"
"
()
3
()
2012
. 1.
-
s, % | , | |||||
, | 1,5 | |||||
- | 1,2 | |||||
- | 1,3 | |||||
- | 1,5 | |||||
- | 1,6 | 0,1 | ||||
- | 1,8 | 0,3 | ||||
- | 1,4 | 0,2 | ||||
- | 1,7 | |||||
- | 0,2 | |||||
- | 1,9 | 0,5 | ||||
- | 2,2 | 0,4 |
:
1. ,
2. , Matlab(Simulink)
3.
4.
5.
6.
.
- ,
:
:W2=
WP=W1*W2=
:
:
ε(t)=y(t)-x(t)
x(t)=y(t)*W1*W2 => y(t)=x(t)/(W1*W2);
ε(t)=x(t)*(1/(W1*W2*W3)-1)=x(t)*(1-WP)/WP;
:
ε(t)=f(t)-x(t)*W1;
x(t)=f(t)*W2=> f(t)=x(t)/W2;
ε(t)=x(t)*(1/W3-W1*W2);
WP=W2
(p)=
εg=0=
- , Matlab (Simulink)
Simulink :
. 2.
( ):
. 3.
3 , . .
- ;
- .
σ=(1.3-1)/1*100=30%
|
|
t - , :
- ( =0,05 ).
h (t)
2 δ
h
hmax
t
t
. 4.
=0,05 =0.05
t=4,5.
, t = 1.5
, , . , :
:
0,0015s4+0.0545s3+0.465s2+s+2.1=0
>0.
.
( ): ( ?), ?
.
D(s)=0.0015s4+0.0545s3+0.465s2+s+2.1
, w 0 +∞, , , , n , n*(π/2), n .
Matlab .
num=[0.0015 0.0545 0.465 1 2.1];
den=[1];
w=0.0001:0.01:10;
apk=freqs(num,den,w);
u=real(apk);
v=imag(apk);
plot(u,v);grid
( )
. 5.
, ( ?), w 0 +∞, , , , n , 4*(π/2).
. . :
D(s)= 0.0015s4+0.0545s3+0.465s2+s
.
0, , . , (-1;j0).
:
num=[2.1];
den=[0.0015 0.0545 0.465 1 0];
w=1:0.1:30;
APK=freqs(num,den,w)
u=real(APK);
v=imag(APK);t=0:pi/100:2*pi;
x=sin(t);
y=cos(t);
plot(u,v,x,y);grid
( )
. 6.
( ?) .. -1,j0
|
|
6
:
num=[2.1];
den=[0.0015 0.0545 0.465 1 0];
w=1:0.1:30;
APK=freqs(num,den,w)
u=real(APK);
v=imag(APK);t=0:pi/100:2*pi;
x=sin(t);
y=cos(t);
plot(u,v,x,y);grid
( )
. 7.
6 , ( ?) . ( ?).
t .
, .
, .
1. " " 210100 - " " . . . . -; . .. , .. . , 1998.- 24 .
2. : . . " ", 2- . 4.1 /.., .., .. . . .. - 2- .. . - .: , 1986. - 367 .
3. .., .. . - . , 1976. - 605 .