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# 5.

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1553

II MATLAB

519.6

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1
P1 (Tu ) =
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,
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1554

1
P2 (Tu , t3 ) =
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1555

II MATLAB

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1556

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1557

II MATLAB

Active & Reactive Power Power System
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1558

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1559

II MATLAB

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1560

519.711:658.012.011.56:621.757

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1561

II MATLAB

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1562

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1563

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1567

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1568

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1569

II MATLAB

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1571

II MATLAB

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, 2001.

1572

62.50

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1573

II MATLAB

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,
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:

2 J = x(t f )

2
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tf

+ ( xt f ) + x(t )
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+ u (t )

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+ ( x, u, t ) dt .

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1574

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## P i = Pi Ai + Ai Pi + Q1xi + Q2 xi Pi Bi Di Bi Pi , Pi (t f ) = Q1i + Q2 i , i = 1,..., M

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=

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x1 , u1 , f1

zl

M
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f i = Pi Bi Di ( Bi f i l + i Q2uiui ) Pi ( i ( x, u , t ) + i (t )) + Q2 xi xi
l

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1
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xi , ui , f i

zl

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f i (t f ) = Q2i xi (t f ) + / x(t f ),
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l

el +1 = z l +1

el +1 el <

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xi (t ) , u i (t ) f i (t ) . ,
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1575

II MATLAB

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1576

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1577

II MATLAB

MATLAB S-

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fith.dll xith.dll
uki (t ) fi (t ) ,
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1578

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1579

II MATLAB

() ().

1580

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MATLAB.

1. . . - . // . 7. 2001. .148157.
2. Lychenko, Nataly M.. Decomposition-coordinated optimization of large-scale
discrete systems with parallel-sequential coordinated scheme. // Proc. of The

1581

II MATLAB

7th Mediterranean Conference on Control & Automation (MED99, Haifa, Israel, June 27-July 4,1999). Haifa, 1999. P.420429.
3. . .

. // . 1.
2002. C.1017.
4. . ., . .
//
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5. .. C
// .
II . .
SICPRO'03. .: , 2003. C.693706.

1582

519.6

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, -,
e-mail:iakov@fromru.com

MATLAB .

http://www.mathworks.com/support/books/index_by_category.html?category=1
http://www.exponenta.ru/soft/MATLAB/MATLAB_book.asp.
, [1,2] ,
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, PSPICE (
HSPICE, SABER) [3]. ( 1000\$) , , Tina Pro, Elektronics Workbench,
Circuit Maker , . , Tina Pro
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15 [5].

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.

1583

II MATLAB

R3
R4

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1584

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1585

II MATLAB

Elektronics Workbench. :
Uc = Acos(2Ft) sin(2ft) , = 5, =400.
( 2)
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1586

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1587

II MATLAB

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1. Steven T. Karris. Circuit Analysis II with MATLAB Applications. Orchard Publications., 2003. 501 p.
2. Attia, John Okyere. MATLAB Fundamentals. Electronics and Circuit Analysis using MATLAB / Ed. John Okyere. Attia Boca Raton: CRC Press
LLC, 1999. 399p.
3. Steven M. Sandler. The SPICE Handbook of 50 Basic Circuits
http://www.pcbcafe.com/BOOKS/SpiceHandBook/.
4. . .
5. . . .
.. 905846 6 17.02.82.

1588

519.711:658.012.011.56:621.757

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e-mail: kuritzyna@rgtu.ru

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1589

II MATLAB

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1591

II MATLAB

X j (i-1) X j i
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1592

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1593

II MATLAB

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1595

II MATLAB

## 681.513.3: 519.711.3: 681.3.06

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e-mail:signal@kovrov.ru

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1596

d
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= 0 | M |> M , (1), , , = 0
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1597

II MATLAB

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1598

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1599

II MATLAB

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1601

II MATLAB

. 2 .3

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1. . 2- . .1 / . . . M.:
, 1976. 479 c.
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1602

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e-mail:grogachev@auts0.samgtu.ru

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1603

II MATLAB

Stateflow .
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1
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s 4

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1604

. 2. .

, Stateflow.
(. 3).

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W ( z ) = 5 + (1 z 1 ) / h ,
h . Stateflow- 4.

1605

II MATLAB

. 4. Stateflow- .

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dout .
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1606

. 5. .

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## 1. Henriksson D., Cervin A., rzn K. E. TrueTime: Simulation of control loops

under shared computer resources // Proc. of the 15th IFAC World Congress
on Automatic Control. Barcelona, Spain, July 2002.
2. . . Simulink: . .:
-, 2003. 496 .

1607

II MATLAB

621.313.3:519.711.3

. .,

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e-mail: eets@etf.ustu.ru

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e-mail: svi@pochta.ru

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1608

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1609

II MATLAB

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2. . ., . ., . . , 2000.
3. . ., . ., . . . .: , 1991.
4. . ., . ., .
:
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1610

534:531.43

( )
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e-mail: khleb@kodos.ru

. .
Institute for Control Engineering of Machine Tools
and Manufacturing Units (ISW) Stuttgart, Germany,
e-mail: alexandre.kostikov@isw.uni-stuttgart.de

1.

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1611

II MATLAB

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1612

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1613

II MATLAB

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1614

## [1] [9] B. Armstrong-Hlouvry, P. Dupont, Canudas De Wit,

H. Olsson, K. J. strm, P. Lischinsky. : Bliman Sorine, Harnoy - Friedland, Canudas de
Wit .

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1615

II MATLAB

2.1.

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1616

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y = sign( x) (k1 x + k2 ),
(2)
y , x , k1 , k2 .
+ Simulink Coulomb & Viscous Friction (.
8), (2).

1617

II MATLAB

v
To Works pac e1

F
Sine Wave

Coulomb &
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To Works pac e

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90- , . , (Lorentzian) (Haussian) , (Tustin).

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1618

[10]
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C
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1 + m 2

m , , 2 , . , . 10.

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1619

II MATLAB

. 12. (3).

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+

v0
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+
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v

v0

FG = FH F 1 e + b v .

. 14.

1620

. 14. [11].

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1621

II MATLAB

. 17. [11] .

FH , F (FH-F ),
0 ( ) ,
, b , ,
. .
[11] . :
FH+=1,79 H, F+=0,97 H, 0+=0,003915 /c, b+=0 Hc/,
FH-=-1,63 H, F-=-0,84 H, 0-=-0,003915 /c, b-=0 / .
. 15
. . 18.

. 18. [11] .

, ,
, ,
sgn, [12]. 1622

FSS = FC + ( FS FC ) e

( / S )

) sgn ( ) + ,
2

FC , FS
, 2 , S (
). ,
. .
3.
( )

(),
,

.
, ,
. [12].
, [9],
(Dahl, 1968). [13] ,
Bo Pavelescu (1982), Armstrong-Helouvry (1991), Harnoy Friedland
(1994), Canudas de Wit, Olsson, Astrm Lischinsky (1995).
Bo Pavelescu , (dxS /dt ) (. . 25 [13]):
.

F ( x) = FC + ( FS FC ) e

. .
x x S

+ F x .
.

FC, FS, x S ,
.
3.1.

[14] (o
[9] (K.J. strm) (C. Canudas de Wit P.
Lischinsky), LuGre Lund-Grenoble):
1623

II MATLAB

F = 0 z + 1

dz
+ 2 ,
dt

dz
=
z,
dt
g ()

(4)

(5)

(6)
0 g () = FC + ( FS FC )e ( s ) 2 .
: F , , z , , , 0 - , , 1 , ,
2 , FC
, FS , S
. , .
(4)(6) ,
. 19.

. 19. .

1/g(v) . 20.

. 20. 1/g(v).

1624

, [9]. [9] , ,
(4) (6), ,
, , - . .
[9]
. ,
1.425 , 95%
FS. 1.425 ,
1.425 ,
1.425 .
. ,
. 19. , , . 21. . 22.

. 21. .

F(x) ,
[9]. , ,
,
. F() , ,
.
(Dahl, 1968). Fa > F,
.
, .
,
.
.
. . 23,
) , . 23, ).
1625

II MATLAB

=0.0007 / , 0.001 /. ,
. : 1
= 1 /, 2 = 10 / 3 = 25 /, , [5].

. 22. .

)
)
. 23.
.

, . . .
, =0.08 /,
1 = 10 / 2 = 20 /.
24.

1626

. 24.

: ,
, .
.
.
- , [9]: . , ( )
, . ,
. 25, ).
Fa: 1 /c, 5 /c, 15 /c 50 /c. , , . 25, )
, , , (. .
) .
; FC = 1 .

1627

II MATLAB

)
)
. 25.
.

3.2. -

,
. -
( , Leuven).
- [16] , , .
.
, , , ,
, . , .
,
. 26. , , Fa, FS,
,
(. 26, ). (. 26, ), (. 26, ) (. 26, ). , ,
, - , , .
, , , .
[17] , ,
, - -

1628

. , - , .

)
)
. 26. .

4.

## [18] [12], [19].

(ISW), (. 27).
ISW, G. Pritschow, , , [20], [21].
dSPACE RTW

1629

II MATLAB

. 27. (ISW).

, fft.
. 28. . 28, (f1 = 117 Hz, D1 = 0.055, f2 = 349 Hz, D2 = 0.05)
. . 29.
.
,
.
. 30 , l C+ = F
l C = 1.6 , F
l S+ = F
l S = 1.85 ,
 S + = 0.004 /,
: F
 S = 0.005 /,
 2+ = 17 /,
 2 = 8 /.

(
) . 31.

1630

. 28. .

. 29. ().

. 30. ().

. 31.
( ).
1631

II MATLAB

.
,
,
. , .
, .
.

## 1. Armstrong-Hlouvry B., Dupont P., Canudas De Wit C. A survey of models,

analysis tools and compensation methods for the control of machines with
friction // Automatica. 1994. V.30. N.7. P.10831138.
2. . . // . 2000.
7. .4454.
3. . . // . 2000. 7. .1113.
4. Hess D. P., Soom A. Friction at a lubricated line contact operating at oscillating sliding velocities // J. Tribology. 1990. V.112. P.147152.
5. . .
. .: . . -, 1979. 246 .
6. . ., . . . . , 1987. 183 .
7. . . . --:
, 2000. 293 .
8. Kozlowski K. R., Dutkiewicz P. Experimental identification of robot and load
dynamics // IFAC 13th Triennial World Congress. San Francisco, 1996.
P.397402.
9. Canudas De Wit ., Olsson H., strm K. J., Lischinsky P. A new model for
control of systems with friction // IEEE Transactions on Automatic Control. 1995. V.40. N.3. P.419424.
10. / . .. , . 3. .:
, 1967. 770 .
11. Kern R. H., Gao C.-T., Nitsche R. Reibkraftkompensation mittels FuzzyLogik // Automatisierungstechnischepraxis. 1995. V.37. P.5060.
12. . ., . .

// . . . SICPRO2003.
.: , 2003. . 18211849 (CD ISBN 5-201-14948-0).
1632

13. Armstrong B. Challendges to Systematically Engineered Friction Compensation // Proc. of IFAC Workshop on Motion Control. Munich. 1995.
P.2130.
14. Canudas-De-Wit . Comments on A New Model for Control of Systems
with Friction // IEEE Transactions on Automatic Control. 1998. V.43.
N.8. P.11891190.
15. . . // ( . .). 1999. 2. .226
228.
16. Dupont P., Hayward V., Armstrong B., Altpeter F. Single state elasto-plastic
friction models // IEEE Transactions on Automatic Control. V.47.
N.5. May 2002. P.787792.
17. Swevers J., Al-Bender F., Ganseman C.G., Prajogo T. An integrated friction
model structure with improved presliding behavior for accurate friction compensation // IEEE Transactions on Automatic Control. V.45. N.4.
April 2000. P.675686.
18. . , .. // .
. .
SICPRO2004. .: , 2004. .571588 (CD ISBN 5-20114966-9).
19. . . //
. . .
SICPRO2000. .: ..16961709(CD ISBN 5-201-09605-0).
20. Pritschow G., Ketterer G. Rechnergestuetzte Identifikation von
Reibkennlinien
an
elastisch
gekoppelten
Bewegungsachsen
//
Antriebstechnik. 1993. V.32. N.9. P.6772.
21. Augsten G., Schmid D. Einfluss von Spiel und Reibung auf die Konturfehler
bahngesteuerter Werkzeugmaschinen // Steuerungstechnik. 1969.
V.2. N.3. P.103108.

1633

II MATLAB

004

. ., . .
, ,
e-mail:cisar@fromru.com

Excel , , .
, .
, .

MATLAB. (Toolboxes)
Word Notebook.
.
.
. , .
, .
.
1. ,
. ,
-
. , . , ,
.
:
. : .
: ,

1634

. -
, .
.
.
, .
.
(, , ).

. , , . . ,
. : , .
.

:
t=tf

t=tb

## BDt , t, .; PRFt (profit),

t, /.; TXRT (tax
rate); t , . ,
; tb (begin) ; tf (final) .

t=tf

## CPt = PRFt * (1TXRT),

t=tb

t
PRFt = CPt * RN,
RN .
, .
.
, .

1635

II MATLAB

. . 1.1.

. 1.1.
.

,
.
CapF. , .
, .
CapS.
( )
PrfF
Rntb.
Rntb.
[0.2:0.2:0:8]. MATLAB
, 20% 20% 80%.

MATLAB.
Scope1 CapS.
( ) TaxRate. TxF.

1636

TaxRate.
[0:0.1:1:0]. , 0% 10%
100%.
MATLAB.
. TxF BdjS.
Scope
. Display BdjS.
, .
,
. : , , .
. Scope
Display.
-: .
.
,
.

%Optimal profit tax rate simulation
%File: C:\Csr_MtLb\TxRt\TaxRate_DscM.m and TaxRate_Dsc.mdl
%=================================================
path(path,'C:\Csr_MtLb\TxRt') %Set model Path
%=================================================
TaxRate=[0:0.05:0.7] %-
for Rntb = 0.2:0.2:1 % -
sim('TaxRate_Dsc') %Run model
plot(TaxRate, ScopeData(end,2:end)) %
hold on %
grid %
end
hold off %
%======= end TaxRate_DscM.m program ===============

m- . .

1637

II MATLAB

.
open_system
.
TaxRate .
8 14 for .
sim , .
plot .
1.3, (work space) MATLAB, Scope. hold on , .
.
. 1.2.

. 1.2. .
1638

m- .
. , plot MATLAB.
1. .
.
Simulation, Scope :
, .
.
,
. , . . . : , .
2. . -
. , . . .
MATLAB
TaxRate_DscM.m. .
.
Tools > Run. MATLAB , . 1.3.
. ,
. ( ),
, , , 23%.

1639

II MATLAB

. 1.3. .

,
, . , .
. ,
, . , .
2.
.
(18421924) ,
. .
, 80 OPEC, ,
.

. ,
, . -

1640

, , . , ,
. .
: , , .
. : , , ,
. . , . . . , .
: .
. : , , ,
.

Dmd=D0 Kd*Prc,
Dmd (demand) ; D0
; Kd ; Prc (price) .

Spl=S0+Ks*Prc,
Spl (supply) ; S0 ; Ks ; Prc
(price) .

. 2.1. - .

1641

II MATLAB

, .
DmdFn.
, .
:
u = Prc, D0 = 100, Kd = 10.
.
SplFn. , .
:
u = Prc, S0 = 10, Ks = 7.
.
Spl,
.
SplFn1 . , .
Prc, Spl .
DmdFn.
.
.
. Scope. . , . ,
.
.
,
. MATLAB .
. , . . .
MATLAB. MATLAB.
%Market equlibrim price simulation
%File: C:\Csr_MtLb\DmdSplEquM.m
%1.Simulate static functions, plot its
%2.Simulate price dynamic, plot price Web graphics
1642

%=================================================
%Set model Path
path(path,'C:\Csr_MtLb\MrktEqlPrc')
%=================================================
%1.Simulate static functions, plot its
open_system('DmdSplEqu')
sim('DmdSplEqu')%Write Vars into WS from Scope
%Plot Static features
plot(ScopeData(:,2),ScopeData(:,3:4))
hold on
grid
pause(5)%
%
%=================================================
%2.Simulate price dynamic
sim('DmdSplEqu')
%=================================================
%3. plot price Web graphics
for i = 2:11 %
line([ScopeData(i-1,2) ScopeData(i,2)],[ScopeData(i,4) ScopeData(i,4)])
line([ScopeData(i,2) ScopeData(i,2)],[ScopeData(i,4) ScopeData(i+1,4)])
end
hold off
%=================================================

## . % . path . open system - Simulink.

sim . Plot
. Hold on .
Grid . . pause 5 .

. Sim . .
Scopes
MATLAB workspace.
for, , .
. 2.2.

1643

II MATLAB

. 2.2. .

Scope, Scope1 , . ,
MATLAB.
1. . MATLAB m-
DmdSplEquM.m. .
.
Scope
Figure. Scope1 . 2.3.
Scope . 2.4.

1644

. 2.3. , - .

. 2.4. , Scope.

. 2.5.

1645

II MATLAB

. 2.5. .

2. .
D0 DmdFn SplFn1
.
S0
SplFn .
3. . Kd DmdFn SplFn1
.
Ks SplFn .
Ks .
Ks = Kd .
. , . . .
Ks > Kd , , . , .

1646

3.
. .
.
, ,
.
- , . ,
.
.
, 1962 , . -
. ,
. , 300 ,
10 .
: , , , , , .
.
.
. - .

. 3.1. .

1647

II MATLAB

70 , , 5-10
. , .

.
() NeedPrk ( ). , : (
Prdct), c InPrk (
). OutPrk (
, ).
, RealPrk ( , ). urDmd. Saturation ()
, :
urDmd >= 0.
. , , (
).
. Scope
, . , , . . 3.2.
.

.
. 3.3.

1648

Scope.

. 3.3.
.

1649

II MATLAB

MATLAB. Scope.
1.
. MATLAB .
Simulation>start. Scope , . 3.4 3.5.

. 3.4. , ,
Scope1.

1650

. 3.5. , , Scope.

.
, , . , . .
, , . . , , .
2. .
, , . , . . , , .
, . ,
,
. . .
3. . .
, -

1651

II MATLAB

. , .
, . . , , .
, , , . . .

1. . . .
.: -,1996.
2. ., . . .: , 1992.
3. . . . MATLAB_Simulink . .: , 2001.
4. . . .
.: , 2002.
5. . . . .
.: -, 2002.
6. . . . . .: , 1997.

1652

613.314

. ., . .,
, ,
e-mail:chernykh@etf.ustu.ru, vil@etf.ustu.ru

. .
(), ,
e-mail: reltec@vimcom.mplik.ru

## : OrCad, Micro Cap, Electronic Work Bench . .

,
,
, .
,
,
. , , , ,
( - , . .).
,
. ,
. , .

Sim Power System (SPS) . SPS , . ,

.

Sim Power System, ( ) Simulink.
1653

II MATLAB

. ,
( ) ,
( ). , ,
, , . , 1000
50,
210-5 . , 10100 , , : 0.010.001 c.
,
50-500
,
.

. :
1. .
2. . .
3. ,

.
4.
.
.
5. .
6.
-
.
7.
.
8. . 2 .

1654

,
.

( ) .
. 1.

.1. .

Electro,
Teplo. Pulse Generator
,
. ( Electro),

( Teplo). Step Control Subsystem . . 2.

.2. .

1655

II MATLAB

Product
. ,
, , . ,
, . Timer
, , .
( )
Step Switch. Step Switch (. 3)
Constant , S-function . . 3 .

.3. .

S-function :
set_param(_,'maxstep',num2str(u) ),

maxstep ( ),
u .
S- :
function [sys,x0,str,ts]=Set_Max_Step_Size(t,x,u,flag,m_name)
%
switch flag,
case 0,
[sys,x0,str,ts]=mdlInitializeSizes(m_name);
case 3,
sys=mdlOutputs(t,x,u,m_name);
case {1,2,4,9}
sys=[];
otherwise
error(['Unhandled flag = ',num2str(flag)]);
end
%
function [sys,x0,str,ts]=mdlInitializeSizes(m_name)
%
1656

sizes = simsizes;
sizes.NumContStates = 0;
sizes.NumDiscStates = 0;
sizes.NumOutputs = 0;
sizes.NumInputs
= 1;
sizes.DirFeedthrough = 1;
sizes.NumSampleTimes = 1;
sys = simsizes(sizes);
%
x0 = [];
str = [];
ts = [-1];
%
function sys=mdlOutputs(t,x,u,m_name)
%
set_param( m_name,'maxstep',num2str(u) );
%
sys=[];

S- m_name . S- [1].

, . ,

,
.
. 4.

,
.
, R_variable, , . (. 5).
: ( ), .
T_In . .
,
.

1657

II MATLAB

. 4. .

. 5. .

(. 6)
, .
,
.

1658

. 6. .

. 7 .

. 7. .

. 7, ,
,
.
. ,

1659

II MATLAB

. .

M.: -, 2004. 496 .

1660

621.878.25

. ., . .
- ,

() ()
.
, , ,
. ,
, [6].
[2] (. 1): , , , ,
(), , ()
.
P7
P1

P2

P4

P3

P9

P6

P5

P11

P8

P10

P12

P13

P14

P17

P15

P16
P18

. 1. - .

Pi.
(P1),
(P2),
1661

II MATLAB

## (P11), ( , ). , , (P6), , (P5) (). , (3), (4) (7).

(8) (14) (15),
(10) , , ,

. (11)
(16).
() (17) (10).
(18), (12) (13), [7].
, , , .
,
[1]:

l
R y ( l ) = 2 A1e 1|l| + A2 e 2|l| sin ,
(1)

; 1, 2 ; 1, 2 ; .
(1)
[1]:
y(n) = a01x(n) + b11y(n-1) + a02x(n) + a12x(n-1) + b12y(n-1) + b22y(n-2), (2)
01, 02, 12, b11, b12, b22 [1].
:
1 m+ k
y( m ) =
(3)
y( n ) ,
M c n=mk
k = 0,5(Mc 1); Mc ; y(n) .
, , ,

:
k1 y p + k 2 y
y ( p )
(4)
W yy1 =
=
;
2
y1 ( p ) T1 y p + T2 y p + 1

1662

W yy2 =

k3 y p + k4 y
y ( p )
=
;
y2 ( p ) T1 y p 2 + T2 y p + 1

(5)

W yF =

k5 y
y ( p )
=
,
F ( p ) T1 y p 2 + T2 y p + 1

(6)

y1, y2
; F
; kiy, Tiy ,
.
:
k1 p + k 2
( p )
(7)
Wy1 =
=
;
y1 ( p ) T1 p 2 + T2 p + 1
Wy2 =
M F

k3 p + k4
( p )
=
;
y2 ( p ) T1 p 2 + T2 p + 1

(8)

k 5
( p )
=
,
M F ( p ) T1 p 2 + T2 p + 1

(9)

F , , .
, :
k
y ( p )
p
p
Wy ( p ) =
= k1 + 2 1 e k3 e ,
(10)
p
y ( p )
y ; y ; ki , ; .
(11)
y = y + k tan( ),
k .
k = L / 2,
(12)
L .
h,
, y.

( F F )
, ,
[6].

1663

II MATLAB

,
[4]:
d 2
= J3
+ M f + M + ,
(13)
dt
; J3
; f
; , ; , ; 2 .
f = k Pf (v);
(14)
= k F;
(15)
= k sin ();
(16)
v = k 1,
(17)
Pf(v) ; ;
; ,
; 1 .
k = r / i,
(18)
r ; i .
[6]:
d 1
= J2
+ k 1 ,
(19)
dt
, ; J2
; k ,
.
, [7]:
C
;

1 ( p ) p + 1
W ( p ) =
=
(20)
( p ) C
> ,
p + 1
,
, ; , ;
.
() [5]:
L ( p )
k 1e p
W1 ( p ) =
;
(21)
=
( p + 1) p
U( p )

1664

W 2 ( p ) =

M ( p ) k 2 e p

,
(22)
=
U( p )
p + 1
L ; , ; U
; k1 , ; k2
,
; ,
; .
(. 2), (2) (22),
.
, ,
( , .),
. , , .
( ),
,
, [3, 7].

. , ( ). , , .
,

.

: ( ) ( ),
,
,
.

1665

II MATLAB

?y1
v
F

?y2

MF

k1

k5y

k2

k
1
T1yp2 + T2yp + 1

tan
k3

U
1
Tp + 1

k1 L
p
k2

-p

J2

d
dt

C
Tp + 1

C
Tp + 1

v
Pf =f(v)

-p

sin

e-p

k5

?y

k3p + k4

1
T1yp2 + T2yp + 1

k3yp + k4y

k1p + ky

MF

k1yp + k2y

d
dt

J3

. 2.
.

,
. 3. b1 b2
( )
(b1 b2), . c , .
U
1

b2

b1
1

. 3. :
b1 ; b2 ; .
1666

,
, h
, .
,
.

, , .

1. . . -
/ . . . , . : , 2004. . 1. .1. .152158.
2. . .
// - , , ,
: . .-.
. . 2. : - , 2003. .250253.
3. . ., . .
. .: , 1979.
280 .
4. . . . .: ,
1980. 215 .
5. . . :
. . . . , , 1997. 172 .
6. . ., . . // . . .
4. . : - , 2003. .7275.
7. . ., . . //
,
: .
.-. . : - , 2004. .219220.

1667