5.1. . :
- = 65 /;
- = 19 /2;
- DaW = 25 ;
- Dae = 50 ;
- ;
- = 1,1;
-
/.
.
3.2.
. 1. (5.6).
2.
(5.4)
1.
(5.7)
;
.
. (5.13)
.
3.2 :
num1=[0.0017577 0.12555 1.55];
den1=[0.0001134 0.063 0];
sys1=tf(num1, den1);
num2=[11];
den2=[0.004 1];
sys2=tf(num2, den2);
num3=[0.818];
den3=[0.001134 0.081 1];
sys3=tf(num3, den3);
sys4=sys1*sys2*sys3;
num5=[0.127];
den5=[0.012 1];
sys5=tf(num5, den5);
sys6=feedback(sys4,sys5);
num7=[28.5];
den7=[69 0];
sys7=tf(num7, den7);
sys8=sys6*sys7
sys8 =
0.005409 s^3 + 0.8371 s^2 + 36.97 s + 397.5
---------------------------------------------------------------------------------------------
4.259e-10 s^7 + 4.09e-07 s^6 + 0.0001152 s^5 + 0.01153 s^4 + 0.5681 s^3 + 14.25 s^2 + 122.2 s
feedback
.
:
num1=[32.244*0.584 32.244];
den1=[0.0278 1 0 0];
sys1=tf(num1, den1);
num2=[0.005409 0.8371 36.97 397.5];
den2=[4.259e-10 4.09e-07 0.0001152 0.01153 0.5681 14.25 122.2 0];
sys2=tf(num2, den2);
sys3=sys1/sys2
sys3 =
8.02e-09 s^8 + 7.715e-06 s^7 + 0.002182 s^6 + 0.2208 s^5 + 11.07 s^4 + 286.7 s^3 + 2761 s^2 + 3940 s
-------------------------------------------------------------------------------------------------- 0.0001504 s^6 + 0.02868 s^5 + 1.865 s^4 + 48.02 s^3 + 397.5 s^2
, . 5.2:
num=[8.02e-09 7.715e-06 0.002182 0.2208 11.07 286.7 2761 3940 0];
den=[0.0001504 0.02868 1.865 48.02 397.5 0 0];
bode(num, den)
. 5.2.
. 20 /, 0 /. (w ³ 100 1) 20 / 0 /.
|
|
, , (. 5.2) -.
. w = 1
, (5.15)
= 11,481 1.
, . 5.2, w1 = 2,56 1; w2 = 100 1; w3 = 1000 1
; ; .
1 (5.15),
.
.
(-)
.
- : , , (). , , . α = Ωmax t. .
(. 5.5) , 3.2. , . 5.5, Ramp, Ramp1, Ramp2, Ramp3, Product, Product1.
Ramp (. 5.3), , Sources.
. 5.3. Ramp
Ramp Ramp1 (. 5.4) 1 .
. 5.4. Ramp
, Ramp2 Ramp3 1 .
. 5.5. MatLab |
. 5.6-5.8.
α(t),
t, c
. 5.6.
,
t, c
. 5.7.
,
t, c
. 5.8.
(. 5.6) , 2,0 N < 1, = 1,1.
- , , . . 5.7 /2. 30 . 6,84 2,5 (. 5.8).
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