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Simulink
2.
:
. . ., . .
5. Simulink
. ., . .
.............................................................. 1554
. .
MATLAB/SIMULINK
................................................................................. 1561
. ., . ., . .
MATLAB/SIMULINK .................... 1573
. .
PSPICE SIMULINK...................................................... 1583
. ., . .
MATLAB SIMULINK...................................................................... 1589
. .
SIMULINK............................ 1596
. .
SIMULINK-STATEFLOW
............................................................................ 1603
. ., . ., . .,
. ., . .
SIMULINK.............................................................. 1608
. ., . .
SIMULINK
( )............................................ 1611
. ., . .
MATLAB/SIMULINK ............... 1634
. ., . ., . .
SIMULINK......................................... 1653
. ., . .
SIMULINK ..................................................................................................... 1661
1553
II MATLAB
519.6
. ., . .
, ,
e-mail: rgu@penza.net
() .
, , - . .
, ,
[1]. ,
. , .
[2], :
1
P1 (Tu ) =
T
t 0 + T
U m sin t I m sin(t + ) dt =
t0
Um Im
U I
cos m m sin T cos(2t 0 + Tu + ) ,
(1)
2
2T
U m I m ; T , , ( ); ; ; t 0 ,
.
,
t3
=
1554
5. Simulink
1
P2 (Tu , t3 ) =
T
t 0 + T
U m sin[ (t t3 )] I m sin[ (t t3 ) + ] dt .
(2)
t0
sin Tu sin(Tu + 2t 0 + t 3 ) = 0 ,
(3)
(1) (2).
(3), :
T
( n = 1, 2, 3, ... ),
(4)
TuO = n c ;
2
Tc ( ),
T
TuM = n c + t3 2t0
Tc ; (n = 0, 1, 2, 3, ...) ,
(5)
2
2
t 0 ( ).
Tu = TuO , (1),
!
, t 50 ( Tc = 20 )
. 1 . 2. ,
0.01 0.02 . , (4), (5) , .
. 1. .
1555
II MATLAB
. 2. .
, MATLAB. . 3 (. mes_p3 ).
- Simulink, Power System Blockset DSP Blokset. :
Power System Blockset,
DSP Blokset. Simulink.
() RL-. (SI)
(SU)
Simulink DSP Blokset. ( int1 int2 ) Hit rossing .
Hit rossing Counter, . 4. Hit rossing1 .
Step. int3 T . Produkt T , Produkt1 .
1556
5. Simulink
. 3. .
. 4. Counter.
1557
II MATLAB
Active & Reactive Power Power System
Blockset.
. 5.
. 5. .
, .
, . , . 6 ( Zero-Order
Hold) ( Quantizer).
. 6. .
. 7 . 8.
1558
5. Simulink
7.
.
8. .
, . ,
1559
II MATLAB
,
50 0.1% 10 ( ) 8-
, 8 .
,
[3], , 12-
12 , 5- .
,
:
1. ( )
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3.
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()
.
.
1. 13109-97 .
.
. : - , 1997. 30 .
2. . . . .:
. 1973. 752 .
3. . ., . .
// . . .-. .
. .: ,
2001. .6871.
1560
5. Simulink
519.711:658.012.011.56:621.757
MATLAB/SIMULINK
. .
. . . , ,
e-mail: kuritzyna@rgtu.ru
-
. , ,
.
MATLAB
(Math Works,Inc.)
Simulink, .
. ,
, .
,
,
- .
1561
II MATLAB
, .
.
, ,
.
[1]. ,
,
.
.
(i = 0, 1, , p)
(j = 1, 2, , s) - , (. 1), {X10, X20, , X s0} ,
{X1m, X2m, , Xsm}.
{ti1, ti2, , tij} .
[2].
:
j = s i =( p 1)
1
X vp =
X ji ,
j =1 i = 0 K vipj
, . ,
. .
1562
5. Simulink
. 1. .
MATLAB Simulink
, , ,
. , , , . ,
.
,
. . , .
MATLAB Simulink
,
, .
1563
II MATLAB
Simulink, [3].
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MATLAB/Simulink
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S-
,
, .
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1564
5. Simulink
. . , , ,
.
. 2. .
. 2.
MATLAB/Simulink.
,
(sub-system) , .
, .
1565
II MATLAB
, , .
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1566
5. Simulink
. ()
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1567
II MATLAB
.
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Simulink/MATLAB . 4-6.
1568
5. Simulink
. 4. ( 0).
. 5. ( 1).
:
tg tg1
1) r = 0:
H =S
tg + tg1
S2
;
8 r
2) r 0 r > S :
H =
3) r 0 r < S : H =
sin sin 1
sin ( + 1 )
1
) .
S r (tg + tg
2
2
SUB (. 6, 7).
1569
II MATLAB
. 6. ( 2).
. 7.
( 3).
. () .
,
(Ra ) , (Py) (R) 1570
5. Simulink
. (Ra ) R
.
Ra. , ,
,
,
1,11,2 1,52 .
:
110 s 2
Ra .
Ra =
2
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Simulink/MATLAB . 8-10.
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1571
II MATLAB
. 10. ( 2).
S- , .
, , .
-
.
1. / . . , . . , . . . / .
. . . .: - , 2000.
2. . ., . . . /
. 2002. 2. .6771.
3. . . MATLAB. :
, 2001.
1572
5. Simulink
62.50
MATLAB/SIMULINK
. ., . ., . .
- , ,
e-mail: lychenko@aknet.kg
. ,
: . , , (Maple,
Mathematica, MATLAB, MatCad .).
, , .
MATLAB Control Toolbox Simulink,
.
, ,
.
.
Simulink 200 ,
,
Simulink . Simulink
Simulink (S).
1573
II MATLAB
,
(
) MATLAB/Simulink.
1.
, M ,
( )
xi = Ai xi (t ) + Bi ui (t ) + i ( x, u, t ) + i (t ) , i = 1,..., M ,
,
. i ( x, u, t ) , i (t ) - . u1 (t ),..., u i (t ),..., u M (t )
,
:
2 J = x(t f )
2
Q1d
tf
+ ( xt f ) + x(t )
to
2
Q1 x d
+ u (t )
2
Rd
+ ( x, u, t ) dt .
- [1]
c
(.1),
- [2]. :
[ ' , x ' , ' , u ' ]' ,
;
.
1574
5. Simulink
, l=1
_
_
x 0 (t ), u 0 (t ), x 0 (t ), u 0 (t )
x (t )
(t )
l
z (t ) =
u (t )
(t )
l 1
x (t )
_
_
T
T
Q2 xd ( x x ) + ( / x ) ( Px + f ) + ( / x ) x
=
u (t )
_
_
_
Q (u u ) + ( / u)T ( Px + f ) + ( / u)T u
2ud
x1 , u1 , f1
zl
M
_
f i = Pi Bi Di ( Bi f i l + i Q2uiui ) Pi ( i ( x, u , t ) + i (t )) + Q2 xi xi
l
xM , u M , f M
zl
1
.
xi , ui , f i
zl
Ai f i i ,
T
f i (t f ) = Q2i xi (t f ) + / x(t f ),
ui = Di BiT Pi xil Di ( Bi f i + i Q2 uiui ),
1
el +1 = z l +1
el +1 el <
. 1. - .
xi (t ) , u i (t ) f i (t ) . ,
.
1575
II MATLAB
MATLAB, Simulink
, :
Simulink
. ,
Simulink- () .
,
[3,4,5] ,
,
f (t ) x(t ) u (t ) , . Simulink c ,
, S-, .
2.
:
uki (t )
,
- ,
;
xi (t ) ui (t ) ;
;
.
Simulink, .
MATLAB-, , Simulink- , .
1576
5. Simulink
: A , B , P PFull (t )
, Rd
, Q1xd , Q2 xd , Q2ud
,
( ), t 0 , t f , x 0 , e ,
0 , 0 , x 0 , u 0 .
x(t ) u (t ) .
. 2 ,
.
. 2. .
1577
II MATLAB
mdlInitializeSizes
mdlInitializeSampleTimes
mdlInitializeConditions
mdlOutputs
mdlUpdate
mdlTerminate
. 3. S- .
mdlInitializeSizes() :
(,
, , -
1578
5. Simulink
, , , );
( );
(
); ; ,
.
mdlInitializeSampleTimes() ( ).
mdlInitializeConditions()
( , fi (t ) ,
). ,
.
, , . mdlOutputs() mdlUpdate(), .
mdlTerminate(), .
S- Simulink-
(), .
. 4, Simulink- .
(t ), x (t ), (t ), u (t ) , .
f i (t ) ,
uki (t ) .
MATLAB.
.
, (. 4, ),
,
xi (t ) ui (t ) .
. 5 Simulink- Simulink. , ,
.
1579
II MATLAB
.4. Simulink- () i-
() ().
. 5. Simulink-
Simulink.
1580
5. Simulink
. , S-.
.
. 6 (
. 6, , . 6, ).
Pi i
Pi i ( x , u , t )
i (x, u , t)
)
)
.6. :
(), ().
( ).
,
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. . ., . .
//
. 1. 2002. C.4248.
5. .. C
// .
II . .
SICPRO'03. .: , 2003. C.693706.
1582
5. Simulink
519.6
PSPICE SIMULINK
. .
, -,
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] ,
,
, ,
, PSPICE (
HSPICE, SABER) [3]. ( 1000$) , , Tina Pro, Elektronics Workbench,
Circuit Maker , . , Tina Pro
, , [4].
,
15 [5].
, , - . 1.
. 1 Uc(t) (t-) f :
Uc(t) = A(t)sin(2ft).
(1)
(IOP) ().
, L C, ,
,
.
1583
II MATLAB
R3
R4
R2
C1
+
Uc
VG1
IOP1
R1
L1
VM2
VM1
.1. .
Tina Pro
, . 2.
.3.
. 2. .
1584
5. Simulink
. 3.
.1 ( , VM1 ( ) VM2 ( )) .
. 4. . 1.
30 ,
.
,
Elektronics Workbench. -
1585
II MATLAB
Elektronics Workbench. :
Uc = Acos(2Ft) sin(2ft) , = 5, =400.
( 2)
. 5,
, .
. 5. () ()
2.
. 5 , 2 (15) (
).
Simulink. . 1 Gain Transfer Fcn, Transfer Fcn1 Saturation. ,
Gain ( Algebraic
Loop), .
. 6. Simulink .
1586
5. Simulink
,
MATLAB, (. 7). Linear analysis Tools
(.8)
.
. 7. ( ,
, ).
. 8. Simulink .
, .
( , , ,
, 10000) , , :
1587
II MATLAB
, ,
,
.
,
. MATLAB
Simulink , .
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
5. Simulink
519.711:658.012.011.56:621.757
MATLAB SIMULINK
. ., . .
. . . , ,
e-mail: kuritzyna@rgtu.ru
, , , , . , , , , .
.
, , ,
,
, , .
MATLAB Simulink
[1]. MATLAB Simulink
,
.
[2].
1589
II MATLAB
,
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,
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, .
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. 1590
5. Simulink
, .
.
SUB-
, (.1):
1. .
2. ( ,
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3. ,
().
. 1. .
SUB- ,
.
Simulink
SUB-,
[3], :
1.
(t):
t X j i
2.
:
1591
II MATLAB
X j (i-1) X j i
3. :
t X j i
4.
:
X j (i-1) X j i
5. :
S X j i
:
1. .
2. .
MATLAB Simulink
- - :
(. 2, 3);
,
() (. 4, 5).
. 2.
.
1592
5. Simulink
. 3.
.
. 4.
.
1593
II MATLAB
. 5. .
, . ,
. ,
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.
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. ,
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1594
5. Simulink
, . :
1. , .
2. .
3. .
4. .
5. .
6. .
7. .
,
,
.
,
, .
, , , .
1. . . MATLAB. :
, 2001.
2. . ., . ., . .
: . .: . . . ,
2002.
3. . ., . . //
. 2002. 2. C.6771.
1595
II MATLAB
SIMULINK
. .
, , .,
e-mail:signal@kovrov.ru
, , , ,
( ), [1, 2].
:
d
J
= M 1 M ;
dt
ip
d = 1 ;
dt i p
= 0 | |<
= sign( ) | | ;
d
M = +
;
dt
d
= 0 | |<
dt
d d
=
| | ;
dt
dt
d
J
= M M ,
(1)
dt
M = M M k M = f ( ) .
: d dt
; J , J
; ,
; M , M
; , d
dt
; ,
1596
5. Simulink
d
dt
; ; C ; ,
; k ; i p
; M ; M ; M
.
[2]:
M = M sign( ) 0
M M + M = 0 .
, M
.
= 0 | M |> M , (1), , , = 0
M = M sign( M ).
= 0 | M | M ,
, M M M + M , M M = M . , | M |> M .
M M . , ,
,
.
, -
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; C1, 2, ,8 ; 1,
2, 3 ; 1, 2, 3 ; 1,
2 ; 1, 2, 3
; 1, 2, , 5 ; 1, 2, ,
9 ; .
1597
II MATLAB
1, 2, 3 6
.
, .
2 2,
2, 2 1,
0. , 2 3, 2, 3 1, 0. 2 1 6.
4, 5, 7, 8 9 . 1, b .
4, 5 7 AND,
8 NOR, 9
XOR.
. 1 (0 1) b.
M ,
, 1, ,
, 1 2.
2 , .
.
, , ,
2 . , 1 1,
, 1 0, , , 1, ,
2 .
1,
1 , 2 M . M 3, M . M = M .
1598
5. Simulink
C4
.1 - .
1599
II MATLAB
, , 3 3, 3 M M .
0
0
1
1
0
1
0
1
1.
(ND)
(NOR)
0
1
0
0
0
0
1
0
2
( XOR )
0
1
1
0
. 2
,
.
| M | M = 0 ( 1) | M |
2 M 2, , | M | M , 2 0, 3 1.
3
3,
6 0.
7, 8 9
0, 1, 0. 4
5 0 0. 2,
4, 5 .
M c 3
8 + , 8 . 5 , 3 , 3 = 0 . ,
M 0 , .
| M | M , .
2. 2
1, 3 0.
8 9, 2, , 5
M 1 = M M sign( M ) , 3.
3 0 .
1600
5. Simulink
3 ,
| |> , 6 1. 2 ( 3) 7, 8, 9, , 1, 0, 0. 4
M 2 = M M sign( ) . 4 5 0 0. 2, 3 5 , , ,
5 .
| M | M 0 ( 4)
. 2 0,
3 1. 7, 8 9 0, 0 1. 5 1, , , 5 M 2 = M M sign( ) ,
5.
5 .
,
, .
2.
.
1
2
3
4
| M | M
0
| M |> M
0
| M |> M
0
| M | M
0
4
5
M 1
M 2
M 2
. 2. .
1601
II MATLAB
. 2 .3
Simulink MATLAB [3]. , ,
.
.3. .
1. . 2- . .1 / . . . M.:
, 1976. 479 c.
2. . ., . . . .: , 1966. 767 c.
3. . , . SIMULINK 4. : .
. .:. , 2003. 403 .
1602
5. Simulink
681.3.06
SIMULINK-STATEFLOW
. .
, ,
e-mail:grogachev@auts0.samgtu.ru
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, . ,
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.
.
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MATLAB TrueTime [1].
MATLAB Simulink-,
[2].
1603
II MATLAB
. 1. .
1604
5. Simulink
. 2. .
, Stateflow.
(. 3).
. 3. .
W ( z ) = 5 + (1 z 1 ) / h ,
h . Stateflow- 4.
1605
II MATLAB
. 4. Stateflow- .
, 0.2 0.08 .
, . . 5.
dout .
. 6
0.2 .
T
I = 2 dt ,
0
, .
, , I = 0.009985. 0.2 I = 0.01032. 0.01061, , .
1606
5. Simulink
. 5. .
. 6. .
1607
II MATLAB
621.313.3:519.711.3
SIMULINK
. .,
, ,
e-mail: eets@etf.ustu.ru
. ., . ., . ., . .
-, ,
e-mail: svi@pochta.ru
, Simulink,
.
[1],
Memory. .
(),
() [3, 4],
, .
ER,
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1608
5. Simulink
ES ER
, .
U1
. Ke
U1 [3].
. 1 ,
Gain1, S-Function2 Product3.
S- s_v121 ; Ksootv, Rzaz, Ryarm , m. Command Window
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ES ER (. 2),
: , . ,
Memory ( -
).
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MATLAB function,
ES ER, .
, .
, ( ).
1609
II MATLAB
.
. .
, , Mathcad mscript [3, 4], Simulink [2].
,
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,
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Simulink.
,
MATLAB, , ,
.
1. . ., . . Simulink 4. : . .
. . . .: . , 2003.
2. . ., . ., . . , 2000.
3. . ., . ., . . . .: , 1991.
4. . ., . ., .
:
. : - -, 2001.
1610
5. Simulink
534:531.43
SIMULINK
( )
. .,
()
, ,
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.
( m) (. 1).
. 1. .
() (. 2, ).
. 2. .
(. 2, ), [1] ( ).
1611
II MATLAB
(
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1612
5. Simulink
(
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);
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. (Leonardo Da Vinci, 1519). (Newton, 1687).
(Amontons, 1699) (Coulomb, 1785). - .
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1613
II MATLAB
(Morin, 1833) ,
(Reynolds, 1866) , ,
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(Hess, Soom, 1990) [4]
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1614
5. Simulink
. 4. .
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, , . 1967 .
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2.
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.
1615
II MATLAB
2.1.
y = sign( x) k ,
(1)
y F ( ) , x , k , .
,
. , .
(. 5).
Sign Simulink. , , , , . k.
. 5. .
,
. 1 /. . 6.
.
. 6. .
1616
5. Simulink
, . 5, , . 7.
)
. 7. : )
k=1; ) k=2.
, (1) .
2.2. +
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 &
Viscous Friction
To Works pac e
. 8. + .
,
Coulomb friction value (Offset) ,
Coefficient of viscous friction (Gain)
. . 9
.
. 9. +
.
.
.
.
2.3.
, ,
90- , . , (Lorentzian) (Haussian) , (Tustin).
, , [6], [10], [11].
1618
5. Simulink
[10]
:
C
M = C2 +
sign ,
(3)
2
1 + m 2
m , , 2 , . , . 10.
. 10. (3).
(3) (. 11).
. 11. (3).
Switch.
. 11 (. 12) (. 13).
1619
II MATLAB
. 12. (3).
. 13. (3).
, (3)
.
.
. , . .
.
.
, [11].
v
+
v0
+
+
+
FG = FH F 1 e + b + v ,
-
v
v0
FG = FH F 1 e + b v .
. 14.
1620
5. Simulink
. 14. [11].
,
. 15, , ,
. 16.
. 15. [11] .
. 16. [11].
. 16 ,
( , ).
: , , . , , .
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
5. Simulink
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
5. Simulink
, [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
5. Simulink
. 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
5. Simulink
. , - , .
)
)
. 26. .
4.
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
5. Simulink
. 28. .
. 29. ().
. 30. ().
. 31.
( ).
1631
II MATLAB
.
,
,
. , .
, .
.
5. Simulink
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
MATLAB/SIMULINK
. ., . .
, ,
e-mail:cisar@fromru.com
Excel , , .
, .
, .
MATLAB. (Toolboxes)
. FinancialToolbox, Excel ExcelLink,
Word Notebook.
Simulink,
.
.
. , .
, .
Simulink.
.
1. ,
. ,
-
. , . , ,
.
:
. : .
: ,
1634
5. Simulink
. -
, .
.
.
, .
.
(, , ).
. , , . . ,
. : , .
.
:
t=tf
t=tf
t
PRFt = CPt * RN,
RN .
, .
Simulink.
Simulink- -,
.
, .
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
5. Simulink
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
%=================================================
open_system('TaxRate_Dsc') %Load TaxRate_Dsc.mdl
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
. 1.2. .
1638
5. Simulink
m- .
Simulink . Scope ()
. , 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
5. Simulink
, , . , ,
MATLAB_Simulink.
. .
: , , .
. : , , ,
. . , . . . , .
: .
. : , , ,
.
Dmd=D0 Kd*Prc,
Dmd (demand) ; D0
; Kd ; Prc (price) .
Spl=S0+Ks*Prc,
Spl (supply) ; S0 ; Ks ; Prc
(price) .
Simulink. - . 2.1.
. 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
5. Simulink
%=================================================
%Set model Path
path(path,'C:\Csr_MtLb\MrktEqlPrc')
%=================================================
%1.Simulate static functions, plot its
%Load and Run DmdSplEqu.mdl
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
%=================================================
1643
II MATLAB
. 2.2. .
/ MATLAB c . Simulink.
Scope, Scope1 , . ,
MATLAB.
1. . MATLAB m-
DmdSplEquM.m. .
Tools>Run. . Simulink
.
Scope
Figure. Scope1 . 2.3.
Scope . 2.4.
1644
5. Simulink
. 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
5. Simulink
3.
. .
.
, ,
.
- , . ,
.
.
, 1962 , . -
. ,
. , 300 ,
10 .
: , , , , , .
.
.
. - .
. Simulink
, . Simulink . 3.1.
. 3.1. .
1647
II MATLAB
70 , , 5-10
. , .
.
() NeedPrk ( ). , : (
Prdct), c InPrk (
). OutPrk (
, ).
, RealPrk ( , ). urDmd. Saturation ()
, :
urDmd >= 0.
. , , (
).
. Scope
, . , , . . 3.2.
.
.
. 3.3.
1648
5. Simulink
. 3.2. Simulink
Scope.
. 3.3.
.
1649
II MATLAB
Simulink. . Scope1.
MATLAB. Scope.
1.
. MATLAB .
Simulink ParkPrdct.mdl.
Simulation>start. Scope , . 3.4 3.5.
. 3.4. , ,
Scope1.
1650
5. Simulink
. 3.5. , , Scope.
.
, , . , . .
, , . . , , .
2. .
, , . , . . , , .
, . ,
,
. . .
3. . .
, -
1651
II MATLAB
. , .
, . . , , .
, , , . . .
1. . . .
.: -,1996.
2. ., . . .: , 1992.
3. . . . MATLAB_Simulink . .: , 2001.
4. . . .
.: , 2002.
5. . . . .
.: -, 2002.
6. . . . . .: , 1997.
1652
5. Simulink
613.314
SIMULINK
. ., . .,
, ,
e-mail:chernykh@etf.ustu.ru, vil@etf.ustu.ru
. .
(), ,
e-mail: reltec@vimcom.mplik.ru
II MATLAB
. ,
( ) ,
( ). , ,
, , . , 1000
50,
210-5 . , 10100 , , : 0.010.001 c.
,
50-500
,
.
. :
1. .
2. . .
3. ,
.
4.
.
.
5. .
6.
-
.
7.
.
8. . 2 .
1654
5. Simulink
,
.
( ) .
. 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) ),
set_param , _ Simulink-,
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
5. Simulink
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
5. Simulink
. 6. .
. 7 .
. 7. .
. 7, ,
,
.
. ,
1659
II MATLAB
. .
1. . . Simulink. .
M.: -, 2004. 496 .
1660
5. Simulink
621.878.25
SIMULINK
. ., . .
- ,
e-mail: lab360@sibadi.omsk.ru
() ()
.
, , ,
. ,
, [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
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
5. Simulink
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
5. Simulink
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
5. Simulink
,
, h
, .
Simulink. ,
,
.
, , .
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