4.1. . :
Wmax = 50 /;
emax = 10 /2;
DaW = 20 ;
Dae = 35 .
.
, , 1.1, 2.1, 3.1.
. 1. (4.6). :
2.
(4.4) :
1.
(4.7) :
;
.
:
. (4.13)
2. :
= 0,0318 ·/;
= 0,0018 ;
;
= 40 /;
i = 358.
:
. (4.14)
3. 1 MatLab (4.12), (4.13) (4.14).
1
>> num1=[ ε T 1 ε];
>> den1=[ T 2 1 0 0];
>> sys1=tf(num1, den1);
>> num2=[ T / / ];
>> den2=[2()2 i 2 i i 0];
>> sys2=tf(num2, den2);
>> sys=sys1/sys2
Transfer function:
0.5405 s^4 + 80.31 s^3 + 5964 s^2 + 8679 s
------------------------------------------
0.07268 s^4 + 42.64 s^3 + 1258 s^2
4. 2 MatLab , . 4.2.
2
>> w=logspace(-2, 4);
>> num=[0.5405 80.31 5964 8679 0];
>> den=[0.07268 42.64 1258 0 0];
>> bode(num, den, w)
. 20 /, 0 /. (w ³ 100 1) 20 0 /.
, , (. 4.2) -.
. 4.2.
. w = 1 :
, (4.15)
= 8,3176 1.
, . 4.2, w1 = 3,43 1; w2 = 170 1; w3 = 647 1 :
|
|
;
;
.
1 (4.15), :
.
:
.
(-) :
.
- : , , (). , , .
a = Wmax t. .
5. (. 4.3) , 3.2.
. 4.3 MatLab |
, . 4.3, Ramp5, Ramp6, Ramp7, Ramp8, Product2, Product3.
Ramp (. 4.4), , Sources.
Ramp6 Ramp7 (. 4.5) , , 1 .
. 4.4. Ramp | . 4.5. Ramp |
, Ramp5 Ramp8 1 , .
. 4.6 4.8.
(. 4.6) , 1,0
N < 1, = 1,1.
- , , .
a(t),
t, c
. 4.6.
,
t, c
. 4.7.
. 4.7 /2. 10,26 . 0,0065 2,5 (. 4.8).
,
t, c
. 4.8.