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:

)C(s

)s(5s+1

)5(1+0.8s

)R(s

:
.1

.2
.3
.4
:

- 1 :
) G1(s),G2(s :
)Go(s ) = G1(s).G2(s
1
Go(s ) = 5(1+0.8s) .
)S (5S 1

5(1+0.8s) .
)C(s

)R(s

Gc ( s )

G( s)
1 G ( s ).H ( s )

5(1 0.8s )
s (5s 1)
Gc ( s )
5(1 0.8s )
1
s (5s 1)

5(1 0.8s )
4s 5
s (5s 1)
Gc ( s )

s (5s 1) 5(1 0.8s ) 5s 2 5s 5


s (5s 1)

: - 2
G ( s)

4s 5
C ( s)

2
5( s s 1)
R( s)

C ( s ).5( s 2 s 1) R ( s ).(4 s 5)

5 C ( s ).s 2 C ( s ) s C ( s ) 4 R ( s ) 5 R ( s )

:
2
dr (t )
d c (t ) dc(t )

c(t ) 4
5r (t )
dt
dt
dt

(I)

X2,X1
:
X 1 (t ) C (t )

X 2 (t )

dc(t ) 4
r (t )
d (t ) 5

dX 1 (t ) dc(t )

dt
d (t )
dc(t )
4
X 2 (t ) r (t )
dt
5

d 2c (t ) dX 2 (t ) 4 dr (t )

dt
dt
5 dt

: ( I)
3

dX 2 (t )
dr (t )
dr (t )

4
5 X 2 4r (t ) 5 X 1 4
5r (t )
dt
dt
dt

dX 2 (t )
4
1 X 2 r (t ) X 1 r (t )
dt
5
dX 2 (t )
4
X 1 X 2 r (t ) X 1 r (t )
dt
5
5

dX 1 (t )
4
X 2 r (t )
dt
5

: - 3

d X 1 (t ) 0 1 X (t ) 4
1
dt 5
. r(t)
d X2(t) 1
-1 X2(t)
dt 5
4

-4 :

X1
C(t) 1 0
X2
)dX (t
) A X (t) B r(t
dt
)C D X (t) E r(t
:

0 1 0.8
A ,B ,D10,E 0
-1 0.2
- 5 :
...
)C (s
4s 5
2
R ( s ) 5s 5s 5

G(s)

:
A( s ) 5s 2 5s 5 0

..
- 6 :

5

5( s 2 s 1) 0

1 0.5 J 0.866
2 0.5 J 0.866

- 7 :
:

(i I A) Pi 0

1 0.5 J 0.866

0.5 J0.86 0 0 1 P1
0

0 -0.5J0.86 -1 -1 P21
-0.5J0.86 -1 P1 0

1 0.5J0.86 P 0

21
(0.5 J0.86 )P1 P21 0
P1 (0.5 J0.86 )P21 0
7

P11 1 P21 0.5 j0.866


P11 1
P - 0.5 J0.866

21

2 0.5 j 0.866

0.5J0.86 0 0 1 P12 0


0 -0.5J0.86 -1 -1 P2 0

0.5 j0.86 1 P12 0


.

1 - .5-0 j0.86 P 0
2
9

(-0.5- j 0.866) P12 -P22 = 0


P12 + (0.5- j 0.866) P22 = 0

:
P12

=P22=-0.5-j0.866

P21 1

P2 0.50.86
P1 P12 1 1
P

P 21 P2 0.5 j0.86 0.5-0.86


10

:
:

:
:
..
..

Gs
s

C (t ) L1

)G ( s
4s 5

s
)5s ( s 2 s 1

..
)G ( s
X
Y
Z

s
s
s 0.5 J 0.866
s 0.5 J 0.866
1

j 0.866
0.5 0.173 J

0.5 0.173

5
)0.866

j0.866

-0.5 -

11

:
G ( s) 1 0.5 j 0.173
0.5 j 0.173

s
s s 0.5 j 0.866 s 0.5 j 0.866
G(s)
s

c(t ) L1

1 (0.5 j 0.173)e
1 e
(0.53e
e

1 (0.5 j 0.173)e ( 0.5 jo.866) t (0.5 j 0.173).e ( 0.5 j 0.866 ) t 1 (t )


0 .5 t

0 .5 t

1 e

0 .5 t

0 .5 t

.e j 0.866t (0.5 j 0.173) 0.5t e e -0.866t 1 (t )

j 0.866 t

0.53. e j 0.866t 1 (t )

j (0.866t (160.9 ) j (0.866t 1609 )


0.53

e
e

1 1.06e 0.5t . cos 0.866t 160.9 1 (t )

180
1 1.06e 0.5t . cos 0.866
160.9

esnops eR p etS

4.1
2.1
1
8.0

e d ut i l p m A

6.0
4.0
2.0

(ces) emiT

01

21

:
.. - 1
:Routh *
s2 s 1 0

12

)0< (a0,a1,a2,.,an
..

1
1

1
0

)1 (1 0
1

Routh
Routh

: = 0 ... .

* :Hurwitz
)>0
.

(an Hurwitz

>0

2=1

1=1 > 0 ,

,
1

-2 :
* :
..
:
1
)(5S 1

-1
= 20-
:

5
S

(1+0.8s) .

5
s

= ) G (s

) L( ) 20 log (5) 20 log (

13

-2 (0.8s+1) :
= 0
1
1
1.25 = 0.8 = T
:
= 20
1
)(5S 1

-3 :
= 0
1
= T
:

0.2 = 5
) G ( ) 90 arc tg (0.8 ) arc tg (5

.. Bode

14

* )( Nyquist
:

) 5(1 0.8s
) ..( II
)s (5s 1

H ( s)

s (5s 1) o
s o , s - 0.2

) ( Z = 0
),1
(-0
) (II S JW

15

5(1 0.8( J ))
J (5( J ) 1)
5(1 0.8( J )
H ( J )
5 2 J
(5 4 J )(5 2 J )
H ( J )
(5 2 J )(5 2 J )
H ( J )

H ( J )

5 5 2 J u 3 J 0.8 2
(5 2 ) 2 ( ) 2

4.8 2 J (u 3

25 4 2

21 2
25 4 2
5( 4 3 )
V ( )
25 4 2
u ( )

u ( ) 0 o
V ( ) 0 4 3 0
4 2 1 0

1
4

:

25 2 2 0

2 0
2

16

1
25

)(U

)(V

* :
S J 0
( s ) s 2 s 1
( J ) ( J ) 2 ( J ) 1
- 2 J 1
1 - 2 J
) u( ) Jv(
u( ) 1 - 2
v( )

0 u ( ) 1 V ( ) 0
u ( ) V ( )

u ( ) 0 2 1 V ( ) 1
V ( ) 0 0 u ( ) 1

.
17

....

18

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