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1. - LAX .




tr_PID : http://vk.com/airnave

tr_PID ( tr_PID, , . . tr_PID, )

h = 10

= 5%

ke

., %          
ke 0.35 0.4 0.5 0.6 0.75

 

ke = 0.5

0

wc. wc = 2. , wc, 0 !

0 ( wc , , )

wc, , 0 :

2 wc, 0.5 , 4 , 0.5 2. , wc = 2 ( 100) .

wc 8, wc = 9. , ( 100) 2 (0.5 8) . 0 : .. wc ( ), .

w1, w2 wn :

w1, w2 wn . w1=w2=w3=w4=0.5, .. 0.5 0 -4, .. 4, 4 (w1,w2,w3,w4). wc =2. 8 -4 -5, .. 1, w5 = 8

 

 

W(s)

.. 0.5 4, w1=w2=w3=w4=0.5. :

Tsum:

, (w1) Tsum !, (w2) h, (w4, w5 wn) .

 

wcj :

(zpk-) -. w1 w2, (w3,w4wn) !

W(s), :

:

, , . , : , , .

MS Word txt , matlab , Enter . trenag . matlab , Step(W) figure

 

W1=tf([1],[2 1]) W2 Wn, Wp=zpk([-0.5 -0.5],[0 -5],0.009) .

Wp=zpk([-0.5 -0.5],[0 -5],0.009) . -, .. !

- , W(s) (2S+1)^4, .. 4, W1=W2=W3=W4 , , , 4 . .

:

 

trenag

addpath c:\trenag

 

W1=tf([1],[2 1])

W2=tf([1],[2 1])

W3=tf([1],[2 1])

W4=tf([1],[2 1])

W5=tf([1],[0.125 1])

Ws=256*W1*W2*W3*W4*W5

Wp=zpk([-0.5 -0.5],[0 -5],0.009)

W=feedback(Wp*Ws,1)

figure; step(W)

figure; margin(Ws*Wp)

aLAX(Ws)

khar_sysz3(W)[DA1]

3 [DA2]:

 

 

:

5% ( ke=0.5), . 0% (ke=0.35) ( ). , ke . Time(sec) . .

 

 

[DA3]

aLAX(Ws)

0 -4 -5, 0.5, 8, 2 .

2. tr_PID





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