(. ):
J , ×2;
c, ×;
Wmax, /;
emax, /2;
;
, ;
, /;
;
, ;
h;
DaΩ, ;
Dae, ;
n;
.
: 
= 50 ×2;
: 
= 180 ×;
: Wmax = 50 /;
: emax = 10 /2.
: 1. (1.13):
= 
.
2. . 1.1 ,
.
(. . 1.1) , -22, -31 -32 
= 0,37 . -32 
= 1000 
= 135∙104. ∙2, .. . -31
= 2000 ,
= 91,8∙104 ∙2. -22, -32 -31, = 3000 , -31. , , -22 
= 60 . . 1.2.
1.2
| -22 | |
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| 0,37 |
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| 0,192 |
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| ∙104, ∙2
| 40,8 |
3. (1.12):
4.
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314 / < 473,68 /,
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5.
(1.9) (i = i 1):
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7. :
1) - (1.2):
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2) (1.4):
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3) :
;
4) . :
,
;
5) Simulink : 
Continuous ( ) (. 1.5) Transfer Fcn (. 1.7). Numerator: 
Denominator: 
(. 1.8). 
Numerator 
, Denominator 
.
| 
|
| . 1.7. Transfer Fcn | . 1.8. Transfer Fcn |
| 
|
| . 1.9. Gain | . 1.10. Gain |
1 / 
Math Operations Gain (. 1.9). (. 1.10), .
Math Operations Sum (. 1.11). : + (. 1.12).
| 
|
| . 1.11. Sum | . 1.12. Sum |
| 
|
| . 1.13. Step | . 1.14. Step |
= Step (. 1.13), Sources. (. 1.14). .
Scope (. 1.15), Sinks.
Simulink 10,0. Simulation Parameters Simulation Simulation Parameters, Solver Stop time (. 1.16). .
| 
|
| . 1.15. Scope | . 1.16. Simulation Parameters |
Scope
. Start Simulation , , Scope , . Autoscale ( ) .
. 1.17.
Save File Save ( )
Save As .
. 1.17.
. 1.18 . 1.19
, /.
t, c
. 1.18.
, /
t, c
. 1.19.
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2. .
3. .
4. .
1. - (. 1.1).
2. .
3. .
4. .
5. Simulink.
6. .
7. .
8. Simulink.
9.
, .
10. Simulink .
2
