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1. . .......................................................................................................

5
2. ............................................................................. ....7
2.1. , ....................................................................................................................7
2.1.1. ..........................7
2.1.1.1 ..........................................................7
2.1.1.2 ......................................................11
2.1.1.3 ............................................................13
2.1.2. ...................................................................................14
2.1.2.1. .....14
2.1.2.2. .....14
2.1.2.3. ............................................................15
2.1.2.4.
.......................16
2.2. .............................................................. ....17
2.2.1 .................................................17
2.2.1.1 ..............................17
2.2.1.2 .................................20
2.2.1.3 . ......................................................................21
2.2.2 ................................................................................................24
2.2.2.1
......................24
2

2.2.2.2 , ,
.............................................................................25
2.2.2.3 ...........................................30
2.3. ..................................................................................... ....34
2.3.1


.......................................................................35
2.3.1.1

.............................................................................35
2.3.1.2 ................................................36
2.3.1.3. ...............................40
2.3.2


...........................................................................45
2.3.2.1 ...............................................45
2.3.2.2 ...............................................47
2.3.2.3 .....................................................................48
2.4. ................................................................................... ..54
2.4.1.
......54
2.4.2.
......71
2.5. .......................................................................................................... ...76

3. - ................................ ...77
3.1.
.........................................................................77
3.2. .............................................................................79
3.3. ............................................................83
3.4. .........85
4. .......................................... ..88
4.1 .......................................................................................................88
4.2 .................................................................................88
4.2.1. ...................................................................88
4.2.2 ..................................................................................89
4.2.3 ............................................................89
4.2.4. ................................................91
4.2.5 ...................................................................92
4.2.6 .......................................................94
4.3. ........................................................96
4.4 ...................................................................................................99
5. .................................................................................... ...100
6. ................................................................................................... 101

1.

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

,

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

.


,

.
5

.

A.

:
,
;

;

;

() ;

2. .
2.1 ,

2.1.1. .
,
JIA, .
. ,
, :
-
( );
-
;
-
;
- ;
-
;
-
,
.
2.1.1.1

.

F (.2.1.). Po,
H P. dH
dP, dQ
dV, F:
dP = dQ / F.

(2.1)

. 2.1.
dQ dV g
. , dQ = gFdH, :
dP = - gdH.

(2.2)

,
.

P, R = 29,27 /
T:
g = P / RT.

(2.3)

g ,
:
dP / P = - dH / RT.

(2.4)

,
. .
.

. 2.2.
, , 11000
, ,
33000 (.2.2.).

:
T = T - tH,

(2.5)

- ; t -
, /; H - , .
T (2.4),
P P, - 0 H:

PH

P0

dP
1
dH

P
R 0 T0 t

ln

T t
PH
1

ln 0
P0 R t
T0

P, :
1

t H Rt
PH P0 1

T0

(2.6)

.
.

11000 (T11). (2.2)
P11 P, 11000 H:
PH

dP
1

dH
P R T11 11

ln

PH
H 11000

P11
R T11

P0

PH P11 e

H 11000
RT11

(2.7)

P11 - 11000.

.
,
, . , :
0 11000 :
P Rt T
H 1 H 0 ;
P0 t

(2.8)

11000 20000 :
H 11000 R T11 ln

P11
.
PH

(2.9)
10

,
: P,
P T (P11 T11) t.
P (P11), T (T11) t ,
.

().
. .

2.1.1.2
l

A1

A2

. 2.3.
2 :
1
2
()

.
( )

, = ( t)/2, .
; = 3108 /
,
.
11


(
).
:
-

. 2.4.
(2.10)
(2.11)
(2.12)
(2.13)
S ;
a ;
f0 ;

0 1000 .

.
, (),
.
.

12

. 2.5.

( ), ..
.
:
- - ,
,
- f0 ,
,
- ,
,
.
2.1.1.3

.

13

2.1.2. .
2.1.2.1.
.A (.2.6), , ,
v V
:
Vy V cos sin( )

(2.14)

. 2.6.
2.1.2.2.

dWy
dt

dWy
dl

Wy

dWy
dh

1 dp
g 2Wx cos Fy
dh

(2.15)

, dt,
14

dh
dp

dt
dt

RT
dWy

dWy
dW

y W
Wy
2Wx cos Fy g
dl
dh
dt

(2.16)


:
dh
dp RT

dt
dt g

(2.17)


1% ,
.
2.1.2.3.

.
,
.
:
t

Vy a y g g h dt.

(2.18)


JIA.
- , .

15

,

.
2.1.2.4.
.
,
,
,

, (
) A ,
.

Vy S S a y S S S ,

(2.19)

S S
S
S S 1
S

(2.20)

.2.7.

. 2.7. ,

16

2.2

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

() .
.
2.2.1
2.2.1.1 .
.

:
x(t ) F (t ) x(t ) G(t )w(t ) C (t )u(t ) , t t0 ,

x(t) - n-

(2.21)

; w(t ) - -

; u(t) - r- ; F(t),
G(t), C(t) -

n n, n p, n r ,

17

F(t), G(t), C(t) -


, .
, x(t0 ) .

x(t ) x1 (t ),..., xn (t )
T

, , x(t0 ) w(t ) u(t), t0 t t1 ,

x(t1).

.
,
.

(1) x(t0 ) :
t

x(t ) (t , t0 ) x(t0 ) (t , )[G( ) w( ) C ( )u( )]d ,

(2.22)

t0

(t, ) - n n,

:

(t , ) F (t )(t , ),
t

(t , t ) I .

(2.23)

, (t, )
:

(t , t0 ) F (t )(t , t0 )
t

(t0 , t0 ) I , I - ,
t0 . (2.26) ,
F.
18

, x ( ) ,
x(t) t ,
.

F, G,

x(t ) Fx(t ) Gw(t ) Cu (t ).

F
(t , ) (t ) e F (t ) ,

(2.24)

e F (t ) - :
e F (t ) I F (t ) ...

F n (t )n
... .
n

(2.25)

(2.28) ,

(t ) . ,

(2.23).
(2.21)
x(t ) e

F ( t t0 )

x(t0 ) e F (t ) [Gw( ) Cu ( )]d .

(2.26)

t0

.

.
, ,
,
. , ,
19

(2.24).

, .
, ,
.
:
x1 a11 x1 ... a1n xn b11w1 ... b1 p w p c11u1 ... c1ru r ,

(2.27)

...
xn an1 x1 ... ann xn bn1w1 ... bnp wp cn1u1 ... cnr ur ,


, - ,
.
(2.24).

x(t),

w(t ) ,

u(t)

F(t), G(t), C(t):


b11...b1 p

a11...a1n
F (t ) ...
an1...ann

G (t ) ...
,
bn1...bnp

c11...c1r
C (t ) ...
cn1...cnr

2.2.1.2
.

:
x(k 1) (k 1, k ) x(k ) ( k 1, k ) w( k ) ( k 1, k)u( k),

(2.28)

k=0,1,2,... - ,
; (k) - n- ; w(k) - -
20

; u(k) - r- ; (k + 1,k) -
n n; (k+1,k),

(k + 1,k) - -

n n r,
.
(k + 1,k), (k+1,k), (k + 1,k)
,
.
:
x(0), (1,0), (1,0), (1,0),
w(0) u(0), 0,
1:
x(1) (1,0) x(0) (1,0) w(0) (1,0)u(0).

x(1), (2,1), (2,1), (2,1), w(1), u(1),


2:
x(2) (2,1) x(1) (2,1) w(1) (2,1)u(1).

.
2.2.1.3 .
.

.
, .

, .
.

21


(.2.8).

.2.8 .
,
, (2.28). ,
, k+1
,
k.
,

.
x1 (k 1) a11 x1 (k ) ... a1n xn (k ) b11w1 (k ) ... b1 p w p (k ) c11u1 (k ) ... c1ru r (k ),

(2.29)
xn (k 1) an1 x1 (k ) ... ann xn (k ) bn1w1 (k ) ... bnp w p (k ) cn1u1(k ) ... cnru r (k ).


k+1, ,

k.

22


x(k 1) (k 1, k ) x(k ) (k 1, k )w(k ) (k 1, k )u(k ),

b11...b1 p

a11...a1n
(k 1, k )

(k 1, k )

an1...ann

c11...c1r
,

(k 1, k )

.
cn1...cnr

bn1...bnp

,
(2.32)

.
,
.

(2.25) :
tk 1

tk 1

tk

tk

x(tk 1 ) (tk 1 , tk ) x(tk ) [ (tk 1 , )G( )d ]w(tk ) [ (tk 1 , )C ( ) d ]u(tk ),

tk k , tk 1 k 1, -.
,

x(k 1) (k 1, k ) x(k ) (k 1, k )w(k ) (k 1, k )u(k ),

(k 1, k ) (tk 1 , tk ),
(k 1, k )

tk 1

(t

k 1

, )G( )d ,

(2.30)

tk

23

(k 1, k )

tk 1

(t

k 1

, )C ( )d .

(2.31)

tk

(k + 1,k), (k+1,k), (k + 1,k)


:
(k 1, k) e FT I FT

1 2 2 1 3 3
F T F T ...
2!
3!

(2.32)

(k 1, k) GT

1
1
1
FGT 2 F 2GT 3 F 3GT 4 ...
2!
3!
4!

(2.33)

(k 1, k) CT

1
1
1
FCT 2 F 2CT 3 F 3CT 4 ...
2!
3!
4!

(2.34)

2.2.2
.
2.2.2.1
.

(): y(1),,y(j),
1,,j, x(k)
k,

]}

x(k)
y(1),,y(j).

(2.35)

.
(a) x(k)
k 1,,k.

24


, ;
(c) j
x(k) k
1,,j, j<k;
(b)

x(k)

k
1,,j, j>k.


.

.2.9

2.2.2.2 , ,
.
.

:
x(k 1) (k 1, k ) x(k ) (k 1, k ) w(k ).

(2.36)

25

u(k)
,
, ,
, ,
.

-
(). :
y(k 1) H (k 1) x(k 1) z (k 1) ,

(2.37)

y(k 1) y1 (k 1),..., ym (k 1) T , m- ;
z(k 1) z1 (k 1),..., zm (k 1)

, m- ;

H(k+1) :
h11
H (k 1) ...
hm1

h1n
... .
hmn


1 0.

(2.38)

=1.

=0.

.
:
1. w(k)
k Q(k), p x p.
2. z(k+1)
k R(k+1), m x m.

26

3. x(0)

P(0), n x n.
4. w(k), z(j) x(0)
k j.
. :
x(k 1) x1 (k 1),..., xn (k 1) T

n-

x (k 1/ k 1) x1 (k 1/ k 1),..., xn (k 1/ k 1)

k+1;

k+1;
xi (k 1/ k 1) xi (k 1)

;
x(k 1/ k 1) x1 (k 1/ k 1),..., xn (k 1/ k 1) - x (k 1/ k 1) ,
T

x(k 1/ k 1) x(k 1) x(k 1/ k 1) ;


xi (k 1/ k 1) xi (k 1) xi (k 1/ k 1) xi (k 1/ k 1) ;

P(k+1/k+1) x (k 1/ k 1) ;
P11
P(k 1/ k 1) ...
Pn1

Pii -

P1n
... ;
Pnn

xi (k 1/ k 1) ; Pij -

xi (k 1/ k 1) x j (k 1/ k 1) .
,
x(k 1/ k 1) M x(k 1) / y(1),..., y(k 1)
P(k+1/k+1)
:
1) x(k 1/ k 1) (k 1, k ) x(k / k ) A(k 1)[ y(k 1) H (k 1)(k 1, k ) x(k / k )] , (2.39)
27

2) A(k 1) P(k 1/ k ) H T (k 1)[ H (k 1) P(k 1/ k ) H T (k 1) R(k 1)]1 ,

(2.40)

3) P(k 1/ k 1) [ I A(k 1) H (k 1)]P(k 1/ k )] ,

(2.41)

4) P(k 1/ k ) (k 1, k ) P(k / k )T (k 1, k ) (k 1, k )Q(k )T (k 1, k ) ,

(2.42)

(k 1, k ) n n; (k 1, k )

n p; Q(k ) -
p p; R(k 1) -
m m; H (k 1) - m n; A(k 1) - n m;
P(k 1) - n n.

.
(2.39) - (2.42). ,
(k+1=0) .
[x(0)] = 0.

P(0). ,
: x (0 / 0) 0 ; P(0/0)=P(0).
1 (k=0), (1,0), (1,0), (1), Q(0), R(1),
P(0/0), x (0 / 0) , y(1) :
(2.42):
P(1/ 0) (1, 0) P(0 / 0)T (1, 0) (1, 0)Q(0)T (1, 0) ,

(2.40):
A(1) P(1/ 0) H T (1)[ H (1) P(1/) H T (1) R(1)]1 ,

(2.39):
x (1/1) A(1) y(1) ,

(2.41):
P(1/1) [ I A(1) H (1)]P(1/ 0)] ,

28

P(1/1) x(1/1) .
2 (k=1), (2,1), (2,1), (2), Q(1), R(2),
P(1/1), x(1/1) y(2),
.
.

x (k 1/ k 1) P(k+1/k+1)

x (k / k ) , P(k/k)

y(k+1).
x (0 / 0) P(0/0) .

,
,
.
.
,

x(k).

, P(k+1/k+1).
,
, .

(k+1=0) ,
,

. 1 (k=0)
29

.
,
, .
, . ,
,

.
.

u(k), k.
:
x (k 1/ k 1) x(k 1/ k ) A(k 1)[ y(k 1) H (k 1) x(k 1/ k )] ,

(2.43)

A(k 1) P(k 1/ k ) H T (k 1)[ H (k 1) P(k 1/ k ) H T (k 1) R(k 1)]1 ,

(2.44)

x (k 1/ k ) (k 1, k ) x(k / k ) (k 1)u(k ),

(2.45)

P(k 1/ k 1) [ I A(k 1) H (k 1)]P(k 1/ k )] ,

(2.46)

P(k 1/ k ) (k 1, k ) P(k / k )T (k 1, k ) (k 1, k )Q(k )T (k 1, k ) ,

(2.47)

: x(0 / 0) M [ x(0)] ; P(0/0)=P(0).

2.2.2.3
. x(t ) F (t ) x(t ) C (t )u(t ) ,
y(t ) H (t ) x(t ) , x(t0) ,

y(t), t0 t t1 t1. t0,


.
,


, , .

30

x(t ) Fx(t ),

y(t ) Hx(t )

, nmn
H T | F T H T | ...| ( F T )n1 H T

(2.48)

n, n .
,
,
.

x(k 1) x(k ) , y(k 1) Hx(k 1)


, :
H T | T H T | ...| (T )n1 H T n.

(2.49)

. x(t ) F (t ) x(t ) C (t )u(t )


t0,
u(t), t0 t t1, x(t0)
x(t1)=0. x(t0) t0,
.



, u(t).

.

x(t ) Fx(t ) Cu(t )

, nnr
C | FC | ...| F n1C

(2.50)

31

n, n .
x(k 1) x(k ) u(k )
,
| | ...| n1 n.

(2.51)

. x (t)=Fx(t), y(t)=Hx(t)
,
x(t)=Fx(t)+Gw(t), y(t)=Hx(t)+z(t). .

( (0))
( ) x (k / j )
P(k/j).

.

P(k/j).
.

, R(t) G(t)Q(t)GT(f)

P(k/j)
, k .
,
. ,

. ,
. ,
. 32

,
(0) .

, .

,
.

33

2.3.


.

. .
.


.
.

34

2.3.1


.
2.3.1.1

,
V ,
,
.
:
x1

x x2 V
x3


.
:
a

-
.
.
:
.

H V ,V a a, a 0;

(2.52)

35

2.3.1.2

o, .
, (2.52)

x1 0 x1 1x2 0 x3 0w + 0u ;

x2 0 x1 0 x2 1x3 1w + 1u ;

x3 = 0x1 +0x2 + 0x3 +0w +0u ,

(2.53)

w , u a

.

x F .x G.w + C.u

(2.54)

0 1

F 0 0 1
0 0

G 1

C 1

(1 ) (2.28)
F 2 (t )2
F n (t ) n
(1 ) I F (t )
...
...
2
n!


0 0 1
F 0 0
2

0 0

0 0 0

0 ;F 0 0 0
3

0 0 0

, :
1 0 0 0 1 0
0 0 1
1 t
2
(t ) 0 1 0 0 0 1 (t ) 0 0 0 0.5(t ) 0 1
0 0 1

0 0

0 0

0.5(t ) 2
(t )

(2.55)

36


x(k 1) (k 1, k ) x(k ) (k 1, k )w(k) + (k+1,k)u(k)

(2.56)


0.5T 2
T .

1 T
(k 1, k ) 0 1
0
(k 1, k )

tk 1

(t

(2.57)

)G ( )d ,

k 1

tk

(k 1, k )

tk 1

(t

k 1

)C ( )d ,

tk

:
1 tk 1
(tk 1 )G ( ) 0
1
0

(tk 1 )
0,5(tk 1 ) 2 0
(tk 1 ) 1 1

(k 1, k ) :

tk 1

tk

(tk 1 )
1

0,5T 2
d T

0,5T 2
( k 1, k ) T
0

:
0.5T 2
(k 1, k ) T .

(2.58)

G ,

37

0.5T 2
( k 1, k ) T .

(2.59)

:
= + z,

(2.60)

y - ; z - -
, ;

y(k 1) H (k 1) x(k 1) z(k 1) ,

(2.61)

y(k 1) - k 1 ; z -
k 1 -
:
H 1| 0 | 0

,
,

, :
H T T H T (T )2 H T .
1
T H T

T
0, 5T

( T ) 2 H T

0 0

1
;

0.5T

0 0

2T 2

2T

1
2T

0.5T 2

H T T H T ( T ) 2 H T 0

2T

0.5T 2

2T 2

38

- 3, n =3. ,
.
.
:
()2 .
1.5T 2
T
;
0

1
2
( ) 0

2T
1

2T 2
0.5T 2
2.5T 2
2T T
T
;
1

0.5T 2
( ) 2 T
0

1.5T 2
T
0

2.5T 2
T
.
0

- 2, n =3. ,
.
(2.43), (2.45), (2.46), (2.47) (2.47).
x (k 1/ k 1) x(k 1/ k ) A(k 1)[ y(k 1) H (k 1) x(k 1/ k )] ,

A(k 1) P(k 1/ k ) H T (k 1)[ H (k 1) P(k 1/ k ) H T (k 1) R(k 1)]1 ,


x (k 1/ k ) (k 1, k ) x(k / k ) (k 1)u(k ),
P(k 1/ k 1) [ I A(k 1) H (k 1)]P(k 1/ k )] ,
P(k 1/ k ) (k 1, k ) P(k / k )T (k 1, k ) (k 1, k )Q(k )T (k 1, k ) .

39

.2.10
2.3.1.3.

MatLab,
, , .

- .
,
,
.
,

a . .
2
4 .
- a. (t ) 10 /2.

40

.2.11

- a . (t ) 5gsin(0,2 t) /2
(g=10).

.2.12

1- :

=0.01,

Z = 5 ; a =0.05/c2 .

0.1/c2 .
2- :
=0.01,
Z = 1 ; a =0.05/c2 .
0.1/c2 .
3- :

41

=0.1,
Z = 5, a =0.05/c2 .
0.1/c2 .
4- :
=0.1,

Z = 1, a =0.05/c2 .
0.1/c2 .
:
0
x(0 / 0) x(0) 0 ,

0 0

p(0 / 0) p(0) 0 0

0 0 0.05

,
2

(0) (0) -
.
x (0 / 0) (t) V(t)
.
(0/ 0)
.

.
,V .
,
:
t

H(t)= a .dtdt =0.5a . t ; V (t)= a .dt =a .t .


2

42

H(t)= a .dtdt = 5gsin(0,2 t)dtdt ; V (t)= 5gsin(0,2 t)dt .


H (t )

5g
5g
5g
tsin(0,2 t) ; V (t )
(1-cos(0,2 t)) .
2
0,2
0,2
0,2


.
H (k 1) 0.5(k 1)T a. ;
2

V (k 1) (k 1)Ta . ,

:
H (k 1)

V (k 1)

5g
5.g
(k 1)T sin 0,2 (k 1)T ;
2
0,2
0,2

5g
1-cos(0,2 (k 1)T ) .
0,2

H (k 1) V ( k 1) -

k+1;

k+1;

- .
.

H (k 1)

x(k+1)= V (k 1) .
a ( k 1)


y(k 1) H (k 1) x(k 1) z (k 1) ;

H (k 1)
y (k 1) 1 0 0 V (k 1) z (k 1) H (k 1) z (k 1) .
a (k 1)

43

u (k ) a (k ) .
,

(2.46), (2.47), (2.48), (2.49) (2.50).
Q 2 ; R z2 .
a

.
:
0

0 0

x(0 / 0) 0 ; P(0 / 0) 0 0

a (0) a . (0) a (0) a(0) .

0 0 0, 0025

1 (k=0 , k+1 =1 ) :
P(1/ 0) P(0 / 0)T Q 0 .

A(1) P(1/ 0) H T [ HP(1/ 0) H R(0)]1 .


^

x(1/ 0) x(0 / 0) a (0) .


^

x(1/1) x(1/ 0) A(1)[ y(1) H x(1/ 0)] .


1 0 0

P (1/1) 0 1 0 A(1) H P (1/ 0) .


0 0 1

2 (k=1 , k+1 =2):


P(2/1) P(1/1)T Q 1 .

A(2) P(2 /1) H T [ HP(2 /1) H R(1)]1 .


^

x(2 /1) x(1/1) a (1) .

44

x(2 / 2) x(2 /1) A(2)[ y(2) H x(2 /1)] .


1 0 0

P (2 / 2) 0 1 0 A(2) H P(2 /1) .


0 0 1

2.3.2.

.
,

(). z,
.
,
.
.

. .
2.3.2.1 .
.

:
W ( p)

1
,
. p 1

. .
z
:

. y y x z 0 ,

(2.62)
45

,
z (
),
y .

y ay by ;

(2.63)

y = x +z ,
;
a = -1/. ;
b = 1/. .
(2.63)
(2.24). .
y. a
F, b - (2.24).
, (2.27) :
B(t ) e a (t ) .


y(k 1) B(k 1, k ) y(k ) E (k 1, k ) y(k ) ,

y (k ) x(k ) z (k ); B(k 1, k ) e aT .
E (k 1, k ) .
tk 1 , d d , :
0

E (k 1, k ) eaT bd .
T

b
E (k 1, k ) ea
a

b
(1 eaT ) .
a

:
y (k ) e aT y(k ) y(k 1)

a
.
b(1 e aT )

(2.64)

46

2.3.2.2
,

:

.2.13
.

.
:
^

x(0 / 0) M x(0) , P(0 / 0) P(0) .

1 y(1) .
:
^

x(1/ 0) x(0 / 0) a (0) .

P(1/ 0) P(0 / 0)T Q(0) 2 .


2 y(2) .

:
y (1) e aT y(1) y(2)

a
.
b(1 e aT )

1:
A(1) P(1/ 0) H T (1)[ H (1) P(1/ 0) H (1) R(0)]1 .

1 :
^

x(1/1) x(1/ 0) A(1)[ y(1) H (1) x(1/ 0)] .


P(1/1) I A(1)H (1) P(1/ 0) .

2 :
^

x(2 /1) (2,1) x(1/1) (2,1) a (1) .


P(2 /1) P(1/1)T Q(1) 2 .
47

2.3.2.3
.
y'(t) .
,

a . .
2
4 .
- a. (t ) 10 /2.

.2.14
- a . (t ) 5gsin(0,2 t) /2
(g=10).

.2.15
48

1- :

=0.01

Z = 5, a =0.05/c2 .
0.1/c2 ,
C. = 0.05 .

2- :

=0.01

Z = 1, a =0.05/c2 .
0.1/c2 ,
C. = 0.05 .

:
0
x(0 / 0) x(0) 0 ,

0 0

p(0 / 0) p(0) 0 0

0 0 0.05

,
2

(0) (0) -
.
x (0 / 0) (t) V(t)
.

y '(t ) .
- ,
:
t

H(t)= a .dtdt =0.5a .t ,


2

V (t)= adt =a .t .

z (2.61) :
y ay bx .

(2.23) :

49

y '(t ) B(t t0 ) y '(t0 ) B(t )b( ) x1 ( )d ,


t0

B(t ) e a (t ) ;

x1 ( )=0.5a . 2 .

t0 0 : y(0) 0 , y '(0) 0 .
t

y '(t ) 0.5b ea (t ) a . 2 d ,
0

:
1 a (t ) 2 t 2 t a (t )
y '(t ) 0.5ba . e
e
d
a0
a
0

t
t
t
1

2 1
1
y '(t ) 0.5ba . e a ( t ) 2 e a ( t ) e a ( t ) d ,
a a
a0

0
0
a
t
t
t

2 1 a (t )
1 1 a (t )
1 a (t ) 2
y '(t ) 0.5ba . e
e
. e
a a
a a
0
0
0
a

1 a (t ) 2 t 2 a (t ) t 2 a (t ) t
y '(t ) 0.5ba . e
2e
0 3e
a
a
a
0
0

2
2 2
1

y '(t ) 0.5ba . t 2 2 t 3 3 e at ,
a
a a
a

2 2
2

y '(t ) 0.5a .t 2 0.5ba . 2 t 3 3 e at .


a a
a

y '(t )
, ,
.
-
:
H(t)=

5g
5g
tsin(0,2 t)
2
0,2
0,2

5g

5g
y '(t ) b e a ( t )
sin(0,2

)
d ,
2
0,2
0
0,2

50

y '(t )

5gb
5gb
I1 I .
2 2
0,2
0,2

I1 =

I2

t 1
1
2 2 eat .
a a
a

0,2 eat asin(0,2 t) 0,2 cos(0,2 t)


a 2 0,2

.
.
H (k 1) 0.5(k 1)T a. ;
2

V (k 1) (k 1)Ta . ,

:
H (k 1)
V (k 1)

5.g
5.g
.(k 1)T .sin 0,2 (k 1)T ;
2
0,2.
0,2.

5.g
1-cos(0,2 (k 1)T ) .
0,2

H (k 1) V ( k 1) -

k+1;

k+1;

- .
c .
a

1
1
, b
.
.
.

2 2
2

y '(k ) 0.5a . (kT ) 2 0.5ba . 2 (kT ) 3 3 e akT z (k ).


a
a
a

y '(k )

5gb
5gb
I1 (k)I (k ) z (k ).
2 2
0,2
0,2

51

I1 ()=

I2

kT 1
1
2 2 eakT .
a a
a

0,2 eakT asin(0,2 kT ) 0,2 cos(0,2 kT )


a 2 0,2

u (k ) a (k ) .
,

(2.46), (2.47), (2.48), (2.49) (2.50).
Q 2 , R z2 .
a

:
:
0

0 0

x(0 / 0) 0 ; P(0 / 0) 0 0

a (0) a . (0) a (0) a(0) .

0 0 0, 0025

1 (k=0 , k+1 =1 ) :
P(1/ 0) P(0/ 0)T Q 0 .
y (1) e aT y(1) y(2)

a
.
b(1 e aT )

A(1) P(1/ 0) H T [ HP(1/ 0) H R(0)]1 .


^

x(1/ 0) x(0 / 0) a (0) .


^

x(1/1) x(1/ 0) A(1)[ y(1) H x(1/ 0)] .


1 0 0

P (1/1) 0 1 0 A(1) H P (1/ 0) .


0 0 1

2 (k=1 , k+1 =2):


52

P(2 /1) P(1/1)T Q 1 .

A(2) P(2 /1) H T [ HP(2 /1) H R(1)]1 .


y (2) e aT y(2) y(3)
^

a
.
b(1 e aT )

x(2 /1) x(1/1) a (1) .


^

x(2 / 2) x(2 /1) A(2)[ y(2) H x(2 /1)] .


1 0 0

P (2 / 2) 0 1 0 A(2) H P(2 /1) .


0 0 1

53

2.4.
2.4.1.
.
a.
.

.2.16

.2.17

54

- 1-

.2.18

.2.19 ,

.

55

.2.20 .

.2.21 .
56

- 2-

.2.22

.2.23 ,

.

57

.2.24 .

.2.25 .

58

- 3-

.2.26

.2.27 ,

.

59

.2.28 .

.2.29 .

60

- 4-

.2.30

.2.31 ,

.

61

.2.32 .

.2.33 .

62

.
.

.2.34

.2.35
63

- 1-

.2.36

.2.37 ,

.
64

.2.38 .

.2.39 .

65

- 2-

.2.40

.2.41 ,

.

66

.2.42 .

.2.43 .

67

- 3-

.2.44 ,

.

.2.45 .
68

.2.46 .
- 4-

.2.47 ,

.

69

.2.48 .

.2.49 .

70

2.4.2.
.
a.
.
- 1-

.2.50 ,

.

.2.51 .

71

.2.52 .
- 2-

.2.53 ,

.

72

.2.54 .

.2.55 .

73

.
.

.2.56 ,

.

.2.57 .

74

.2.58 .

75

2.5.
1. a


.
2.
.
3. ( ,
) .

76

3.

..
.
.
-
().
:
- .
- .
- .
- .
- .
3.1.
.
- (-
) ,
, .

77

3.1. - .


,

,

0,4

()

0,4

0,2

- (J):
J

(3.1)

H - -
, ,
H -

, .

Q R

R
i

(3.2)

78

Q i - i- ,
, ,

Ri - () i- ,
.

Q R

R
i

(3.3)

Q - i- ,
i

, .
2.1
J 1,52.
J

(7.0,4 7.0,4 7.0,2)


1,52
(5.0,4 5.0,4 3.0,2)

3.2 .
,

,
3.2.1 .


,
.
.
79

:
T_j

Tj

t qj ,

(3.4)

Tj

j- , .-.;

, 8 ;

,
j- , .
qj


1,4.
T _1

40 1,4
4,
8 2

T _ 2

40 1,4
4,
8 2

T _ 3

80 1,4
7,
8 2

T _ 4

80 1,4
7,
8 2

T _ 5

200 1,4
35,
8 1

T _ 6

150 1,4
13,
8 2

T _ 7

80 1,4
5,
83

T _ 8

40 1,4
7,
8 1

T _ 9

50 1,4
9.
8 1

80

3.2 -

/

(,

, %

(. )

40

40

10

80

10

80

)
1.

2.

3.

4.

5.

25

200

35

6.

20

150

13

7.

10

80

10

40

81

50

100

580

91

: 200 - - 5
: 40 - 1-, 2- 8-

10
9

7
13

6
35

5
7

4
7

3
4

2
1

9.

3.1 :
: 35 - 5
: 7 1- 2-

82

3.3. .

3.3.

()

, ,

, i

i,

i
2

1000

2000

8000

1000

2000

8000

1000

2000

14000

1000

2000

14000

35

1000

1000

35000

13

1000

2000

26000

1000

3000

15000

1000

1000

7000

1000

1000

9000

91

136000

83


. = 136000[.] ,
:
.. = 136000 * 0,35 = 47600 [.] ,

(3.5)

:
= 13600 * 1,20 = 163200 [.] ,

(3.6)

,
, 10% :
= 136000 * 0,1 = 13600[.] ,

(3.7)

, :
= . +.. + + =
=136000+47600+163200+13600=360400[.]

(3.8)

( ) :


/ 100 ,

(3.9)

,

,
- (
), .
( =200400%)

=360400+136000200/100 = 632400 [.]


2.4. .
84

(.)

(%)

136000

37,7

47600

13,2

163200

45,3

13600

3,8

360400

100

1.
2.
3.
4.
:

3.4.
.
:
(), (),
(

).


-
(). ,

.
3.4.1

. (

85

,
(, ,
..)
(

.
/

. J .

. - , .;
J

, ;
-

. . 360400( )

J 1,52
580 91 . 0, 25

:
/

360400 1,52 360400


749632( )
0, 25

3.4.2

( / )
/

, .,

86

360400( )

100

136000

200
272000( )
100

360400 272000 632400( )

- , .
( =0,35 )
/ 3020902( )

749632 0.35
0, 41
632400

3.4.3
= 2,44
3.5.:

J 1,52 .

- .

580 [. .] ,

360400 .

87

4.


4.1

.
-
(),
, .
.
4.2
4.2.1. .

: .

4.1.

) 12.1.005-88 (2001)
-

, ,

, %

, /

22 - 24

40-60

0,2

23- 25

40-60

0,2

88

303 . 4.2.
4.2

16-28 oC

13-30 oC

40-80 %

30 -90 %

0,1

0,1

, /


2. , ,
.
4.2.2 .
1 Samsung ML1210. 50
.

12.1.003-83
. ,
50 . ..
.

4.2.3 .

.

(

).

89

,
-, ()
1.2% , 1.5% -
( ).
23-05-95.


.
,
.
200

, .

).

200 .

.

.

.
( ),
:
80-90% ;
50-60%;
15-20%;
15-30%.

90

,
,
. , ,
, .
.
.
,

.

.
,
, . ,

-.

4.2.4. .

.
, ,
, (
),
.

, .
(,
).

91

,
.
() 10 /2 (
) .

.

- 2.2.2/2.4.1340-03.
,
:
4.3

10 /

8 /

0,3 /

0,1 /


50
.
50
.
50923-96.
4.2.5
.

92

- 50923-96 - 20 3 , 4,5 2
.
- - 25,48 3 , 5,8 2
.
50923-96

- 2.2.2/2.4.1340-03 - 680 - 800
.
- 800, 1000, 1200 1400 , 800 1000 , 725 .
:
- 725 .
-1400 .
- 1000 .
2.2.2/2.4.1340-03.

- - 400
.
- 400 - 550 .
350 - 550 .
-300 +-20 , - 380
.

93

2.2.2/2.4.1340-03
250 -50 -70 .

230 +-30 -
350 - 500 .
:
450 .
320 , - 400 .

2.2.2/2.4.1340-03 +-30 .
30 .
290 , 60 .
250
450.
2.2.2/2.4.1340-03.
4.2.6 :
- 50923-96

. .

.
500 .
.

60 .

94

2.2.2/2.4.1340-03
35 /2.
2.2.2/2.4.1340-03
3:1.
2.2.2/2.4.1340-03
34.
2.2.2/2.4.1340-03
70 /2.
.
500 .
50 .
56 .
() 300 x 388 x 183 .
300 /2.
800:1.
50, 2.2.2/2.4.1340-03.
120 /2.
1600x900. 0.264 .
50923-96 2.2.2/2.4.1340-03.

95

4.3. .

.
, ,
, ,
23-05-95.

23-05-95

200 .

,
, ,
:
1. ;
2. ;
3. ;
4.
.
.

.
.
,

17677-82

, -
12 .,
.

,
.
96

24 2.
6, 4 . 4.3.
.

. 4.1.
3 . 12
-18 18 1350 .

.
:

SK z
,
N

, ;
E ,
S , 2;

97

z ,
1,1;
,
, 1,5;
N ;
,
,

, 0,71.

i

A B
24

0.8 ,
h A B 3 4 6

A B , h ()
.
S,
24

1.1

1.5

N,

12

0,77

:
E

N 1350 12 0, 77

315 > 200


SK z
24 1,5 1,1


300 23-05-95.

98

4.4
,

, .
- .
-18, 18
1350 .

99

5.
1) .. : .
.- .:- , 1994. 72 .: .
2) .. .
. .: , 1983.-224.,.
3) .. . -
. - .:- , 2003.
4) .., ..
: . - .:- , 1998. 268 .:
.
5) .. :
- .: , 1981.-344.,.
6) .., .., ..
. . 3-, . . ., , 1978, . 432.
7) .. .
, ,1970.

100

6.
6.1.
.
6.1.1.
.
% .
%===================================================================
============
clc;clear;
n=45;

%time

%
T=0.1; % (c )
sigmaz=1; % (c
)
a=10;

aa=0.1; %
k=0:1:(n/T-1);
t=k*T;
%
Hg=0.5*(((k+1)*T).^2)*a;
V=(k+1)*T*a;
figure;
plot(t,Hg,'r-','LineWidth',2);
grid on;
hold on;
plot(t,V,'b-','LineWidth',2);
xlabel(' t()');
ylabel(' H_() V_(/)');
legend('H_','V_',2);
title(' ');

101

%================
==================
z= sigmaz*randn(1,n/T);

for i= 0:1:(n/T-1)
%

Y(1,i+1)=Hg(1,i+1)+ z(1,i+1);
end

%==========
================================
sigma_delta_a=0.05 ; %
deltaA = sigma_delta_a*randn(1,n/T);
for i =0:1:(n/T-1)
a(1,i+1)=10 + deltaA(1,i+1)+ aa;
end
%=======================
=================
Phi=[1 T -0.5*(T^2) ; 0 1 (-T); 0 0 1];

Ksi=[0.5*(T^2) ; T ; 0];

Ge = -Ksi;

H=[1 0 0];

%
x00= [0;0;0] ; P00=[0 0 0 ; 0 0 0 ; 0 0 0.0025];
P = cell(n/T,n/T);x= cell(n/T,n/T);

% , (k/k)

Q=0.05^2;
%
1====================================================================
P10=Phi*P00*transpose(Phi)+Ge*Q*transpose(Ge);
A1=P10*transpose(H)*((H*P10*transpose(H)+sigmaz^2)^(-1));
x10=Phi*x00 + Ksi*a(1,1);
x{1,1}=x10 + A1*(Y(1,1)- H*x10);
P{1,1}=(eye(3,3)-A1*H)*P10;

102

%C 2-
=============================================================
for i =2:1:n/T
P{i,i-1}=Phi*P{i-1,i-1}*transpose(Phi)+Ge*Q*transpose(Ge);
Ai=P{i,i-1}*transpose(H)*((H*P{i,i-1}*transpose(H)+sigmaz^2)^(-1));
x{i,i-1}=Phi*x{i-1,i-1} + Ksi*a(1,i);
x{i,i}=x{i,i-1} + Ai*(Y(1,i)- H*x{i,i-1});
P{i,i}=(eye(3,3)-Ai*H)*P{i,i-1};
end
%
result_id = fopen('E:\hoc tap\diplom\hoan thanh\diplom\result2.doc','w');%
%'E:\hoc tap\diplom\hoan thanh\diplom\result2.doc'=>
%
fprintf(result_id,' variant : T = %1.4f , sigmaz = %3d m \n',[T,sigmaz]);
fprintf(result_id,'t(s)| H_d(m)| H_op(m)| sigma_H|

delta_H \n');

fprintf(result_id,' ------------------------------------------------------- \n');

for i=1/T:1/T:n/T
fprintf(result_id,'%3d| %6d|

%6.3f|

%5.3f|

%6.3f\n',[i*T ; Hg(1,i);x{i,i}(1,1) ;

sqrt(P{i,i}(1,1));Hg(1,i)-x{i,i}(1,1)]);
A(1,i*T)=sqrt(P{i,i}(1,1));

end

fprintf(result_id,' \n');
fprintf(result_id,'t(s)| V(m/s)| V_op(m/s)| sigma_V|

delta_V \n');

fprintf(result_id,' ------------------------------------------------------- \n');

for i=1/T:1/T:n/T
fprintf(result_id,'%3d| %6d|

%6.3f|

%5.3f|

%6.3f \n',[i*T ; V(1,i);x{i,i}(2,1) ;

sqrt(P{i,i}(2,2));V(1,i)-x{i,i}(2,1)]);
B(1,i*T)=sqrt(P{i,i}(2,2));
end
103

fprintf(result_id,' \n');
fprintf(result_id,'t(s)| ^a(m/s)| ^a_op(m/s)| sigma_^a|

delta_^a \n');

fprintf(result_id,' ------------------------------------------------------- \n');

for i=1/T:1/T:n/T
fprintf(result_id,'%3d|

%0.2f|

%6.3f|

%5.3f|

%6.3f \n',[i*T ; aa ;abs(x{i,i}(3,1)) ;

sqrt(P{i,i}(3,3));aa-x{i,i}(3,1)]);
C(1,i*T)=sqrt(P{i,i}(3,3));
end
fclose(result_id);
for i=1:1:n/T
Hop(1,i)= x{i,i}(1,1);
Vop(1,i)= x{i,i}(2,1);
end;
% ,
%

figure;
i=(3/T):(4/T);

grid on;
hold on;
plot(k*T,Y,'green-','LineWidth',2);
plot(k*T,Hg,'blue-','LineWidth',2);
plot(k*T,Hop,'r-','LineWidth',2);
xlabel(' t()');
ylabel(' H_() _(/)');
legend('H_','_','H_o_z_e_n_k_a',2);
title(' ');

%======================================================
figure;
clf;
104

tt=1:n;
plot(tt,A,'r-*');
grid on;
hold on;
plot(tt,B,'b-');
plot(tt,C,'k-+')
xlabel(' t()');
ylabel('CKO_\Delta_H() , CKO_\Delta_V(/),CKO_\Delta_\Delta_a(/2) ');
legend('CKO_\Delta_H','CKO_\Delta_V','CKO_\Delta_\Delta_a');
title(' . . \Deltaa');
%
figure;
i=1:n/T;
plot(k*T,z,'b-');
grid on;
hold on;
plot(i*T,Hg-Hop,'r-','LineWidth',2);
xlabel(' t()');
ylabel(' ()');
legend(' ',' ');
title(' ');
%
====================================
figure;
i=1:n/T;
plot(i*T,Hg-Hop,'r-','LineWidth',1);
grid on;
xlabel(' t()');
ylabel(' ()');
legend(' ');
title(' ');

105

%
==================================
figure;
i=1:n/T;
plot(i*T,V-Vop,'r-','LineWidth',1);
grid on;
xlabel(' t()');
ylabel(' (/)');
legend(' ',4);
title(' ');

6.1.2.
.
% .
%===================================================================
===
clc;clear;
n=45;
%
T=0.1;

g=10;

% g

aa=0.1 ; %
k=1:1:(n/T);
t=k*T;
%
Hg = 5*g*t/(0.2*pi)-5*g*(sin(0.2*pi*t))/(0.2*pi)^2;
V = 5*g/(0.2*pi)-5*g*cos(0.2*pi*t)/(0.2*pi);
%======================================================
figure;
plot(t,Hg,'r-','LineWidth',2);
grid on;
hold on;

106

plot(t,V,'k-');
xlabel(' t()');
ylabel(' ' );
legend('','');
%=========== =====
sigmaz=1;
Z= sigmaz*randn(1,n/T);
for i= 0:1:(n/T-1)
Y(1,i+1)=Hg(1,i+1)+ Z(1,i+1);
end
%========== =============
sigma_delta_a=0.05 ;
deltaA = sigma_delta_a*randn(1,n/T);

for i =0:1:(n/T-1)
a(1,i+1)=5*g*sin(0.2*pi*(i+1)*T) + deltaA(1,i+1)+aa;
end
%=========== ============
Phi=[1 T -0.5*(T^2) ; 0 1 (-T); 0 0 1];
Ksi=[0.5*(T^2) ; T ; 0];
Ge = -Ksi;
H=[1 0 0];
%
x00= [0;0;0] ; P00=[0 0 0 ; 0 0 0 ; 0 0 0.025];
P = cell(n/T,n/T);x= cell(n/T,n/T);
% 1==============================
P10=Phi*P00*transpose(Phi)+Ge*(sigma_delta_a^2)*transpose(Ge);
A1=P10*transpose(H)*((H*P10*transpose(H)+sigmaz^2)^(-1));
x10=Phi*x00 + Ksi*a(1,1);
x{1,1}=x10 + A1*(Y(1,1)- H*x10);
P{1,1}=(eye(3,3)-A1*H)*P10;
%C 2- =====================================
for i =2:1:n/T
107

P{i,i-1}=Phi*P{i-1,i-1}*transpose(Phi)+Ge*(sigma_delta_a^2)*transpose(Ge);
Ai=P{i,i-1}*transpose(H)*((H*P{i,i-1}*transpose(H)+sigmaz^2)^(-1));
x{i,i-1}=Phi*x{i-1,i-1} + Ksi*a(1,i);
x{i,i}=x{i,i-1} + Ai*(Y(1,i)- H*x{i,i-1});
P{i,i}=(eye(3,3)-Ai*H)*P{i,i-1};
end
result_id = fopen('E:\hoc tap\diplom\hoan thanh\diplom\result3.doc','w');%
%'result3.doc'=>
%
fprintf(result_id,' variant : T = %1.3f , sigmaz = %3d m \n',[T,sigmaz]);
fprintf(result_id,'t(s)|

H_d(m)| H_op(m)| sigma_H|

delta_H \n');

fprintf(result_id,' ------------------------------------------------------- \n');

for i=1/T:1/T:n/T
fprintf(result_id,'%3d| %6.3f|

%6.3f|

%5.3f|

%6.3f\n',[i*T ; Hg(1,i);x{i,i}(1,1) ;

sqrt(P{i,i}(1,1));Hg(1,i)-x{i,i}(1,1)]);
A(1,i*T)=sqrt(P{i,i}(1,1));
end

fprintf(result_id,' \n');
fprintf(result_id,'t(s)|

V(m/s)| V_op(m/s)| sigma_V|

delta_V \n');

fprintf(result_id,' ------------------------------------------------------- \n');

for i=1/T:1/T:n/T
fprintf(result_id,'%3d| %6.3f|

%6.3f|

%5.3f|

%6.3f \n',[i*T ; V(1,i);x{i,i}(2,1) ;

sqrt(P{i,i}(2,2));V(1,i)-x{i,i}(2,1)]);
B(1,i*T)=sqrt(P{i,i}(2,2));
end
fprintf(result_id,' \n');
fprintf(result_id,'t(s)|

^a(m/s)| ^a_op(m/s)| sigma_^a|

delta_^a \n');

fprintf(result_id,' ------------------------------------------------------- \n');

for i=1/T:1/T:n/T
108

fprintf(result_id,'%3d| %0.2f|

%6.3f|

%5.3f|

%6.3f \n',[i*T ; aa ;abs(x{i,i}(3,1)) ;

sqrt(P{i,i}(3,3));aa-abs(x{i,i}(3,1))]);
C(1,i*T)=sqrt(P{i,i}(3,3));
end
fclose(result_id);
for i=1:1:n/T
Hop(1,i)= x{i,i}(1,1);
Vop(1,i)= x{i,i}(2,1);
end;
%
%

figure;
i=(3/T):(4/T);

grid on;
hold on;
plot(k*T,Y,'green-','LineWidth',2);
plot(k*T,Hg,'blue-','LineWidth',2);
plot(k*T,Hop,'r-','LineWidth',2);
xlabel(' t()');
ylabel(' H_() _(/)');
legend('H_','_','H_o_z_e_n_k_a',2);
title(' ');

%======================================================

figure;
clf;
t=1:n;
plot(t,A,'r-','LineWidth',2);
grid on;
hold on;
109

plot(t,B,'k--');
plot(t,C,'b-+')
xlabel(' t()');
ylabel('CKO_\Delta_H() , CKO_\Delta_V(/),CKO_\Delta_\Delta_a(/2) ');
legend('CKO_\Delta_H','CKO_\Delta_V','CKO_\Delta_\Delta_a');
title(' . . \Deltaa');
%
figure;
i=1:n/T;
plot(i*T,Z,'b-');
grid on;
hold on;
plot(i*T,Hg-Hop,'r-','LineWidth',2);
xlabel(' t()');
ylabel(' ()');
legend(' ',' ');
title(' ');

%
====================================
figure;
i=1:n/T;
plot(i*T,Hg-Hop,'r-','LineWidth',1);
grid on;
xlabel(' t()');
ylabel(' ()');
legend(' ');
title(' ');
%
==================================
figure;
i=1:n/T;
110

plot(i*T,V-Vop,'r-','LineWidth',1);
grid on;
xlabel(' t()');
ylabel(' (/)');
legend(' ',4);
title(' ');

6.2.
.
6.2.1.
.
% .
%===================================================================
=======
clc;clear;
n=45;
%
T=0.01;

g=10;

aa=0.1;

C=0.05;

sigmaz=1;
k=0:1:(n/T);
t=k*T;
%
==============================================
Hg=0.5*g*(t.^2);
V=g*t;
for i=1:1:n/T
HH(1,i)=Hg(1,i);
VV(1,i)=V(1,i);
end;

111

E=1-exp(-T/C);
B=exp(-T/C);
%===============YY(k)================================================
======
Z= sigmaz*randn(1,n/T+1);
for k1=1:1:n/T+1
YY(1,k1)= 0.5*(k1*T)^2*g + 0.5/C*g*(-2*C^2*k1*T+2*C^3-2*C^3*exp(-1/C*k1*T));
end
%==========
==============================
sigma_delta_a=0.05 ;%
deltaA = sigma_delta_a*randn(1,n/T+1);
for i =0:1:(n/T)
a(1,i+1)=10 + deltaA(1,i+1)+aa;
end
%=========== ============
Phi=[1 T -0.5*T^2; 0 1 -T;0 0 1];
Ksi=[0.5*(T^2) ; T ; 0];

Ge = -Ksi;

H=[1 0 0];

R= sigmaz^2;
%
x00=[0;0;0] ; P00=[0 0 0;0 0 0;0 0 0.0025];
P= cell(n/T,n/T);x= cell(n/T,n/T); %
%'D:\ki IX\ICTI\kur \result11.doc'=>
%

% 1=============================================
P10=Phi*P00*transpose(Phi)+Ge*(sigma_delta_a^2)*transpose(Ge);
A1=P10*transpose(H)*((H*P10*transpose(H)+R)^(-1));
Y(1,1)=((YY(1,2)+Z(1,2))-B*(YY(1,1)+Z(1,1)))/E;
x10=Phi*x00 + Ksi*a(1,1);
x{1,1}=x10 + A1*(Y(1,1)- H*x10);
P{1,1}=(eye(3,3)-A1*H)*P10;
112

%C 2- =====================================
for i =2:1:n/T
P{i,i-1}=Phi*P{i-1,i-1}*transpose(Phi)+Ge*(0.05^2)*transpose(Ge);
Ai=P{i,i-1}*transpose(H)*((H*P{i,i-1}*transpose(H)+R)^(-1));
Y(1,i)=((YY(1,i+1)+Z(1,i+1))-B*(YY(1,i)+Z(1,i)))/E;
x{i,i-1}=Phi*x{i-1,i-1} + Ksi*a(1,i);
x{i,i}=x{i,i-1} + Ai*(Y(1,i)- H*x{i,i-1});
P{i,i}=(eye(3,3)-Ai*H)*P{i,i-1};
end
more off;
result_id = fopen('E:\hoc tap\diplom\hoan thanh\diplom\result4.doc','w');
fprintf(result_id,' variant : T = %1.4f , sigmaz = %3d m C = %1.1f \n',[T,sigmaz,C]);
fprintf(result_id,'t(s)|

H_d(m)| H_op(m)| sigma_H|

delta_H \n');

fprintf(result_id,' ------------------------------------------------------- \n');

for i=1/T:1/T:n/T
fprintf(result_id,'%3d| %6.4f|

%6.4f|

%5.4f|

%6.4f\n',[i*T ; Hg(1,i);x{i,i}(1,1) ;

sqrt(P{i,i}(1,1));Hg(1,i)-x{i,i}(1,1)]);
A(1,i*T)=sqrt(P{i,i}(1,1));
end

fprintf(result_id,' \n');
fprintf(result_id,'t(s)|

V(m/s)| V_op(m/s)| sigma_V|

delta_V \n');

fprintf(result_id,' ------------------------------------------------------- \n');

for i=1/T:1/T:n/T
fprintf(result_id,'%3d| %6.4f|

%6.4f|

%5.4f|

%6.4f \n',[i*T ; V(1,i);x{i,i}(2,1) ;

sqrt(P{i,i}(2,2));V(1,i)-x{i,i}(2,1)]);
BB(1,i*T)=sqrt(P{i,i}(2,2));
end

fprintf(result_id,'t(s)|

^a(m/s)| ^a_op(m/s)| sigma_^a|

delta_^a \n');

fprintf(result_id,' ------------------------------------------------------- \n');


113

for i=1/T:1/T:n/T
fprintf(result_id,'%3d| %1.4f|

%6.4f|

%5.4f|

%6.4f \n',[i*T ; aa ;x{i,i}(3,1) ;

sqrt(P{i,i}(3,3));aa-x{i,i}(3,1)]);
C(1,i*T)=sqrt(P{i,i}(3,3));
end

fprintf(result_id,' \n');
fclose(result_id);
% ,
%

figure;
clf;
t=1:n;
plot(t,A,'r-*');
grid on;
hold on;
plot(t,BB,'k--');
plot(t,C,'b-+');
xlabel(' t()');
ylabel('CKO_\Delta_H() , CKO_\Delta_V(/),CKO_\Delta_\Delta_a(/2) ');
legend('CKO_\Delta_H','CKO_\Delta_V','CKO_\Delta_\Delta_a');
title(' . . \Deltaa');

%===================================================================
=======
for i=1:1:n/T
Hop(1,i)=x{i,i}(1,1);
Vop(1,i)=x{i,i}(2,1);
end;

114

%
==================================
figure;
i=1:1:n/T;
plot(i*T,VV-Vop,'r-');
grid on;
xlabel(' t()');
ylabel(' (/)');
legend(' ');
title(' ');
%
================================
figure;
i=1:n/T;
plot(i*T,HH-Hop,'r-','LineWidth',2);
hold on;
grid on;
xlabel(' t()');
ylabel(' ()');
legend(' ');
title(' ');

6.2.2.
.
% .
%===================================================================
=======
clc;clear;
n=45
%
T=0.01;
%
g=10;
%
a=10;
aa=0.1;
%
C=0.05;
%
115

k=0:1:(n/T);
t=k*T;
%
==============================================
Hg = 5*g*t/(0.2*pi)-5*g*(sin(0.2*pi*t))/(0.2*pi)^2;
V =5*g/(0.2*pi)-5*g*cos(0.2*pi*t)/(0.2*pi);
for i=1:1:n/T
HH(1,i)=Hg(1,i);
VV(1,i)=V(1,i);
end;
E=1-exp(-T/C);
B=exp(-T/C);
%===============YY(k)================================================
======
sigmaz=5;
Z= sigmaz*randn(1,n/T);
k1=0:1:n/T+1;
t1=k1*T;
I1=t1*C-C^2+C^2*exp(-t1/C);
I2=(0.2*pi*exp(-1/C*t1)+1/C*sin(0.2*pi*t1)-0.2*pi*cos(0.2*pi*t1))/(1/C^2+(0.2*pi)^2);
YY= 5*g*I1/(0.2*pi*C) -5*g*I2/((0.2*pi)^2*C);
%==========
==============================
sigma_delta_a=0.05 ;%
deltaA = sigma_delta_a*randn(1,n/T+1);
for i =0:1:(n/T)
a(1,i+1)=5*g*sin(0.2*pi*(i+1)*T) + deltaA(1,i+1)+ aa;
end
%===========
====================================
Phi=[1 T -0.5*T^2; 0 1 -T;0 0 1]; %
Ksi=[0.5*(T^2) ; T ; 0];
%
Ge = -Ksi;
%
H =[1 0 0];
%
%
x00=[0;0;0] ; P00=[0 0 0;0 0 0;0 0 0.0025];
P= cell(n/T,n/T);x= cell(n/T,n/T); % ,
% 1=============================================
P10=Phi*P00*transpose(Phi)+Ge*(sigma_delta_a^2)*transpose(Ge);
A1=P10*transpose(H)*((H*P10*transpose(H)+sigmaz^2)^(-1));
Y(1,1)=(YY(1,3)-B*YY(1,1))/E+Z(1,2);
x10=Phi*x00 + Ksi*a(1,1);
x{1,1}=x10 + A1*(Y(1,1)- H*x10);
P{1,1}=(eye(3,3)-A1*H)*P10;
%C 2- =====================================
for i =2:1:n/T
P{i,i-1}=Phi*P{i-1,i-1}*transpose(Phi)+Ge*(0.05^2)*transpose(Ge);
Ai=P{i,i-1}*transpose(H)*((H*P{i,i-1}*transpose(H)+sigmaz^2)^(-1));
Y(1,i)=(YY(1,i+2)-B*YY(1,i+1))/E+Z(1,i);
116

x{i,i-1}=Phi*x{i-1,i-1} + Ksi*a(1,i);
x{i,i}=x{i,i-1} + Ai*(Y(1,i)- H*x{i,i-1});
P{i,i}=(eye(3,3)-Ai*H)*P{i,i-1};
end
resultsin107_id = fopen('E:\hoc tap\diplom\hoan thanh\diplom\result5.doc','w');
%
%'E:\hoc tap\diplom\hoan thanh\diplom\result5.doc'=>
%
fprintf(resultsin107_id,' variant : T = %1.4f , sigmaz = %3d m C = %1.1f \n',[T,sigmaz,C]);
fprintf(resultsin107_id,'t(s)| H_d(m)| H_op(m)| sigma_H| delta_H \n');
fprintf(resultsin107_id,' ------------------------------------------------------- \n');
for i=1/T:1/T:n/T
fprintf(resultsin107_id,'%3d| %3.3f| %6.3f| %5.3f|
Hg(1,i);x{i,i}(1,1) ; sqrt(P{i,i}(1,1));Hg(1,i)-x{i,i}(1,1)]);
A(1,i*T)=sqrt(P{i,i}(1,1));
end

%6.3f\n',[i*T ;

fprintf(resultsin107_id,' \n');
fprintf(resultsin107_id,'t(s)| V(m/s)| V_op(m/s)| sigma_V| delta_V \n');
fprintf(resultsin107_id,' ------------------------------------------------------- \n');
for i=1/T:1/T:n/T
fprintf(resultsin107_id,'%3d| %3.3f| %6.3f| %5.3f|
V(1,i);x{i,i}(2,1) ; sqrt(P{i,i}(2,2));V(1,i)-x{i,i}(2,1)]);
BB(1,i*T)=sqrt(P{i,i}(2,2));
end

%6.3f \n',[i*T ;

fprintf(resultsin107_id,'t(s)| ^a(m/s)| ^a_op(m/s)| sigma_^a| delta_^a \n');


fprintf(resultsin107_id,' ------------------------------------------------------- \n');
for i=1/T:1/T:n/T
fprintf(resultsin107_id,'%3d| %1.3f|
sqrt(P{i,i}(3,3));aa-x{i,i}(3,1)]);
C(1,i*T)=sqrt(P{i,i}(3,3));
end

%6.3f|

%5.3f|

%6.3f \n',[i*T ; aa ;x{i,i}(3,1) ;

fprintf(resultsin107_id,' \n');
fclose(resultsin107_id);
figure;
clf;
t=1:n;
plot(t,A,'r-*');
grid on;
hold on;
plot(t,BB,'k-');
plot(t,C,'b-+');
xlabel(' t()');
117

ylabel('CKO_\Delta_H() , CKO_\Delta_V(/),CKO_\Delta_\Delta_a(/2) ');


legend('CKO_\Delta_H','CKO_\Delta_V','CKO_\Delta_\Delta_a');
title(' . . \Deltaa');
%===================================================================
=======
for i=1:1:n/T
Hop(1,i)=x{i,i}(1,1);
Vop(1,i)=x{i,i}(2,1);
end;
%
==================================
figure;
i=1:n/T;
plot(i*T,HH-Hop,'r-','LineWidth',1);
hold on;
grid on;
xlabel(' t()');
ylabel(' ()');
legend(' ');
title(' ');
%
================================
figure;
i=1:1:n/T;
plot(i*T,VV-Vop,'r-');
grid on;
xlabel(' t()');
ylabel(' (/)');
legend(' ');
title(' ');

118