,
(6.1)
Command Window [18]. , , , .
. (6.1) . , :
- DaW, Dae, , ;
- ;
- (6.1);
- ;
- A, B, C, D - .
.
6.1. . . 0 = 0,001 . :
- = 10 /;
- = 6 /2;
- DaW = 10 ;
- Dae = 35 ;
- ;
- = 1,1;
-
/.
.
4.2.
. (5.6).
2.
(5.4)
1.
(5.7)
;
.
. (6.2)
.
,
.
.
:
num1=[14.546*0.869 14.546];
den1=[0.0414 1 0 0];
sys1=tf(num1, den1);
num2=[1.01*0.008 1.01];
den2=[0.000512 0.032 1 0];
|
|
sys2=tf(num2, den2);
sys3=sys1/sys2
sys3 =
0.006472 s^4 + 0.4119 s^3 + 13.11 s^2 + 14.55 s
-----------------------------------------------
0.0003345 s^4 + 0.04989 s^3 + 1.01 s^2
:
num=[0.006472 0.4119 13.11 14.55 0];
den=[0.0003345 0.04989 1.01 0 0];
sys=tf(num, den);
minreal(sys)
ans =
19.35 s^3 + 1231 s^2 + 3.919e04 s + 4.35e04
-------------------------------------------
s^3 + 149.1 s^2 + 3019 s
:
num=[19.35 1231 3.919e04 4.35e04];
den=[1 149.1 3019 0];
fs=1000;
[numd, dend]=bilinear(num, den, fs)
numd =
18.576410954661924 -54.547965297744668 53.403203894058869
-17.431609097327989
dend =
1.000000000000000 -2.858534057438136 2.719875691054094
-0.861341633615959
- :
num=[18.576410954661924 -54.547965297744668 53.403203894058869
-17.431609097327989];
den=[1.000000000000000 -2.858534057438136 2.719875691054094
-0.861341633615959];
[A, B, C, D]=tf2ss(num, den)
A =
2.858534057438136 -2.719875691054094 0.861341633615959
1.000000000000000 0 0
0 1.000000000000000 0
B =
C =
-1.446661918876679 2.877675311442928 -1.430972938918092
D =
18.576410954661924
, . 6.1.
. 6.1. MatLab |
, , Ramp, Ramp1 Ramp2, Ramp3. . 6.2-6.4.
α(t),
t, c
. 6.2.
,
t, c
. 6.3.
,
t, c
. 6.4.
(. 6.2) , 3,0 N < 1, = 1,1.
- , , . . 6.3 /2. 25 . 0,1 4 (. 6.4).
MultiPlot Graph Robust Control Toolbox Simulink.