LECTURE#10

THE METHOD OF DESCRIBING FUNCTIONS

Approximate methods for analysis of stability and oscillation.
The method of descrii!" f#!ctio!s the method of investigation of
stable periodic solution.
( !"#$ %&'( !"# )%" *
A+tors, -rylo. /.0.( 1o2oly+bo. /./. (3456*
Let the !o!$i!e%r s&stem is "i'e! & the $oc()di%"r%m*
+ro,erties*
1) The output of NP is periodic, but no harmonic. Every periodic
function has a Fourier series epansion
!) H&,othesis of F"#TE$ %a necessary condition for applying of the
method). The #P is filter for the higher harmonics.
The %$"orithm of the method of descrii!" f#!ctio!s-
&tep 1) lineari'ation of the nonlinear part on the basis of the Fourier
series.
&tep !) (btaining the coefficients of harmonic lineari'ation.
&tep )) (btaining the transfer function of the lineari'ed part.
7 x y
NP #P
FOURIER SERIES
#et m%them%tic%$ mode$ of nonlinear part*
( ) 7 8 x
%1)
The harmonic i!,#t signal of NP*
( ) t a t 7 sin
. %!)
(utput signal of NP has a Fo#rier series epansion*
( )

+ +
1 1
+
cos sin sin

t 1 t A c t a 8 x
, %))
,here
1 A c , ,
+ - coefficients of the Fourier series*
( )

d a 8 c

!
+
+
sin
!
1
. %/)
( )

d a 8 A sin sin
1
!
+

. %0)
( )

d a 8 1 cos sin
1
!
+

,
( ) t
. %1)
"f the nonlinear static characteristic is odd-symmetric function*
then the constant term of series
+
+
"

'

'
THE FIRST TERM OF THE FOURIER SERIES
The output signal of NP is described by the first term
t 1 t A x cos sin
1 1
+
. %2)

( ) t a t 7 sin
a
7
t sin
t a
dt
t d7
cos
) %
after the #aplas transform

a
s7
t cos
.
s7
a
1
7
a
A
x

1 1
+
THEN THE DESCRIBING FUNCTION IS DEFINED .S
( )
( )
7 s
a 9
a 9 x
1
]
1

TR.NSFER FUNCTION OF NONLINE.R +.RT

( ) ( )
( )
1
]
1

+ s
a 9
a 9 a s :

, ,
Tr%!sfer f#!ctio! de,e!ds o! the %m,$it#de %!d fre/#e!c&0
COEFFICIENTS OF DESCRIBING FUNCTION

( ) ( )
( ) ( )

d a 8
a
a 9
d a 8
a
a 9
cos sin
1
sin sin
1
!
+
!
+
DESCRIBING FUNCTION FOR . REL.1
T%s(#1- #et mathematical model of nonlinear part*
( ) 7 8 x
%1)
Need to find the coefficients
( ) a 9
and
( ) a 9
for three),ositio! re$%&
So$#tio!-
2
a)
+
x
b
c
mb
-mb
3)
+
2
;<=t
a
b
mb
-b
A
1
4
1
4
!
5 !5
>
?
t a 7 sin
+
x
;<=t
4
1
4
!
c
2
x
x
2
F%')6c
Recei'i!" the coefficie!ts
( ) a 9
%!d
( ) a 9
*
1

1
sin a b
, sin
1
a
b

1 ) % sin ) % cos
1
!
1
!
+ , 1 cos
!
!
1
a
b

*
!

) sin%
!
a mb

, ) sin%
!
a
mb


, ) sin%
!
a
mb



1 ) % sin ) % cos
!
!
!
!
+ ) % sin 1 ) % cos
!
!
!
!

) % sin 1 ) cos%
!
!
!

) sin% ) sin% ). cos% ) cos%
! ! ! !

!
! !
!
!
!
1 ) % sin 1 ) cos%
a
b m


!
! !
!
1 ) cos%
a
b m

The integrals of symmetric characteristics

!
+ +
!
,

+ +

+ +
1 !
1 !
.
( ) ( )
( ) ( )

d a 8
a
a 9
d a 8
a
a 9
cos sin
1
sin sin
1
!
+
!
+

( )
( )

d c
a
a 9
d c
a
a 9
cos
!
sin
!
!
1
!
1

( ) ( )
( ) ( ) ( )

,
_

+
m
a
cb
a
c
a 9
a
b m
a
b
a
c
a
c
a 9
1
!
sin sin
!
1 1
!
cos cos
!
!
! 1
!
! !
!
!
! 1

!
)
/
1
T%s(#3- #et mathematical model of nonlinear part*
( ) 7 8 x
Need to find the coefficients
( ) a 9
and
( ) a 9
for re$%& 4ith s%t#r%tio!
So$#tio!-
( )
( ) ( ) . +
, 1
/
!
!
b a a 9
a
b
a
c
a 9
>

T%s(#5- #et mathematical model of nonlinear part*

( ) 7 8 x
Need to find the coefficients
( ) a 9
and
( ) a 9
for re$%& 4ith h&steresis-
So$#tio!-
( )
( ) ( )

>

b a
a
cb
a 9
a
b
a
c
a 9
!
!
!
/
1
/

T%s(#6- #et mathematical model of nonlinear part*

( ) 7 8 x
Need to find the coefficients
( ) a 9
and
( ) a 9
for re$%&-

'
b
c
m61
+
c
b
'

m6-1
( )
( ) +
/

a 9
a
c
a 9

7
'

+
b6+
8
9
:
GEOMETRIC ME.NING OF DESCRIBING FUNCTIONS
D
'

N
+
M
.
5
c /
a
B
C
89:7 - $E#8;
<N - #"NE8$"=E7 F>N:T"(N