3.1. , 2.1 . 0 = 0,001 .
.
,
.
.
1.
. (3.19)
, z - MatLab z
. z 2
.
(3.19)
; ; ;
;
;
.
= 0,06975 ; 1 = 0,0316 ; 2 = 0,04 ; 3 = 0,002 .
2. (. . 3.2), (3.8) (3.12).
, B, C, D, :
; ; ; .
3.2. . .
, ,
1.1, 2.1, 3.1. VZ 2 = 1.
. 1. Simulink (. 3.6).
. 3.6.
Discrete State-Space, Discrete. . 3.7.
. 3.7. Discrete State-Space
Zero-Order Hold , u . Switch , ∆ u W . Pulse Generator 0.
Zero-Order Hold
Sample time 0 (. 3.8).
. 3.8. Zero-Order Hold
Pulse Generator Period 0 (. 3.9).
. 3.9. Pulse Generator
2. Step , Step1 .
. 3.10 . 0,2 .
Step , Step 1 . . 3.11.
|
|
W(t), /
t, c
. 3.10.
W(t), /
t, c
. 3.11.
3. .
. 3.10 Wmax = 336 / W = 314 /. :
.
: 0,0245 .
:
.
, , s , .
3.3. . . 0 = 0,02 .
. (2.25) z - . 2.1 ( ).
z Command Window :
num=[0.006483 0.1621 5.129];
den=[9.522e-013 1.347e-009 6.336e-007 0.0001043 0.00268 0.0698 0];
fs=500;
[numd, dend]=bilinear(num, den, fs)
numd =
0.0022 0.0045 -0.0018 -0.0085 -0.0024 0.0041 0.0021
dend =
1.0000 -4.0669 6.6020 -5.4346 2.3765 -0.5222 0.0451
:
.
z:
,
b 6= 0,0022; b 5= 0,0045; b 4= 0,0018; b 3= 0,0085; b 2= 0,0024;
b 1= 0,0041; b 0= 0,0021;
d 6= 1,0; d 5= 4,0669; d 4= 6,6020; d 3= 5,4346; d 2= 2,3765; d 1= 0,5222; d 0= 0,0451.
- (3.15):
.
u
, :
.
() :
w = logspace(3, 3);
num = [0 2 2 -2 1372 34 2];
den = [200473 283592 133397 21960 563 16 -1];
bode(num, den, w)
. 3.12.
. 3.12.
,
(. 3.2) . , :
,
:
.
1,
1.
, .
1. .
2. - .
|
|
3. .
4. .
5. Z- υ- .
6. .
1. .
2.
.
3. .
4. - .
5. .
6. Simulink.
7. MatLab.
4