.1 | 0.01 | |||||
0.001 | 0.001 | ||||||
0.2 | 0.01 | 0.002 | |||||
0.001 | 0.001 | ||||||
0.01 | 0.01 | ||||||
0.5 | 0.02 | 0.001 | |||||
0.0011 | 0.001 | ||||||
0.2 | 0.01 | 0.1 | 0.01 | ||||
0.001 | 0.01 | ||||||
0.1 | 0.01 | 0.001 | |||||
0.2 | 0.001 | 0.002 | |||||
0.001 | 0.5 | 0.01 | |||||
0.001 | 2.5 | 0.001 | |||||
0.005 | 0.001 | ||||||
0.001 | 0.2 | 0.01 | |||||
0.01 | 0.4 | 1.5 | 0.001 | ||||
0.1 | 0.02 | 0.3 | 0.01 | ||||
0.5 | 0.001 | 0.002 | |||||
0.001 | 0.001 | ||||||
0.5 | 0.01 | 0.75 | 0.01 |
1 .1
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clear all, close all;
global k l m n Kt i1 i2 S V ht x
global delta_max delta_max_st
%
k=1;
l=10;
m=2;
n=8;
Kt=100;
i1=10;
i2=1;
S=100;
V=800;
delta_max=0.5;
delta_max_st=2.6;
%
x10=1;
x20=1;
x30=0;
x40=0;
x50=0;
X0=[x10,x20,x30,x40,x50];
ht=0.001; %
Tk=10; %
time=0:ht:Tk;
[t,x]=ode45('system_diff_24',time,X0);
subplot(5,1,1),plot(t,x(:,1)),grid on;
subplot(5,1,2),plot(t,x(:,2)),grid on;
subplot(5,1,3),plot(t,x(:,3)),grid on;
subplot(5,1,4),plot(t,x(:,4)),grid on;
subplot(5,1,5),plot(t,x(:,5)),grid on;
----------------------------------------------------------------
function dx=sysmem_diff_24(t,x)
global k l m n Kt i1 i2 S V
global delta_max
teta=(10000-x(5))/(22000-V*t);
if abs(x(4))<= delta_max
x4_zv=x(4);
else
x4_zv=delta_max*sign(x(4));
end
%
dx(1)=k*x(2)-k*x(1);
dx(2)=x(3);
dx(3)=l*x(1)-l*x(2)-m*x(3)+n*x(4);
dx(4)=-Kt*x4_zv-i1*x(2)-i2*x(3)+S*(teta-x(2));
dx(5)=V*sin(x(1));
dx=dx';