- 5

-
, 13.01.2012.

G (s ) =

2s
s + 3s 2 + 2 s + 1
3

G (s ) =

2
(s + 2)(s + 3)(s + 4)


2 G (s ) =

2
3s + 1

1 2
G (s ) =

s+5
s + 2s 2 + 2s + 1
3

 1 2

5(s + 0.25)
G (s ) =
-0,25,
(s + 2)(s + 4)(s + 6)
-2, -4, -6 5.

W (s ) = Y (s ) x(0)=y(0)=x(0)=y(0)=0
F (s )

b1 x

c2
c2
y
2 m y 2 y
2

m1x
F (t )

m1
c1 y

m2
c1 x

c1 x

c1 y

m1x = F (t ) b1x + c1y c1x

m2y = 2

c2

y + c1x c1y
2
m1x + b1x + c1 (x y ) = F (t )
m2y c1 (x y ) + c2y = 0
6

m1x + b1x + c1 (x y ) = F (t )
m2y c1 (x y ) + c2y = 0

m1x + b1x + c1 (x y ) = F (t ) / L
m2y c1 (x y ) + c2y = 0 /L

(I)
(II)

m1s 2 X (s ) + b1sX (s ) + c1X (s ) c1Y (s ) = F (s )

(I)

m2s 2Y (s ) c1X (s ) + c1Y (s ) + c2Y (s ) = 0

(II)

(II) X(s)

X (s ) = Y (s )

(m2s 2 + c1 + c2 )
c1

X (s )(m1s 2 + b1s + c1 ) c1Y (s ) = F (s )

Y (s )

(m2s 2 + c1 + c2 )

Y (s )

c1

(m1s 2 + b1s + c1 ) c1Y (s ) = F (s )

(m2s 2 + c1 + c2 )(m1s 2 + b1s + c1 ) c12

W (s ) =

c1

= F (s )

c1
Y (s )
=
F (s ) (m2s 2 + c1 + c2 )(m1s 2 + b1s + c1 ) c12


G1 (s ) = 1 , G2 (s ) = 1 .
s+3
s+5
X1 ( s )

G1 ( s )

X2 (s)

G2 ( s )

Y (s)

X1 ( s )

Ge ( s )

Y (s)

X 2 ( s ) = X 1 ( s ) G1 ( s )
Y ( s ) = X 2 ( s ) G2 ( s ) = X 1 ( s ) G1 ( s ) G2 ( s ) = X 1 ( s ) Ge ( s )
1
1
1

= 2
Ge ( s ) = G1 ( s ) G2 ( s ) Ge ( s ) =
s + 3 s + 5 s + 8s + 15

G1 (s ) = 1 , G2 (s ) = 1 .
s+3
s+5
X1 ( s )
X2 (s)
Y (s)
G1 ( s )
X1 ( s )
Y (s)
Ge ( s )
X3 (s)
G2 ( s )
X 2 ( s ) = X 1 ( s ) G1 ( s )

X 3 ( s ) = X 1 ( s ) G2 ( s )

Y ( s ) = X 2 ( s ) + X 3 ( s ) = X 1 ( s ) G1 ( s ) + X 1 ( s ) G2 ( s ) = X 1 ( s ) [G1 ( s ) + G2 ( s )] = X 1 ( s ) Ge ( s )
1
1
2s + 8
Ge ( s ) =
+
= 2
Ge ( s ) = G1 ( s ) + G2 ( s )
s + 3 s + 5 s + 8s + 15

10


G1 ( s ) =
X1 ( s )

X2 (s)

X3 (s)

G1 ( s )

Y (s)

X1 ( s )

G2 ( s )

Ge ( s )

2
3
, G2 ( s ) = 2
s+3
s + 2s + 1

Y (s)

X 3 ( s ) = Y ( s ) G2 ( s ) ; X 2 ( s ) = X 1 ( s ) X 3 ( s ) = X 1 ( s ) Y ( s ) G2 ( s ) ; Y ( s ) = X 2 ( s ) G1 ( s )

Y ( s ) = X 1 ( s ) G1 ( s ) Y ( s ) G1 ( s ) G2 ( s )

G1 ( s )
Ge ( s ) =
1 + G1 ( s ) G2 ( s )

; Y ( s) = X 1 ( s)

G1 ( s )
= X 1 ( s ) Ge ( s )
1 + G1 ( s ) G2 ( s )

1
2s 2 + 4s + 2
s+3
Ge ( s ) =
= 3
1
1
s + 5s 2 + 7 s + 9
1+

s+3 s+5

11

G1 (s ) =

2
1
1.5(s + 1)
, G2 (s ) =
, G3 (s ) =
, G = 3.
(s + 2)(s + 4)
(s + 0.5)(s + 3) 4
s + 2s + 1
2

File >> New >> Model

Step Sources,
Sum Math 2 ,
Transfer Fcn Continuous,
Zero-pole Continuous 2 ,
Gain Math,
Scope Sinks.
12

Step: Step time: 0, Initial value: 0, Final value: 1,

Sum: 1) List of signs: ++; 2) List of signs: +- ,

Transfer Fcn: Numerator: [2], Denominator: [1 2 1],

Zero-Pole: 1) Zeros: [ ], Poles: [-2 -4], Gain: [1]; 2) Zeros: [-1 ], Poles: [-0.5 -3],
Gain: [1.5].

Gain: Gain: 3.

13

Simulation >> Start

14

G1 (s ) =

2
1
1.5(s + 1)
, G2 (s ) =
, G3 (s ) =
, G = 3.
(s + 2)(s + 4)
(s + 0.5)(s + 3) 4
s + 2s + 1
2

15

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