() () . , , , , , .
, , . , .
. , . , , .
. . , . .
(, MathCad) , .
. . , . . . . . . , , , 15-20 4.
1, . , , .
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- . , , , , , , . 䳿 , [2, 6].
1.
. , () : (), (), () (). k1, 1 k2, 2. k, .
, () , W2(s) =1/s, W3 (s) = k0, . .1.1.
.1.1.
:
, (1.1)
.
(1.1) . . . , , -. :
, (1.2)
- .
. (1.3)
, b 0, a 0, a 1, a 2, a 3. , .
2.
ᒺ .2.1. , , ᒺ . - , , .
. 2.1.
( 8-10), , . , . 2.2. , .
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, . W(z) ,
, (2.1)
W(s). .
. 2.2.
(2.1) (1.2) -
, (2.2)
d 0=k, d 1=3k, d 2=3k, d 3=k,
c 0=T1p2+T2p2+T1T2p3+p, c 1= -T1p2-T2p2 -3T1T2p3+p,
c 2= -T1p2-T2p2 +3T1T2p3-p, c 3= T1p2+T2p2 -T1T2p3-p.
c i T , 1/100 q w T=2p/w. (4-8) . , , (1+2)/10.
㳿
(z) = W(z)/[1+W(z)]. (2.3)
ϳ W(z), (z)
, (7.5)
bi= d i, αi=(c i+ d i), i =0,1,2,3.
W(z) (z) z .
3.
() z- , :
. (3.1)
, zi, i =1,2, n, n , Z R=1, , . zi=1 . α(z)= 0, α(z) (z) .
α(z)=0, (3.2)
, . . , .
4.
x (n), y (n),
Φ(z) =Y(z)/X(z)=B(z)/A(z), (4.1)
B(z) A(z) ,
X(z) i Y(z) z- .
(4.1) :
A(z)∙Y(z) = B(z)∙X(z). (4.2)
:
. (4.3)
(a0∙z3), Φ(z)
. (4.4)
ϳ (9.4) B(z) A(z) (9.2),
. (4.5)
X(z) i Y(z) x (n T) i y (n T). , z-k k .
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. (4.6)
г (4.6) :
y (-T)=0, y (-2T)=0, y (-3T)=0.
x (nT)=0 n< 0.
г y (n) n x (nT) n. x (nT)=1(nT) y (nT)= h (nT), (4.6)
. (4.7)
г . , x (n) y (n).
(4.7) a i, b j (i=1,2,3; j=0,1,2,3), k, T 1, T 2 T, . - . MathCad ' (4.7) :
h (nT) ( 5- ) q, s% .
PerHarCS.
5.
³, 0 p/T, . W(w) z w :
z = exp(jwT) = cos(ω∙T) + j∙sin(ω∙T). (5.1)
, z=exp(sT) s jw.
,
z cos(ω∙T) + j∙sin(ω∙T). W(w). -
, (5.2)
(5.3)
,
,
f1(w) f2(w) MathCad atan2(x,y) angle(x,y) x y, - , (x,jy) (x, y) .
- (5.3)
A(w)=|W(w)|=M1(w) / M2(w), (5.4)
-
j(w)=arg W(jw)=f1(w) - f2(w). (5.5)
, Φ(z), ,
, (5.6)
, (5.7)
, , , .
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0 w/2=p/T, w=2p/T . w w=[0, 1, 5, 10, (1/T1), (1/T2), w/2, ¥] . , , . , w D, ∆j wp. w, wp Dj DA. . 0,707.
ChastHarCF.
6.
. z- .
e(n T) = 0 u (n T) + 1 u ¢(n T) + ½ 2 u ² (n T) + + (1/k!) k u (k) (n T), (6. 1 )
0, 1, 2, , , , u (n T) .
k
, (6.2)
, (11.2) , st= z:
. (6.3)
0, 1, 2
e(z)=1/[1+W(z)]. (6.5)
ϳ (11.5)
,
:
, (6.6)
ei = ci + di, i =0,1,2,3.
MathCad :
.
.
TochnistCS.
7.
7.1.
q s , , . , (∆, ∆φ, 0, 1 2).
. .
, [1-3] , . W(s) = t s +1. t , . , , t. ³ t=T1+T2, .
ϳ W(s)
, (7.1)
, (7.2)
b 0 = k t, b 1 = k, a 0 = 1×2, a 1 =(1 + 2), a 2 = (1 + k t), a 3 = k t=T1+T2.
z (pz-p)/(z+1) W(s) W(z) :
. (7.3)
ei, ci (13.1)
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d 0=k×(τ×p+1), d 1=2×k×(τ×p+1)+ k×(-τ×p+1),
d 2=2×k×(-τ×p+1)+ k×(τ×p+1), d 3= k×(-τ×p+1),
c 0=T1p2+T2p2+T1T2p3+p, c 1= -T1p2-T2p2 -3T1T2p3+p,
c 2= -T1p2-T2p2 +3T1T2p3-p, c 3= T1p2+T2p2 -T1T2p3-p.
, ci ci (2.2) , di.
(z)=W(z)/[1+W(z)]
. (7.4)
a(z)=C(z)+D(z) ai = ci + di, i =0,1,2,3,
b(z)=D(z) bi = di.
W(z) F(z).
7.2.
q, s, ∆A, ∆φ, 1, 2 3 㳿 . , , .
, Wr(z) () .
() .
, (7.1)
kr=k0×k1 .
Wr(s) s (p×z-p)/(z+1). :
, (7.2)
b 0= krt p + kr, b 1= 2kr, b 2= - krt p + kr, a0= T 1 p 2+ p, a1= -2 T 1 p 2, a2= T 1 p 2- p.
(7.2) ,
, (7.3)
b 0=b 0/a0, b 1=b 1/a0, b 2=b 2/a0, a 1=a1/a0, a 2=a2/a0.
(7.3)
, (2.4)
, . 7.1.
.7.1.
T, , , , .
.
2.
̳
. ___________
_____________________________
____________________
___ ____________ 200_ .
, , 2004 .
1. .. . .: , 1989. 256 .
2. .. . . .: , 1985. 536 .
3. . 2- . .... .: , 1986.
4. . . . . .: , 1983. 296 .
5. . ., . . : /. . - . .; 2003. 25.
6. .. . .: , 1986. 264 .
7. . . . . . .: , 1995.