.......................................................................................................

3
.............................................................................................. 4
1

............................................................................................................... 5
2 ....................................................................... 6
3 ........................................... 7
4 ................................................................................ 9
5 ........................................................................ 11
...................................................................................................... 13
....................................................................................................... 14
.15

. MathCAD
,

.

, ,
,
, , .


, 1, ,
.

W1 ( s)

W3 ( s)

W5 ( s)

W4 ( s)
1

W1 ( s )

W3 ( s )
W4 ( s )

k
;
T s T1 s 1
2 2
2

k T1s 1
s

k
;
T1s 1

W5 ( s )

ks
.
T1s 1

k 1 0.1 N ;

T1 10 0.1 N ;
T2 T1 9 .

N = 7.

y (t )

x(t )

W s

W
k s
2

W1 ( s ), W3 ( s ) W5 ( s ) .

W ( s ) W1 ( s ) W3 ( s ) W5 ( s )

k
k (T s 1) ks
1

T s T1 s 1
s
T1s 1
2 2
2

k3
4.913
2 2

T2 s T1 s 1 2.89s 2 10.7 s 1

y (t )

W s

x(t )

3 .

,
( ),
k3
k3
W ( s )
T22 s 2 T1 s 1
T22 s 2 T1 s 1
W ( s )

2 2

k3
k
(T2 s T1 s 1)(T1s 1) k 4
1 W ( s ) W ( s )
1 2 2

T2 s T1 s 1 T1s 1
(T22 s 2 T1 s 1)(T1s 1)
k 3 (T1 s 1)
k3
2 2

(T2 s T1 s 1)(T1s 1) k 4 (T22 s 2 T1 s 1)(T1 s 1) k 4

T1 s 1

k 3T1s k 3
52.569s 4.913

.
2 3
2
2
2
4
3
TT
30.923s 117.38s 2 21.4s 9.352
1 2 s s (T1 T2 ) 2T1s k 1

2
:
a2 * T12 T22 ;

a3* T1T22 ;

a1* 2T1 ;

a0 * k 4 1 ;

b1* k 3 T1

b0* k 3.

:
a3 1 ;

a2
a1

a0

T12 T22
T1T22
2T1
T1T22

117.38 ;

21.4 ;

k4 1
T1T22

9.352 (

).
b1 1

b0

1
0.093 (
T1

).

k 3 T1
T1T22

k3
T22

1.7 .

W( s) K

s b0
K ( s 1 )

2
s a2 s a1s a0 ( s s1 )( s s2 )( s s3 )
3

1.7 s-0.093

s +3.6 s +0.085 0.28i s 0.085 0.28i

s1 , s2 s3 .
s1 -3.6
;
s2 -0.085+0.28i ;
s3 -0.085-0.28i .
6

 MathCAD .

3

.
:
W(j)

.
P() Q()
.
() (), :
A() P 2 () Q 2 ();
Q()
() arctg
.
P()

- ()
() .
:
W ( j )

b0

j b1 b0
b0 j b1

2
2
j a3 a2 j a1 a0 (a0 a2 ) j (a3 3 a1 )
3

j b1 (a0 a2 2 ) j (a3 3 a1 )
(a0 a2 2 )2 (a3 3 a1 )2

b0 ( a0 a2 2 ) j b1 (a0 a2 2 ) j b0 (a3 3 a1 ) b1 (a3 3 a1 )

( a0 a2 2 ) 2 ( a3 3 a1 ) 2

b0 ( a0 a2 2 ) b1 (a3 3 a1 )
b0 (a3 3 a1 ) b1 (a0 a2 2 )

j
.
( a0 a2 2 ) 2 ( a3 3 a1 ) 2
( a0 a2 2 ) 2 ( a3 3 a1 ) 2

P( j )

b0 (a0 a2 2 ) b1 (a3 3 a1 ) 4.913(9.352 117.38 2 ) 52.569(30.923 3 21.4 )

.

(a0 a2 2 )2 (a3 3 a1 )2
(9.352 117.38 2 ) 2 (30.923 3 21.4 ) 2

Q( j )

b0 (a3 3 a1 ) b1 (a0 a2 2 ) 4.913(30.923 3 21.4 ) 52.569(9.352 117.38 2 )

.
(a0 a2 2 )2 (a3 3 a1 )2
(9.352 117.38 2 )2 (30.923 3 21.4 )2

-
7

 P () Q()
A( ) P 2 () Q 2 ()

b (a a ) b (a a ) b (a a ) b (a a )
(a a ) (a a ) (a a ) (a a )
b (a a ) 2 b (a a ) b (a a ) b (a a )
2

2 2

(a0 a2 ) (a3 a1 )
2 2

2 2

2 2

2 2

b0 (a3 3 a1 ) 2 b0 (a0 a2 2 ) b1 (a3 3 a1 ) b1 (a0 a2 2 )

2

b (a
0

2
3
3
2
0 a2 ) b1 ( a3 a1 ) b0 ( a3 a1 ) b1 ( a0 a2 )
2

(a0 a2 2 )2 (a3 3 a1 )2
(a0 a2 2 )2 (b0 2 b12 ) (a3 3 a1 )2 (b02 b12 )
(a0 a2 2 )2 (a3 3 a1 )2

(b0 2 b12 ) ( a0 a2 2 )2 (a3 3 a1 )2

( a0 a2 2 )2 ( a3 3 a1 )2
b0 2 b12
(a0 a2 2 ) 2 (a3 3 a1 ) 2

24.1382 2763.52

(9.352 117.38 2 ) 2 (30.923 3 21.4 ) 2

P () Q()
b0 (a3 3 a1 ) b1 (a0 a2 2 )
(a a 2 ) 2 (a 3 a ) 2
Q()
0
2
3
1
() arctg
arctg

2
3
b0 (a0 a2 ) b1 (a3 a1 )
P()
(a a 2 ) 2 (a 3 a ) 2
0
2
3
1

b0 (a3 3 a1 ) b1 (a0 a2 2 )
arctg

2
3
b0 (a0 a2 ) b1 (a3 a1 )
4.913(30.923 3 21.4 ) 52.569(9.352 117.38 2 )
arctg
.
2
3
4.913(9.352 117.38 ) 52.569(30.923 21.4 )

- ()
.
(),
8

 0 .
.
, -
, .
,
, .
,

.

Mathcad 14, .
.

4

,
.
:
1

w(t ) L

W (s) Re s

W ( s) e st

i 1

s si

W1 s :
W ( s)

K s 1

s s1 s s2 s s3

52.569s +4.913

s +3.6 s +0.085 0.28i s 0.085 0.28i

C1
C1
C2

.
s +3.6 s +0.085 0.28i s 0.085 0.28i

():
Ci

B s
1
A s

ss

B s
Ci s si W s s s s si
i
A s

.
s si

):
;
C1 -0.49
C2 0.24-0.027i ;
C3 0.24+0.027i .

- w( t )

w t L1 W s

,
w t 1 e-s1 t 2 e-s2 t 3 e-s3 t

w( t) float 2 0.49 e 3.6 t ( 0.24 0.027i ) e ( 0.085 0.28i) t ( 0.24 0.027i ) e ( 0.085 0.28i) t

w t e
:

w t 1 e- s1t 2 e- s2 t 3 e- s3 t 1 e-s1t 2 e-2 t cos 2t j sin 2t

3 e-3 t cos 3t j sin 3t ,

2 Re s2 , 2 Im s2 ;
3 Re s3 3 Im s3

10

0.4

0.2
w ( t)

10

20

30

40

50

0.2
t

5
-
s :
n
W ( s)
st
h(t ) L1 H (s) L1

.
Re sH ( s)e
s

s
s

i 1
i

W s
s

K s 1

s s s1 s s2 s s3

C0 s , s0 0:
H ( s)

52.569s+4.913

s s +3.6 s +0.085 0.28i s 0.085 0.28i

C0
C1
C1
C2

.
s s +3.6 s +0.085 0.28i s 0.085 0.28i

():
11

Ci

Bs
1
AH s

Ci s si H s s s s si
i

s si

Bs
sA s

.
s si

:
C0 0.14
;
C1 -0.32-0.74i ;
C2 -0.32+0.74i ;
.
C3 0.53

, :
h t 0 1 es1 t 2 es2 t 3 e s3 t

h ( t) float 2 0.14 e 3.6 t ( 0.32 0.74i ) e ( 0.085 0.28i) t ( 0.32 0.74i ) e ( 0.085 0.28i) t 0.53

1.5

1
h ( t)

0.5

10

20

30
t

12

40

50


()
,
.
,
.

.

13


1. . . 1 / . ... .: , 1986. - 367 .: .
2. .. .
. - .: , 1989. - 304 .: .
3. .., . . .
. .
. - -
. -, 1998. - 172 .: .
4.

..,

..,

..

. - .: - ,
1993. - 648 .: .

14