Professional Documents
Culture Documents
)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 )
: - 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
21
2 0.5 j 0.866
0.5J0.86 0 0 1 P12 0
0 -0.5J0.86 -1 -1 P2 0
1 - .5-0 j0.86 P 0
2
9
:
P12
=P22=-0.5-j0.866
P21 1
P2 0.50.86
P1 P12 1 1
P
:
:
:
:
..
..
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
0 .5 t
1 e
0 .5 t
0 .5 t
j 0.866 t
0.53. e j 0.866t 1 (t )
e
e
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
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