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,

ATI


: .
:
.

:
. AI-082
.

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:
, ...,

___________

. .

2011
1

4
1....6
2...12
3...14
4...17
...20
..21

Mod
Coala document
.

UTM. 526.3.082.08 ME
Semn. Data

.
.
N.Conf.
Aprobat

.
.

Mod Coala Nr. Document


Semnt.
Data

Lit.

Coala

Coli

26

UTM FCIM Grupa AI-2


082
Coala

:

2.
.
2, :
,

, ..
.

Kopras.

3
Coala
Mod Coala Nr. Document
Semnt.
Data


,
.
.
:
(), ()
.

.
, .
,
.

.
.
,
, .
,
.
.
:

()

()

.
, ,
.

4
Coala
Mod Coala Nr. Document
Semnt.
Data


. ,
, .

( ).
.

f. ,

. .

f(t).

5
Coala
Mod Coala Nr. Document
Semnt.
Data

1.
, .

.1. .
1.1) ,
v = dx/dt.
1.2) ;
1.3)
2- :
- ;
- ;
- () .
1.4)
x (.2)
I
x0 < 0, v0=0,
2,3 x0 < -a, v0=0,
4
-h < x0 -a, v0=0.
.1.

.2. .
14:
6
Coala
Mod Coala Nr. Document
Semnt.
Data

W1 = K 1 ; W2 =

K
; W3 = K 0 + pT 0 ;
p + ap + b
2

W4 = pT ;

: =3, =8, b=16, c=5, 1=9, 0=4, =3, =0,


0=0, 2.


.
T=0 :

.3. .
,
:
K
2
K1 K
X ( p)
p + ap + b
Wa ( p ) = K 1
= 2
=
.
K ( K + pT0 )
p + ap + b K ( K 0 + pT0 ) Z ( p )
1 2 0
p + ap + b
( )
( 2 .2).
( p) = x( p).

t. :
( p 2 + ap + b K ( K 0 + pT0 )) X ( p ) = K 1 K Z ( p )

p 2 X ( p ) + apX ( p ) + bX ( p ) KK 0 X ( p ) T0 KpX ( p ) = K 1 K Z ( p )

d 2 x(t )
dx (t )
dx (t )
+a
+ bx (t ) KK 0 x(t ) T0 K
= K 1 K z (t ).
2
dt
dt
dt

:
x + ax + bx KK 0 x T0 Kx = K 1 K z.
:
x 4 x + 16 x = 27 z.

z :

A = 3, 5,

z = 0 , 5 < < 5,
A = 3, 5 .

7
Coala
Mod Coala Nr. Document
Semnt.
Data

, ( p ) = x( p ) , z
:

8 ,1 x 5,

x 4x + 1 6x = 0 , 5 < x < 5,
8 ,1 5 x.

(I )
( II )
( III )

(I), (II), (III),


, - . ,
()
.
,
.
, (I), (II), (III) ,

x = 5,

x = 5.

.
I.
(I) :
x 4 x +16 ( x

81
) = 0,
16


x = (x

81
) = x 5.0625 .
16

x 4 x + 16 x = 0

,
, .4,
d .

8
Coala
Mod Coala Nr. Document
Semnt.
Data

. 4. x + 2d 0 x + 02 x = 0 .
x 4 x + 16 x = 0 x + 2d0 x + 02 x = 0 , :

d = 0.5,

0 = 4.

, ( x , x ) .4,,
-1<d<0.
, . 4,.
. 5.

9
Coala
Mod Coala Nr. Document
Semnt.
Data

.5. .1
.6() x(t) (x0, y0).
, x(t)
x0 < -a, v0=0 Kopras .6.
)

10
Coala
Mod Coala Nr. Document
Semnt.
Data

.6. (), () x(t) () Kopras.

)
11
Coala
Mod Coala Nr. Document
Semnt.
Data

.6.1. (),
(), x(t) () Kopras.

2.
12
Coala
Mod Coala Nr. Document
Semnt.
Data

,
() .

.7.
:
T1 = 4c ; T2 = 1.5c ;

k =5;

k =

= 0.3 ; 1 = 0.7c ; 2 = 0.1c .


b

.8.

.8.
, , ,
1
k

( ; j 0) , k = k k ,

. ,

.
.
:
k
B( p)
H ( p) =
=
2 2
2 2
(1 + 21T1 p + T1 p )(1 + 2 2T2 p + T2 p ) A( p )
:
A( p ) = (1 + 21T1 p + T12 p 2 )(1 + 2 2T2 p + T22 p 2 ) = 0
:
A( p ) = (1 +1.4 4 p +16 p 2 )(1 + 0.2 1.5 p + 2.25 p 2 ) = 0

13

p1 = 0.1 7+ 50.1 7i, 8


1 + 5.6 p + 1 6p 2 = 0 p2 = 0.1 7 50.1 7i, 8

2
1 + 0.3 p + 2.2 5p = 0 p3 = 0.0 6+ 60.6 i6,

p4 = 0.0 6 60.6 i6.


, , ,
.
k = k k = 5 0.3 = 1.5
.
:
1
=
(1 + 5.6 j + 16 j )(1 + 0.3 j + 2.25 j 2 2 )
1
=
= U () + jV ().
(1 + 5.6 j 16 2 )(1 + 0.3 j 2.252 )

p = j H ( j) =

:
(1 16 2 )(1 2.25 2 ) 1.68 2
U * () = U () =
,
[(1 16 2 ) 2 + 31 .36 2 ][(1 2.25 2 ) 2 + 0.09 2 ]
V * () = V () =

2 2 [(1 16 2 ) 0.15 + (1 2.25 2 ) 2.8]


.
[(1 16 2 ) 2 + 31 .36 2 ][(1 2.25 2 ) 2 + 0.09 2 ]

0.1

0.2

0.25

0.3

0.4

0.5

0.58

0.6

0.61

0.63

0.66

0.7

0.8

0.9

10

U * ()

0.82

0.22

-0.07

-0.25

-0.4

-0.48

-0.61

-0.64

-0.65

-0.63

-0.43

-0.32

0.11

0.06

0.04

->0

V * ()

-0.05

-0.18

-0.20

-0.20

-0.15

-0.1

0.005

0.05

0.09

0.203

0.374

0.379

0.126

0.05

0.02

->0


(. 9).
1

, k 0.61 . k 1.639 .

Coala
Mod Coala Nr. Document
Semnt.
Data

14

.9. .

3.

, :
k =0.5;

T =0.1c;

c = 0.1rad ;

.11.

.11. Kopras.



, .. :
20 lg

1
c
An ( )
a

20 lg Al ( w); .

.
:
W ( s) =

0.5
s (0.1s +1)

W ( j) =

0 .5
0 .1 j + j
2

0.05
0 .5
j
.
2
0.01 +1
0.013 +

0.1
0.5
1
5
10
100
1000
P ()
0
-0.0499
-0.0498
-0.0495
-0.04
-0.025
-0.0004
Q ()
0
0
-4.99
-0.99
-0.49
-0.08
-0.025
:
W ( a ) = q ( a ) + jq ' ( a ),

() 28
..:

k
2b 2b b b
q
(
a
)
=
+
a
r
c
s
in

1 + 2 1 1

a a a a

4k b
q
'
(
a
)
=

a a

, a b

:
15
Coala
Mod Coala Nr. Document
Semnt.
Data

Z (a) =

0 .2
0.2 0.1
0.1 0.636
0.1

0.159 1.57 + arcsin 1


+ 21

1
+
1
j
a
a a
a
a
a

1
=
.
2
2
W ( a )

0.159 1.57 + arcsin 1 0.2 + 21 0.2 0.1 1 0.1 + 0.636 1 0.1


a

a
a a
a
a

U(a) V(a)
:
a
U(a)
V(a)

1
-0.85

0.5
-0.35

0.33
-0.19

0.25
-0.12

0.2
-0.09

0.166
-0.07

0.142
-0.069

0.125
-0.068

0.11
-0.081

0.109
-0.083

-1.03

-0.83

-0.69

-0.62

-0.613

-0.646

-0.74

-0.97

-1.89

-2.07

.12.
,

16
Coala
Mod Coala Nr. Document
Semnt.
Data

1.19 c 1 0.10031 . ,
x1 = A sin t.

Kopras,
:

.13. .11.
:

.14. .11.
17
Coala
Mod Coala Nr. Document
Semnt.
Data

4.

.15.

.15. .
Kopras .16.
.
)

18
Coala
Mod Coala Nr. Document
Semnt.
Data

.16. Kopras() ().


, :
u 4 = k x signx .

:
u 4 = q ( a x ) x;

q oc =

:
y=

k3
x;
s

x=

8
k oc a x .
3

u3 k 2
;
(T1 s +1)(T2 s +1)

u1 = r y.

u 2 :
k3
8
x
k oc a x x
s
3
k
u3k 2
u3 k 2
8
u2 = 3

k oc a x
.
s (T1 s + 1)(T2 s + 1) 3
(T1 s + 1)(T2 s + 1)
:
q ' (a )
u 3 = [ q(a ) +
p ] u 2 , 28 ..

:
u 2 = u1 u 4 =

q (a) =

4c
b2
1 2 ;
a
a

a b;

q ' ( a ) = 0.

u 3 = q(a) u 2 .

u 2 :
k
q (a) u 2 k 2
q(a) u 2 k 2
8
u2 = 3

k oc a x
s (T1 s + 1)(T2 s + 1) 3
(T1 s + 1)(T2 s + 1)

k3

q(a) k 2
q(a) k 2
8

k oc a x
1u 2 = 0.
(T1 s + 1)(T2 s + 1)
s (T1 s + 1)(T2 s + 1) 3

:
k
q (a ) k 2
q(a) k 2
8
3

k oc a x
1 = 0.
s (T1 s + 1)(T2 s + 1) 3
(T1 s + 1)(T2 s + 1)
L(s) , s=jw, L(jw):
k q(a)k 2 0.849 k oc a x q(a )k 2 j
L ( j ) = 3
.
T1T2 j 3 (T1 + T2 ) 2 + j

:

19
Coala
Mod Coala Nr. Document
Semnt.
Data


k 3 k 2 q(a) (T1 + T2 ) 2 0.8 4 9k o ca x q(a)k 2 2 + 0.8 4 9k o ca x q(a)k 2 4 T1T2
= 0,
X ( , a) =
2 4
3 2
(T1 + T2 ) + ( T1T2 )

3
3
Y ( , a) = k 3 k 2 q(a) + 0.8 4 9k o ca x q(a)k 2 (T1 + T2 ) k 3 k 2 q(a) T1T2 = 0.
2 4
3 2

(
T
+
T
)

+
(

T
T

1
2
1 2 )

:
k 3 =1;

k 2 = 2;

T1 = T2 = 1;

4q(a) 1.6 9 k8o ca x q(a) + 1.6 9 k8o ca x q(a) 2


= 0,
X ( , a) =
2
4
2 + + 1

2
2
2
q
(
a
)
+
3
.
3
9
6
k
a
q
(
a
)

2
q
(
a
)

Y ( , a) =
oc x
= 0.
3
5

2 + +
4c
b2
1 2 ; c b .
a
a
a b:
X (, a ) = 0 4q (a ) 1.698 k oc a x q (a ) + 1.698 k oc a x q (a ) 2 = 0 q (a ) = 0

, q (a) =

4c
b2
1 2 = 0 a = b.
a
a

:
2q ( a ) + 3.396 k oc a x q ( a ) 2 2q ( a ) 2 = 0 2 =

2
.
3.396 a x k 2

2
= 4q ( a)
k oc 1.698 a x q (a ) + 1.698 a x q( a )

3.396 a x k oc 2

5.76 a 2 k oc2 13 .584 ak oc + 8 = 0.

k oc =

13 .584 a 13 .584 b
=
.
11 .52 a
11 .52 b

, k oc > 0
b R+

b=1, k oc 1.26 .
. ,
k 2 .
T1T2
k 2 k 3 ,
k oc <
T1 + T2
a ,
q (a ) .
20
Coala
Mod Coala Nr. Document
Semnt.
Data



.
.
,

.

.
Kopras , .

. ,
,
(-1/, j0)
,
.
,
.
,
t
x v=x ()
, x,
v. .

: .
Kopras.
21
Coala
Mod Coala Nr. Document
Semnt.
Data

1. ,
.. ; , 2006-2010.
2.
.. ; , 1972.
3. , .. , ..
, .. , 1977.
4. . , .. ; , 2003.
5.

http://www.tehnoinfa.ru/teorijasistempravlenija/96.html

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Mod Coala Nr. Document
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Data