Professional Documents
Culture Documents
29
________________________________________________
2.1 .............................................................................................
30
2.2 .........................................................
31
2.3 .....................................................
51
2.4 .......................................................
56
2.5 ....................................
69
2.6 ...........................
79
2.7 .....................................................................
86
94?
2.10 ...................
95
2.11 ,
LTI ........................ 113
2.12 ..................................................................... 124?
2.13 ..................................................................................
129
:
2.8 2.9 -
.
:
- z-transformacija
- ( )
30
2.1. ( )
,
. ,
, ,
.
. .
(transfer
function),
.
, ,
,
.
-
.
, . ,
,
.
, ,
.
,
,
.
,
.
. ,
, ,
,
.
.
.
.
.
2. 31
2.2.
1. -.
-
2.2.1.
.
.
. , ,
, .
.
(2.2.1)
t , y (t )
y' , y' ' ,..., y ( n) . (2.2.1)
.
F .
t .
x ,
.
(2.2.1)
. :
32
.
.
g I
. ao (t ) 0 t I . I I R ( R - ).
(2.2.2) t , I
y (t ) ( ).
(Cauchy) . t0 I , C1, C2 , ..., Cn .
(2.2.2)
y(t0 ) C1,
y' (t0 ) C2 ,
y ( n 1) (t0 ) Cn
t 0 I y ( k ) (t0 )
t 0 y (k ) .
(2.2.2.) .
g 0 (2.2.2) .
g 0 (2.2.2) .
(2.2.3)
(2.2.2).
(2.2.2) n y (ao 0) ,
(2.2.2) n .
ao , a1, ..., an 1, an
(2.2.2). ao , a1, ..., an 1, an
.
, 2.4,
.
2. 33
g ,
, (input) ,
(output) .
w : I C (2.2.2) :
g , f t w(t ) (2.2.2).
(2.2.2) X o
. X o
(2.2.2).
1. X o I
(2.2.3) .
: X o w : w(t ) 0
t I (2.2.3).
.
v, w X o , .
v w X o , ..
. v w (2.2.3)
:
ao (v w) ( n) a1 (v w) ( n 1) ... an 1 (v w)' an (v w)
ao (v ( n) w( n) ) a1 (v ( n 1) w( n 1) ) ... an 1 (v' w' ) an (v w)
34
X g y p X o {y p w : w X o} .
(2.2.4)
(2.2.2)
(.. X o
(2.2.2).
: y X o
ao y ( n) a1 y ( n 1) ... an 1 y'an y g .
(2.2.5)
(2.2.6)
(2.2.5) (2.2.6)
w X o ;
X g yp Xo .
(2.2.7)
, w X o y w y p :
ao ( w y p ) ( n) a1 ( w y p ) ( n 1) ... an 1 ( w y p )' an ( w y p ) g
(ao w( n) a1w( n 1) ... an 1w' an w) (ao y (pn) a1 y (pn 1) ... an 1 yp an y p g ) 0
w X o ,
y p X g . w X o w y p X g , .. y p X o X g ,
(2.2.7) X g y p X o ( ).
(2.2.2) (
) :
-
, ..
. X g .
, ..
.
.
.
2. 35
Teorema 3. :
(i) e I R ao , a1, ..., an 1, an , g
I (ao (t ) 0, t I ) ;
(ii) t o I ;
(iii) C1 , C2 , C3 ,...,Cn .
:
w : I C C n
(2.2.7)
(2.2.2)
to I ,
C1,..., Cn R .
3. (2.2.2)
I g
. y1 , y2 (2.2.2) I ' I I .
y1 (t ) y2 (t ) t I ' y1( k ) (t ) y2( k ) (t ) t I '
k 0,1,2,..., n 1 . y1( k ) (to ) y2( k ) (to ) (k 0,1,..., n 1) to I ' .
3 () y1 (t ) y2 (t ) , t I .
to I
w n 1 . w( n) (to )
,
ao (t0 )w( n) (to ) a1 (to )w( n 1) (to ) ... an (to )w(to ) g (to ), (t I )
w( n) (to ) , .. w( n) (to ) w(to ),..., w( n 1) (to )
g (to ) .
36
2.2.2.
I R ao , a1 g I
ao (t ) 0 t I .
ao y a1 y g
(2.2.8)
y .
(2.2.8) ao p
a1
g
r
ao
ao
y py r
(2.2.9)
y py 0
(2.2.10)
I . y (2.2.10) I
y(to ) 0 3 ()
(2.2.10) y(t ) 0 t I .
(2.2.10) . y Xo
to I . (2.2.10)
y'
p
y
(2.2.11)
P(t ) p( )d
(2.2.12)
to
(2.2.11)
ln y(to ) P(to ) C C ,
2. 37
(2.2.13)
w(t ) e P (t ) e
p ( ) d
to
(2.2.14)
(2.2.13),
(2.2.10). (2.2.14) y
(2.2.10) :
X o {Cw : C R}
(2.2.15)
(2.2.10).
X o w , X o . (2.2.15) y Cw,
C y Cw
(2.2.10). y (2.2.10)
C y Cw .
. y
(2.2.9) y(to ) yo . r (2.2.9)
I , (r 0) , y yoe P , .. e P y
( e P y yo ) . r 0 C (t ) e P(t ) y(t ) t
C (to ) yo . C .
y(t ) e P(t )C (t )
(2.2.16)
e P C ' r C ' e P r.
, C (to ) yo ,
t
C (t ) yo e P ( ) r ( )d .
to
(2.2.17)
38
, (2.2.17) (2.2.16) :
t
y (t ) e P (t ) yo e P (t ) e P ( ) r ( )d ,
(2.2.18)
to
t
P(t ) p( )d .
to
p 0 (2.2.18)
t
y (t ) yo r ( )d
(2.2.19)
to
y r .
t
y p (t ) e P (t ) e P ( ) r ( )d
(2.2.20)
to
(2.2.10) y p 0 r 0 .
(2.2.20) (2.2.9), y
(2.2.9) :
P(t ) p( )d
to
t
y p (t ) e P (t ) e P ( ) r ( )d
to
2).
y(t ) e P(t ) yo y p (t ) yh (t ) y p (t ) .
(2.2.9)
2. 39
2.2.1.
1
y y 4t
t
y(1) 5 .
:
,
( (2.2.9)) ,
1
p(t ) , r (t ) 4t
t
1) :
t
to
1
P(t ) p( )d d ln( ) [ln t ln(1)] ln t
to
1
y p (t ) e P (t ) e P ( ) r ( )d eln t e ln 4d t ( 4d )
t
t ( 4d t (4 ) t (4t 4)
2) :
.2.2.1. y(t ) 4t 2 t
10
40
2.2.2.
y' a(t ) y
(1)
y(0) y0
. ,
(2.2.18),
.
, (2.2.9) y(t ) p(t ) y(t ) r (t )
p(t ) r (t ) :
p(t ) a(t ), r (t ) 0 , t R
(2)
, , (2.2.18) :
P(t )
p( )d
(3)
t0 0
, a(t ) k , t R , k ,
( p(t ) a(t ) k , i P(t ) kt ):
y(t ) yoekt .
(4)
(5)
0.02t 0.2e
0.1t
0.2
(3)
0.1t
0.2
(6)
() y (t ) , (1)
a(t ) / (6). .2.2.2.
(6).
2. 41
.2.2.2. ( )
( ) .
1. x 3x 2t ,
x(0) 2 *)
2. y 0.4 y 3, y(0) 5
2x 2
t ,
t
x(1) 4
4. x 2 x t 2 ,
x(0) 1
3. x
w e2t , w(0) 3
5. w
6. x x 2et t 2 , x(0) 1
7. ty '2 y t 3et ,
y(1) 0
8. ty' y 3,
y(1) 0
9. ty' y t 1,
y(2) 1
________________________
*)
( y dy / dt ) ( y' dy / dt y' dy / dx ).
42
2.2.3.
.
,
y y 0
( R)
, y ' y
.
(2.2.21)
2.2.2.
I R
ao , a1 g
ao (t ) 0 t I . ao (t ) (2.2.21)
y py qy r
p
(2.2.22)
a1
a
g
,q 2,r .
ao
ao
ao
y py qy 0
(2.2.23)
(2.2.23), 2
X o .
w (2.2.23)
I ; to I w(to ) 0 .
3 v X o ,
v(to ) 0,
v' (to )
1
w(to )
(2.2.24)
w i v . ,
i w v 0 . w(to ) v(t0 ) 0 .
(2.2.24) w(to ) 0 0 .
(2.2.24) v 0 , v 0 0 . w i v
X o .
2. 43
y (2.2.23)
y C1w C2v
(2.2.25)
C1 i C2 ,
(2.2.26)
(2.2.25) (2.2.23).
v
w .
t
P(t ) p( )d
(2.2.27)
t0
y X o (2.2.23) I .
(2.2.23) y py qy 0 w w pw qw 0
y
( yw wy) p( yw u' y) 0 .
(2.2.28)
(2.2.28)
, ..
(2.2.29)
W ' pW 0
(2.2.30)
W w i y . (2.2.30)
(2.2.31)
(2.2.31) (2.2.23)
I .
I .
w I w(to ) 0 ,
I ' I to w(t ) 0
t I' .
(2.2.29) w
y '
w'
W
y
w
w
(2.2.32)
44
I ' . (2.2.32) 2.2.2. exp( P)
t w' ( )
t
t
w(t )
d eln w( ) w( )
.
exp
w(to )
t w( )
t0
to
o
W
.
w
w(t )
w(t ) w(to ) W ( ; w, y )
y (t )
y (to )
d .
w(to )
w(to ) t w( )
w( )
t
(2.2.31) :
y (t ) w(t )
t P ( )
y (to )
e
w(t ) 2
d W (to ; w, y ); (t I ' )
w(to )
t o w ( )
(2.2.33)
(2.2.33) y X o . y v
( (2.2.24)):
v(t ) w(t )
to
e P ( )
d ; (t I ' )
w2 ( )
(2.2.34)
v w . (2.2.34)
2.2.33)
(2.2.35)
t I '
C1
y (to )
C2 W (to ; w, y) w(to ) y' (to ) w' (to ) y(to ) .
w(to )
2. 45
y p (2.2.22) I
(2.2.36)
(2.2.22), .. (2.2.22) I
(2.2.36) C1 i C2 .
1. y (2.2.23) y py qy 0
z
y'
y ' yz y y' z yz' ( z 2 z ' ) y , (2.2.23)
y
z ' z 2 pz q 0
y' Py 2 Qy R
(2.2.37)
P, Q i R t . (2.2.37)
(Riccati, 1707-1775)
(. ).
(2.2.37)
y1 Cy 2
: C R ,
y3 Cy 4
y1, y2 , y3 i y4 t
.
2.
(2.2.23) n ti .
X o
y ( n) a1 y ( n 1) ... an y 0
(2.2.38)
46
(2.2.39) (2.2.38).
y ( n) a1 y ( n 1) ... an y r
y y p C1w1 C2 w2 ... Cn wn
y p , C1, C2 ,...,Cn .
2.2.4.
(2.2.41)
y(t0 ) C1,
(2.2.42)
C1, C2 , ..., Cn .
(2.2.42) (2.2.41)
. (2.2.41)
(2.2.42) (Cauchy) .
ao y' (t ) a1 y(t ) g (t ), (t 0)
(2.2.43)
ao , a1 (a0 0) g .
na (2.2.41)
y(t0 ) C1
(2.2.44)
(2.2.43)
2.2.2.
.
.
2. 47
. (2.2.43)
(1)
a1
g (t )
.
const , r r (t )
a0
a0
to
to
t0
P(t ) p( )d d t
(t to )
(2)
y(t ) py(t ) 0
(3)
yh (t ) e P(t ) yo e (t to ) yo ,
t0 0 yh (t ) e
(4)
yo .
(1)
t
y p (t ) e P (t ) e P ( ) r ( )d e (t t o ) e ( t o ) r ( )d
to
t t o t o
to
t
r ( )d e
to
(5)
r ( )d
to
2). (1)
y (t ) yh (t ) y p (t ) e
(t t o )
yo e
r ( )d .
(6)
to
, r (t )
(6).
(4)
yh (t ) e t yo
(3) ( y'h (t ) et yo ) :
et yo pet yo 0 .
p 0 p (1),
yh . 0 yh , 0 yh .
48
(2.2.45)
ao , a1 i a2 , (a0 0) g .
a (2.2.45)
t t0 0 , ..
y(0) C1,
y' (0) C2
(2.2.46)
(2.2.45) 2.2.3.
.
y p (2.2.45)
(2.2.47)
(2.2.45), .. (2.2.45)
(2.2.47) C1 i C2 . w v
(2.2.47)
(2.2.47) ao 0
(2.2.48)
a1
a
c 2 .
ao
ao
(2.2.48)
e pt (e pt )' pe pt , (e pt )" p 2e pt ,
(2.2.48) :
p 2e pt bpept ce pt 0
, e pt , :
p 2 bp c 0
(2.2.49)
D( p) p 2 bp c
(2.2.45), (2.2.49) .
p1 i p2 ,
w e
v e p 2 t
(2.2.48),
p1t
2. 49
(2.2.50)
C1 i C2 .
(2.2.45)
(2.2.50)
( ) y p
.
g (t ) , .
t k e
kt
, k C , .
, ,
.
.
.
.
2.4.
50
2. 51
2.3.
2.3.1.
. f (t ) t
f (t T ) f (t ) , t
(2.3.1)
,
.
t , ..
(2.3.1)
.
,
f (t ) ,
2 ,
, ,
(Dirihle), f (t ) .
f (t )
.
. ,
,
f (t ) 2
f t
1 , ,
a0 ak cos kt bk, sin kt ,
2
k 1
k 1
(2.3.2)
ak,
bk,
f t cos kt dt
f t sin kt dt
(2.3.3)
, f (t ) 2 ,
, 2d .
a a . ,
x t / d y f t , 2d ,
52
g
x , ,
F x f
2 , (2.3.2)
d 1
f x a0 ak cos kx bk sin kx
2
k 1
k 1
(2.3.4)
a0 , a k bk k 1,2,... (2.1.3).
,
x t / d ,
d
x 2d
f t f
1
k
k
f t a0 ak cos t bk sin
t
2
d
d
k 1
k 1
(2.3.5)
ak
1
k
f t cos
tdt
d d
d
d
(2.3.6)
bk
1
d
k
f t sin d tdt
f(t) 0 d.
-d 0 (
)
2d . ,
f(t) 0 d.
(2.3.5)
1
k
k 1
(2.3.7)
k arctgak / bk .
,
cos
k
e j k / d t e j k / d t
t
d
2
(2.3.8)
2. 53
sin
k
e j k / d t e j k / d t
t
d
2j
(2.3.9)
(2.3.5), 1/ -
f t
a jbk j k / d t ak jbk j k / d t
1
a0 k
e
e
2
2
2
k 1
k 1
(2.3.10)
c0
1
a0 ,
2
ck
ak jbk
,
2
c k
ak jbk
,
2
k 0
(2.3.11)
f t
c e
j k / d t
(2.3.12)
ck
1
f t e j k / d t dt , k 0,1,2,...
2d d
(2.3.13)
,
.
.
(2.3.7),
,
.
, , ,
,
.
.
54
2.3.2.
.
,
.
.
, .
eo , .
(2.3.13) t x,
(2.3.12).
f t
1
2d f x e j k / d x dxe j k / d t
k
d
(2.3.14)
,
c k c k , k k / d .
(2.3.14) k 1 k 1 / d ,
/ d .
(2.3.14)
f t
1
1
2 f x e jk x dxe jk t 2
k
d
F jk , d e j t
k
(2.3.15)
F jk , d
f t e
j k t
dt
(2.3.16)
d ,
, (2.3.15)
f t
1
2
F j e
jt
d ,
(2.3.17)
(2.3.16)
F j
f t e
jt
dt .
(2.3.18)
(2.3.18) ,
(2.3.17) (2.3.18) , f(t)
2. 55
f t dt
(2.3.19)
,
.
(2.3.19)
.
(2.3.17) (2.3.18) ,
F j F f t
f t F
(2.3.20)
F j ,
F F 1 , e,
.
.
e
.
.
,
,
.
,
f(t)
, t=0, ..
f t 0 t<0. .
F j
f t e jt dt lim
f t e
jt
dt
(2.3.21)
f(t) (2.3.17).
F j (2.3.21) .
56
2.4.
2.4.1.
, ,
. ,
(2.1.19).
,
| f t e
| dt
e t ,
(2.4.1)
.
(2.3.17) (2.3.21)
f t e t
1
2
jt
t jt
f t e e dte d
0
(2.4.2)
f t
1
2
j t
j t
f
t
e
dt
d
e
0
(2.4.3)
s j
(2.4.4)
, ,
(2.4.3).
ds jd
(2.4.5)
(2.4.3)
f t
j
st
1
st
f t e dt e ds, t 0
2j j 0
(2.4.6)
F s L f t
f t e
0
st
dt, a
(2.4.7)
2. 57
1
f t L F s
F s e st ds, t 0
2j j
1
(2.4.8)
(2.4.7) (2.4.8)
:
L
1
-
-
-
- f t
F s
f t - F s .
(2.4.7) .
f (t ) Re(s) ,
e t . ,
f (t ) F (s)
.
, a , (2.4.7)
.
, ,
s , (2.4.7) ,
F (s)
f (t ) . .
1) ()
. b t 0
.2.4.1., f t bSt
0, t 0
S t
1, t 0
F s bS t e st dt
0
(2.4.9)
b st
e
s
b
, 0
s
, bS t
(2.4.10)
b
s
s , ..
58
s .
bS (t )
bS (t )
.2.4.1. ()
t 0 b
to
to
.2.4.2.
t t o
t 0 . ,
t 0 , .. t
b,
t 0 .
lim f (t ) f (0 )
t 0
lim f (t ) f (0 )
t 0
(2.4.11)
2)
t t 0
.
.
t t 0
t t0 0 t t0
(2.4.12)
t t0 dt 1.
, ,
,
. t t 0
t t0 lim d t t0 ,
0
2. 59
d t t0 ,
ht t0 ht t0
(2.4.13)
ht t0 ht t0
t t 0 t t 0 .
t t 0 -
L t t0 t t0 e st dt.
0
t t0 0 t t0 ,
e st0
. t 0 0 ,
(2.1.33)
0,
L t t0 st
0
,
e
t0 0
(2.4.14)
t0 0
t 0 0
L[ t ] 1 .
3)
f (t ) atS (t ) .2.4.3.
. :
1
a
F s L[atS (t )] ate st dt at e st e st dt
s
0 s 0
0
1
a
a 2 e st 2 ,
s
0 s
(2.4.15)
, :
L[
1
a
t n 1S (t )] n ,
(n 1)!
s
(2.4.16)
60
Ae at S (t t1 )
A
atS (t )
Ae at1
t=t1
.2.4.4. ,
.2.4.3.
t tf
4)
AS t sin at
BS t cosbt
S t sin at
e jat e jat
S t
2j
(2.4.17)
e jbt e jbt
S t cos bt
S t
2
L AS t sin at
Aa
,
s a2
Re s 0
Bs
L BS t cos bt 2
.
s b2
2
(2.4.18)
L AS t e t sin at
Aa
s 2 a 2
, Re s .
Bs
t
L BS t e cos bt
.
s 2 b 2
(2.4.19)
5)
Ae at S t
A a s t
A
L Ae at S t A a a s t dt
e
, Re s a (2.4.20)
sa
0 s a
0
2. 61
Aeat S t t1
t t1 ,
L Ae at S t t1 A e a s t S t t1 dt
0
A e
t1
a s t
dt
Ae
Re s a.
st1 at1
e
sa
(2.4.21)
,
,
.
S (t )
.
. ,
a (
Re s a ), s - -
.
, S (t ) a
, .
. ,
, t 0 . ,
,
.
, ,
,
.
,
.
62
2.4.2.
1)
.
L, ..
Laf t aF s
L f1 t f 2 t F1 s F2 s,
(2.4.22)
a , F1 s F2 s f1 t
f 2 t , .
2)
f t f t ,
(.2.4.5).
L f t
f t e
st
dt.
(2.4.23)
t , d dt (2.4.23),
L f t
f y e
d e
ys
s
f e d f d
(2.4.24)
f (t )
f (t )
.2.4.5. ()
f t 0 t (.. f 0, 0 ), ,
F s f t .
2. 63
L f t e s F s
(2.4.25)
e s ,
, .
3)
,
e t .
L e t f t e t f t e st dt f t e s t dt.
0
(2.4.26)
L e t f t f t e t dt F
(2.4.27)
L et f t F s
(2.4.28)
4)
f t
f t f1 t f 2 d
(2.4.29)
f1 t f 2 t .
F s e st f1 t f 2 ddt
(2.4.30)
F s e st f1 t f 2 S (t )ddt
(2.4.31)
S t . f1 t
f1 t , .. f1 t 0
64
t , (2.4.30)
t .
F s
f 2 f1 t e st S t dtd ,
(2.4.32)
S t 0 t ,
F s
f 2 f1 t e st dtd
(2.4.33)
t ,
F s f 2 f1 e dyd f 2 e st f1 e s d d =
0
0
0
0
F1 s f 2 e s d F1s F2 s
(2.4.34)
: F1 s L f1 t F2 s L f 2 t ,
F1 s F2 s L f1 t f 2 d
0
(2.4.35)
F1 s F2 s L f 2 f1 t d
0
(2.4.36)
F1 s F2 s L f1 t f 2 t L f 2 t f1 t ,
(2.4.37)
.
5)
df t st
df t
L
e dt
dt 0 dt
(2.4.38)
2. 65
,
f t t 0. 1. (2.4.59)
df t
st
L
f 0 f 0 f 0 s f t e dt sF s f 0 , (2.4.39)
dt
0
: i F s , ii f t t 0
iii lim e st f t 0.
t 0
, ,
n -
n
d n f t
n
s
F
s
s n k f k 1 0 ,
n
dt
k 1
(2.4.40)
F s , f t n 1
t 0
lim e st f n k t 0,
k 1,2,3,..., n.
(2.4.41)
6)
, u e st dv f t dt.
F s f t e
0
st
dt e st f d s e st f d dt sL f d ,
0
0
0
(2.4.42)
t
F s
L f t dt
.
s
0
(2.4.43)
df (t )
[ f (0 ) f (0 )] (t ) f1 (t ) , (t ) dt
(2.4.12), f1 (t ) ,
t 0.
1
66
t t t
F s
L ... f t dt n n , n 0,1, 2, ...
s
0 0 0
(2.4.44)
n=2 :
t t
F s
L f (t )dtdt 2
s
0 0
(2.4.45)
7)
f t F s , , ,
dF s
ds
dF s d
f t e st dt,
ds
ds 0
(2.4.46)
dF s
tf t e st dt,
ds
0
(2.4.47)
L tf t
dF s
.
ds
(2.4.48)
L t n f t 1n
dn
dsn
F s .
(2.4.49)
8)
f t f1 t K t ,
(2.4.50)
, , (t ) f1 t ,
2. 67
t 0.
sF s K f t se
0
st
dt Ks lim f t se st f t se st dt Ks , (2.4.51)
0
.
se st
sF s K Ks lim f t e st
0
d st
e ,
dt
df t st
df t st
dt e dt Ks f 0 dt e dt.
0
lim
(2.4.52)
,
lim {sF s K } f 0
slim
df1 (t )
,
dt
df t st
e dt f (0 ).
dt
lim sF s f 0 K .
s
(2.4.53)
f t
, .. t 0 ,
lim sF s f 0,
s
(2.4.54)
.
9)
(2.4.50).
lim sF s lim f t
s 0
df t st
lim sF s lim f t se st dt lim f 0
e dt lim f t .
s 0
s 0
s 0
dt
t
0
0
(2.4.55)
sF s
68
s .
f t /
. .
sF s s 0, ,
(2.4.55)
lim f t lim sF s sF s s 0 ,
s 0
(2.4.56)
2. 69
2.5.
,
,
s, ..
s ,
F s
N s bm s m bm 1s m 1 ... b1s b0
n
.
Ds
s an 1s n 1 ... a1s a0
(2.5.1)
,
n m. ,
. D(s) N (s)
F (s).
, , F (s), ,
, / .
F (s) , .. D(s),
Ds s n an 1s n 1 ... a1s a0 0
(2.5.2)
1). :
s1 , s 2 ,..., s n Ds 0 ,
(2.5.1)
F s
N s
Ps
,
Ds s s1 s s2 ...s sn
(2.5.3)
F s
Kk
Kn
K1
K2
N s
...
...
,
Ds s s1 s s2
s sk
s sn
(2.5.4)
K k k 1,2,..., n ( F s
s1, s2 ,......,sn ), .
70
s sk
s s k , (2.5.2)
N s
K k s sk
, k 1,2,....,n
Ds s s
(2.5.4)
K k .
Ds
, (2.5.3) ( s sk
(2.5.5)
N s Ds ). ,
Ds
. , (2.5.5)
N s
K k lim s sk
,
s sk
Ds
k 1,2,.....,n.
(2.5.6)
s sk , (0/0) N s
s sk . ,
dN s
d
N s s sk
s sk N s
ds =
lim
K k lim ds
dDs
dDs
s sk
s sk
ds
ds
N sk
, k 1,2,........,n.
D' sk
(2.5.7)
K k , (2.5.4)
N sk 1
.
k 1 D' sk s sk
n
F s
(2.5.8)
f t L1F s
(2.5.8),
( (2.4.20)). (2.4.20)
n
n N sk 1
N sk s k t
e , t 0.
f s L1
k 1 D' sk s sk k 1 D' sk
(2.5.9)
2. 71
2). :
f t
F s ,
Ds 0 s1 s2 s1 ,
s3 , s 4 ,..., s n .
F s
N s
s s1 (s s1 )s s3 ...s sn
K3
Kn
K1
K1
...
.
s s1 s s1 s s3
s sn
(2.5.10)
s1 a j s1 a j .
, .. K1 a jb K1 a jb
F s
F s
n
K
a jb
a jb
2as a 2b n K k
s a j s a j k 3 s sk s a 2 2 k
3 s sk
(2.5.11)
Kk k 3,4,....,n (2.5.7).
K1 ,
.
K1 a jb
N s
D' s s a j
(2.5.12)
, a Re K1 b Im K1. (2.5.7),
(2.5.9) (2.5.11)
n N sk s t
sa
1
f t 2aL1
2
b
L
e k .
2
2
2
2
s a
s a k 3 D' sk
(2.5.13)
(38), f t
Ns
D' s e s k t , t 0.
k
k 3
(2.5.14)
, ,
72
f t 2 a 2 b 2 e at cost
N s
D' sk e s k t , t 0
k 3
(2.5.15)
b
a
arctg .
3). :
F s
s s1. s4 , s5 ,....,sn .
F s ,
F s
N s
N s
3
Ds s s1 s s4 ...s sn
K11
( s s1 )3
K12
s s1 2
n
K13
N sk 1
.
s s1 k 4 D' sk s sk
(2.5.16)
s s1
3
n
s s1 3 N s K11 s s1 K12 s s1 2 K13 s s1 3 N sk 1 .
Ds
k 4 D' sk s sk
(2.5.17)
s s1
N s
K11 s s1 3
Ds s s
(2.5.18)
K 12 (2.5.17)
s s1 .
d
N s
K12 s s1 3
Ds s s
ds
1
(2.5.19)
, s s1
(2.5.17) s ,
K13
1 d2
3 N s
2 s s1
2 ds
Ds
s s1
(2.5.20)
2. 73
K em m 1,2,......, p s s r , p
K rm
1 d m 1
p N s
m 1 s s1
m 1! ds
Ds
s sr
(2.5.21)
1
1
1 n N sk s k t
1
1
f t K11L1
K
L
K
L
e
12
13
3
2
s s1
s s1
s s1 k 4 D' sk
(2.5.22)
,
f t
n
N sk s k t
K11 2 s1t
t e K12te s1t K13e s1t
e , t 0 (2.5.23)
2
k 4 D' sk
. ,
Ds 0 ,
, / .
.
4).
,
(2.4.8), . F s
s
. , , RR
(. 2.5.1), F s .
F s
(2.5.24)
Rk
k 1 , ,
(2.4.8)
f t
1
F s e st ds,
2j C
t 0
(2.5.25)
C .2.5.1, (2.4.8)
(2.5.25) . ,
74
j
1
1
1
F s e st ds
F s e st ds
F s e st ds
2j C
2j j
2j L
(2.5.26)
L C .2.5.1.
,
,
,
, .
F s e st
C :
f t Res a F s e st .
i
s - ramnina
.2.5.1.
2.5.1.
:
F ( s)
A
.
s ( s 1)
2
s 1
lim [(s 1)
e st ] Ae t ,
s ( s 1)
s 0
A
lim[(s 2 2
e st ] A(t 1) ,
s 0
s ( s 1)
s 1
f (t ) A(t 1 et ), t 0.
(2.5.27)
2. 75
5).
,
(
/ )
. F1 s F2 s f1 t f 2 t .
F s L f1 t f 2 t
f1 t f 2 t e
st
dt
(2.5.28)
1
f 2 t
F2 s e pt dp,
2j j
(2.5.29)
F s
f1 t e st
1
F2 s e pt dpdt .
2j j
(2.5.30)
F s
1
F2 p f1 t e s p t dtdp
2j j
0
(2.5.31)
L f1 t f 2 t
1
F2 p F1 s p dp.
2j j
(2.5.32)
Re p , F2 p F1 s p
F2 p ,
F1 s p p.
(2.5.28), (2.5.29) f 2 (t ) ,
f1 (t ) ,
L f1 t f 2 t
,
1
F1 p F2 s p dp.
2j j
(2.5.33)
(2.5.32),
Re p , f1 ( p) f 2 (s p)
.
76
6).
,
.
E e 2 (t )dt
(2.5.34)
e(t ) .
,
(2.5.28)
f1 t f 2 t dt {L f1t f 2 t }s 0 ,
(2.5.35)
, s 0 (2.5.32)
f1 t f 2 t dt
1
F2 p F1 p dp
2j j
(2.5.36)
1
f1 t f 2 t dt
F1 p F2 p dp.
2j j
(2.5.37)
, f1 (t ) f 2 (t ) f (t ), (2.5.36) (2.3.37)
f 2 t dt
1
F s F s ds ,
2j j
F (s) L[ f (t )] , .
. ..
F (s) F (s) .
,
s - , .
2. 77
2.6.
2.6.1.
,
2.4.,
. , ,
.
( ) (), ,
.
.2.6.1.
:
1.
2.
(-),
3.
()
.
( L ) ( L )
.2.6.1.
. , .
f (t ) ,
:
I :
L[ f ' (t )] sF (s) f (0 )
78
n - :
L[ f n (t )] s n f (s) s ( n 1) f (0 ) ............. sf ( n 2) (0 ) f (n 1) (0 )
f (0 ) , 0
f (t ) t 0 .
2.6.1
y(t ) 3 y (t ) 2 y(t ) e t
(2.6.1)
y(0 ) y (0 ) 0 .
:
1:( s )
s 2 y ( s) 3sy ( s) 2 y ( s)
( L
1
s 1
e t
(2.6.2)
1
)
s 1
2: ( )
( s 2 3s 2) y ( s)
y( s)
1
s 1
1
1
2
s 1 s 3s 2
(2.6.3)
3:
y (s )
. () :
s 2 3s 2 0
3 9 8 3 1
2
2
s2 1 ,
s3 2
s1, 2
( (2.6.3)) :
s1 1 , s2 1, s3 2
2. 79
s1 s2 1
(III )
y( s)
K11
( s s1 )
y(s) -
K3
K12
s s1 s s2
(2.6.4)
K11 ( s s1 ) 2 y ( s ) / s s1 ( s s1 ) 2
1
( s s1 ) ( s s2 )
2
/ s 1
1
1
1
s 2 1 2
K12 [
d
d 1
1
{( s s1 ) 2 y( s)}]s s1
/ s 1 1
/ s 1
ds
ds s 2
( s 2)
K3 ( s 2) y ( s) / s 2
1
( s 1)
/ s 2
1
(1)2
: ( (2.6.4))
y(s)
1
1
1
s
2
s 1 s 2
( s 1)
t a:
1
L1
t e t
2
( s 1)
1 t
L1
e
s 1
1 2t
L1
e
s 2
(5) :
y(t ) te t et e2t
(2.6.5)
80
2.6.2.
a
y a1 y a0 y 0
(2.6.6)
.
a 0 a1 , y (o ) y (o ) .
(2.6.6) y(t ) ?
:
1:
.
(2.6.7)
2:
.
y( s)
s a1
s a1s a0
2
y (0 )
1
s a1s a0
2
y (0 )
(2.6.8)
(2.6.9)
L0 ( s)
N 0 ( s)
s a1
N ( s)
1
L( s )
2
2
D( s) s a1s a0
D( s) s a1s a0
(2.6.10)
D(s) s 2 a1 s a0
3:
): D(s) 2
D(s) s 2 a1s a0 (s s1 ) (s s2 )
(2.6.11)
L(s) L0 ( s)
:
L0 ( s)
A1
A2
,
s s1 s s2
A1
N 0 ( s1 )
,
D' ( s1 )
A2
N 0 ( s2 )
D' ( s2 )
(2.6.12)
2. 81
Ls ( s)
N (s )
B1
B2
, B1 0 1 ,
s s1 s s2
D' ( s1 )
B2
N 0 ( s2 )
D' ( s2 )
(2.6.13)
s- :
A
B1
A2
B2 .
y( s) 1
y
(
0
)
y (0 )
s s1 s s2
s s1 s s2
(2.6.14)
(2.6.15)
_______________
): D(s) :
D( s) ( s s1 ) 2
(2.6.16)
L(s) L0 ( s)
:
L0 ( s)
A1
A2
,
s s1 ( s s1 ) 2
(2.6.17)
Ls ( s)
B1
B2
,
s s1 ( s s2 ) 2
(2.6.18)
Ai Bi
[7]:
d N ( s)
A1 o ( s s1 ) 2
1,
s s1
ds D( s)
N ( s)
A2 o ( s s1 ) 2
s1 a1
D( s )
s s1
d N ( s)
B1 o ( s s1 ) 2
0,
s s1
ds D( s)
N ( s)
B2 o ( s s1 ) 2
1
D
(
s
)
s s1
82
:
y( s)
y(0 ) ( s1 a1 ) y(0 ) y (0 )
s s1
( s s2 ) 2
(2.6.19)
( ).
:
(2.6.20)
D(s) :
D(s) (s s1 ) (s s2 ), s1,2 j1
s1 s2
:
(2.6.21)
ao 12 12 ,
a1 21
(2.6.22)
(3)
y(s)
s 2 1
(s 1 )
12
y (0 )
1
(s 1 )
12
y (0 )
s 1
1
y (0 )
2
2
2
2
( s 1 ) 1 1 ( s 1 ) 1
1
1
y (0 )
1 ( s 1 ) 2 12
(2.6.23)
(2.6.23)
( 2.1) :
1 1t
y(t ) e 1t cos1t 1 sin 1t y(0 )
e y (0 ) sin 1t
1
1
(2.6.24)
, ,
(2.6.25)
2. 83
, (2.6.8)
D(s), y(s), . e (2.6.9), (2.6.10), (2.6.11)
y (s) . y (s) ,
,
, . .
(modes)
, , .
,
n- :
n
d i y (t )
i 0
dt i
ai
(2.6.26)
d i y (t )
dti t 0
i 0,1,2,..., n 1 .
(2.6.26) :
i
n
n
d v 1
y ( s) ai s i ai s i v v 1 y (t ) |t 0 0
dt
i 0
i 0 v 1
(2.6.8):
y(s)
i 0
v 1
ai s i v
d v 1
dt v 1
ai s
y (t ) |t 0
N (s)
D( s )
(2.6.27)
i 0
N (s) D(s) s
N (s) . sk (k 1,2,..., n) y (s)
n
ai s i 0
(2.6.28)
i 0
an (s s1 )(s s2 ) ... (s sn ) 0
(2.6.29)
sk y (s)
y (s) , ..
84
(2.5.4).
:
n
y (t ) K k e s k t t 0 .
k 1
sk y (s) s
(2.6.26).
Re sk 0 ( s ) ,
Re sk 0 ( s )
y (t ) , Re sk 0 .
, (2.6.28) (2.6.29) (characteristic equation), sk y (s) (eigenvalues) .
.
2.6.3
(Bishop, ch 2, page 47)
:
d2y
dt
dy
3 y 2r (t )
dt
(1)
y (0) 1,
dy
(0),
dt
r (t ) 1, t 0 .
(1) :
(2)
, :
1
y(0) 1, (2) :
s
(2)
2. 85
( s 2 4s 3)Y ( s) ( s 4) 1 2
1
s
Y ( s)
s4
s 4s 3
2
2
s( s 4s 3)
2
q(s) s 2 4s 3 (s 1) (s 3) 0
.
(3) :
3/ 2
1/ 2 1
1/ 3 2 / 3
Y ( s)
s Y1 ( s) Y2 ( s) Y3 ( s)
( s 1) ( s 3) ( s 1) ( s 3)
, , :
1
1
3
2
y (t ) e t e 3t 1e t e 3t ,
2
3
2
3
:
lim y (t )
2
3
(3)
86
2.7.
2.7.1.
, ( LTI - linear time
invariant systems)
n
d i y (t )
i 0
dt i
ai
d j u (t )
j 0
dt j
bj
(2.7.1)
(2.7.2)
, (2.7.1) :
n
i 0
j 0
y ( s) a1 s i u ( s) b j s j
(2.7.3)
(2.7.4)
y(s)
u (s)
bjs j
j 0
n
ai s
b0 b1s b2 s 2 ...... bm s m
a0 a1s a2 s ...... an s
2
G(s)
N (s)
D( s )
(2.7.5)
i 0
N(s) D(s) , .
L[ y(t )] y(s)
L[u(t )] u(s) .
.
G(s), ( )
, .
u (t ) , u (s) :
y ( s ) G( s ) u ( s )
(2.7.6)
2. 87
2.7.2.
f1 (t ) f 2 (t ) ,
f1 (t ) * f 2 (t ) , :
t
f1 (t ) * f 2 (t ) f1 ( ) f 2 (t )d
(2.7.7)
t ,
- .
, f1 (t ) f 2 (t ) (L )
, .:
L[ f1 (t ) * f 2 (t )] F1 (s) F2 (s)
(2.7.8)
(2.7.9)
, g (t ) G(s) .
.
G(s)
:
G(s) L[ g (t )]
(2.7.10)
(t ) u (t )
G(s) , (2.7.6),
:
y(s) G(s) L[ (t )]
L[ (t ) 1 ,
y ( s ) G( s ) ,
(2.7.11)
y(t ) g (t )
(2.7.12)
(2.7.10)
(t ) .
( ).
88
:
u(t ) U 0e t sin(t )
(2.7.13)
y (t ) G( j ) u0e t sin[t ( j )]
(2.7.14)
G( j )
, ( j) arg G( j)
e t .
2.7.3.
.
G( s)
m n
m n :
N ( s) N1 ( s)
k0 k1s ...... km n s m n
D( s ) D( s )
(2.7.15)
N1 ( s) n-1
s. , ( ).
(conditions of realisability) ,
(2.7.2) e
N (s) D(s) , m n
(condition of properness).
(improper) . G(s) s .
(proper)
G(s) K0 s .
K 0 0 (strictly proper).
2. 89
d i y (t )
i 0
dt i
ai
d j u (t Td )
j 0
dt j
bj
(2.7.18)
(transcendental) :
G( s)
N ( s) sTd
e
D( s )
(2.7.19)
2.7.5.
(. - stability analysis)
G(s) :
G( s)
( s s z1 ) ( s s z 2 ) ... ( s s z m )
N ( s)
K0
D( s )
( s s p1 ) ( s s p 2 ) ... ( s s p n )
(2.7.20)
ai , b j , i 1,.....n, j 1,.....m . s pi s z j
G(s) , ,
.
s s z j s s p i .
s
.2.7.1.
. 2.7.1
s
90
, .
(u(t ) 0) (2.7.1)
y (t ) ,
:
n
ai
i 0
d i y (t )
0
dti
(2.7.21)
(2.6.26) . y (t ) e st (2.7.21).
G(s) , D(s) 0 , D(s) N (s) . sk s p i -
| G( s z j ) | 0 . y(s)
s z j .
(2.7.20)
ue
sz j t
zjt
s z j z j . u e
| G( z j ) | 0 (2.7.14)
yss (t ) 0 .
s z j , s z j s*z j
ue
sz j t
s *z j t
zjt
2e
zjt
cost 2e
sin(t
).
(2.7.14) yss (t ) 0 .
zjt
s z j e
2. 91
2.7.1.
, , .2.7.2.
k1 1, k2 2, d 2, m1 1 m2 4 ,
u (t ) f (t ) .
k2
y1 y2
k1
m1
m2
f (t ) u (t )
.2.7.2. ,
()
u(t ) f (t ) ( m2 ), y2 (t ) , :
G( s)
y2 ( s)
s2 1
4
u ( s) s 0.5s 3 1.75s 2 0.5s 0.5
s z1, 2 j .
:
u (s) f (s)
1
1
2
( s sz1 )( s sz2 ) s 1
L1{u ( s )} L1{
1
} sin t
s 1
2
, y2 (t )
.2.7.3. y2 , m1 ( .2.7.3
y1 ). m2
s z1, 2 .
92
y1 - m1 , y2 - m2
2. 93
2.8
( !)
94
2.9
( !)
z -
2. 95
2.10
2.10.1.
.
, ,
. za
hemiski procesi koi sporo se odvivaat, , ,.
.
1).
:
a1 y (t ) ao (t ) bou(t )
(2.10.1)
/:
G( s)
bo
Y ( s)
k
U ( s) a1s ao s p
(2. 10.2)
bo
-
a1
a
p o -
a1
() [Vukic],
:
G( s)
bo
Y ( s)
K
U ( s) a1s ao Ts 1
(2. 10.3)
bo
- ,
ao
.
a1 1
- [s].
ao p
.
!
96
2.10.2.
. , ,
,
.
,
.
, ,
m , k c .2.10.1.
R , L C , RLC
. 2.10.2.
f e kx
fi mx
ft cx
f (t )
. 2.10.1. ,
P
U
U R Ri (t )
UL L
i (t )
dt
U C (t )
C
i (t )
.2.10.2. RLC
1
i (t )dt
C
2. 97
3 .2.10.1 2.10.2 ,
.
.
.2.10.1 f (t )
, fi (t ) mx(t ) , ft (t ) cx(t ) f e (t ) kx(t )
.
,
.2.10.1.:
fi (t ) ft (t ) fe (t ) f (t )
(2.10.1)
,
(2.10.1), m x
:
d 2x
dx
c kx f (t ) .
2
dt
dt
(2.10.2)
m , c - , k -
x .
.2.10.2 U (t )
( ), U R (t ) Ri(t )
, U L (t ) L i(t )
dt
, L , U C (t )
1
i(t )dt
C
,
, 1 / C .
, U (t )
.
:
U L (t ) UC (t ) U R (t ) U (t )
(2.10.3)
(2.10.3)
:
98
di(t )
Ri(t ) U C (t ) U (t )
dt
(2.10.4)
1
U c (t ) i( )d
C0
dU C (t ) 1
i(t )
dt
C
(2.10.5)
i(t ) C
dU C (t )
dt
(2.10.6)
(2.10.6)
d 2U C (t )
i(t )
.
C
dt
dt 2
(2.10.7)
(2.10.6)
(2.10.7) (2.10.4)
:
LC
d 2U C (t )
dt
RC
U C (t )
U C (t ) U (t )
dt
(2.10.8)
U (t ) -
, U C (t )
.
1)
( )
,
,
. (2.10.2)
, m , :
d 2 x c dx k
1
x f (t )
2
m dt m
m
dt
(2.10.9)
.
, ,
. f (t )
. 0,
.
f (t ) . .
2. 99
(
). . .
.
:
x Ae t
(2.10.10)
(2.10.9), f (t ) 0 ,
2 Ae t
c
k
Ae t Ae t 0
m
m
(2.10.11)
Ae :
c
k
0
m
m
(2.10.12)
.
(characteristic roots) (eigenvalues) .
:
2 2n n2 0
2
1
2 0 ,
T
T
(2.10.13)
T 2 2 2 T 1 0
(2.10.14)
n2
k
c
k
, 2n , n
,
m
m
m
1 c n c 1 c T c
2n m
2 k 2T k 2 m
m
,
k
(2.10.15)
n , -
- .
100
(210.12) :
2
1,2
c
k
c
2m
2m m
(2.10.16)
x(t ) C1e 1t C2 e 2t
(2.10.17)
C1 C2
.
.
; m, c k
. , .,
:
) , ;
b) ;
c) , .
1 , 2
, :
c
k
2m
m
1 0, 2 0, 1 2
(2.10.18)
. (overdamped) .
() :
c
c
k
c
k
c
c
, 2
,
2m
2m
m
2m
m
2m
2m
k ,
m
(2.10.19)
(2.10.17), :
2
x(t ) C1e
b)
1 , 2
c
k
2m
m
c
c k
)t
2m 2m m
C2 e
c
c k
)t
2m 2m m
(2.10.20)
1 j p , 2 1* j p , 0 (2.10.21)
2. 101
1, 2
c
k
c
k c
j p
j
,
2m
m
2m
m 2m
(2.10.22)
c
k c
0, p
2m
m 2m
(2.10.23)
() :
j pt
C2 e
j pt
( j p )t
C2 e
x(t ) e
) et [ A cos( p t ) B sin( p t )]
(2.10.23)
( j p )t
k c
c
j
t
t
2 m [C e m 2 m
1
(2.10.24)
(2.10.24) :
2
C2 e
k c
t
m 2m
].
(2.10.25)
x(t ) e
c
t
2 m [ A cos(
k
c
k
c
( ) 2 t ) B sin(
( ) 2 t )]
m 2m
m 2m
(2.10.26)
(2.10.26)
:
k c
p
m 2m
c)
1 , 2
(2.10.27)
c
k
2m
m
1 0, 2 0, 1 2
(2.10.28)
(overdamped) . .
, .. :
1, 2 j 0
c
2m
(2.10.29)
(2.10.30)
102
t
, e 0
C2t . .2.10.3
.
, (critical
demping constant) (2.10.28) :
ccr 2 k m
(2.10.31)
,
. ,
(2.10.15)
1 m c 1 c
,
2 k m 2 k m
k m ccr / 2 (2.10.31),
c
,
ccr
(2.10.32)
c ccr :
c ckr .
. 2.10.3.
(2.10.33)
2. 103
, , c=0, =0,
. , , (2.10.27)
c 0 :
k
m
(2.10.34)
,
n :
d 2x
dx
2 n
n2 x f t
2
dt
dt
(2.10.35)
(2.10.35)
. (2.10.35) , -
(),
. , ,
.2.10.2, (2.10.8):
d 2U C (t )
dt
R
1
U C (t )
U C (t ) f (t ),
L
LC
f (t )
1
U (t )
LC
(2.10.36)
,
-- ()
3, :
d 2 c d k
f (t )
dt 2 I dt I
(2.10.37)
c, k I ,
, .
(2.10.35) (2.10.13), ..:
2 2 n n2 0
(2.10.38)
1,2 n jn 1 2 n ( j 1 2 )
(2.10.39)
1,2 j p
(2.10.40)
104
(2.10.41)
p n 1 2
(2.10.42)
, , ,
, , .
.2.10.4 n.
.
, .
:
cos( ) cos
(2.10.43)
cos
(2.10.44)
.2.10.5.
2.10.1
1, 2 j
n
1
cos
p n 1 2
2
-
.2.10.4.
, p , , n
2. 105
0
0 1
cos
0 1
n const
1
1
1
0 1
0 1
0
.2.10.5.
2.10.1.
.2.10.6
0 1
0 1
(underdamped)
o
( )
(overdamped)
( )
106
a)
.2.10.6.
2.10.1.: ) 1.1, ( 1) - -
0.1, ( 1) -
, 0 - . b) 0 , 0.1, (0 1) - , 1 - , 2.0, ( 1)
,
(overdamped) .
2) - RLC
RLC
.2.10.2. U U o const
P
0 , t 0
U (t ) U o S (t )
U o , t 0
(2.10.45)
.2.10.2
(2.10.8) , (2.10.45),
LC
d 2U C (t )
dt
RC
U C (t )
U C (t ) U o S (t ) .
dt
(2.10.46)
-
, ,
(2.10.46)
UCss UC (t ) Uo .
(2.10.47)
2. 107
LC
d 2U C (t )
dt
RC
U C (t )
U C (t ) 0
dt
(2.10.48)
, , (2.10.48) :
uch (t ) Ae t
(2.10.49)
(2.10.48),
0 , :
LC2 RC 1 0
(2.10.51)
,
LC :
R
1
0
L
LC
(2.10.52)
(2.10.52) :
1, 2
R
1
R
2L
LC
2L
(2.10.53)
uch (t ) C1e 1t C2 e 2t
(2.10.54)
C1 C2
.
(2.10.47) (2.10.54), ..
(2.10.55)
C1 C2
. , t 0
UC (0) 0 , U C (0)
(2.10.55) :
i(0)
0,
C
108
U C (t ) U o C1e1t C2e2t
U C (t ) C11e1t C2 2e2t
(2.10.56)
t 0 :
U C (0) U o C1 C2
.
U (0) C C
C
1 1
(2.10.57)
2 2
(2.10.57), U o
1 , 2 ,
C1 , C2 :
2
1 2
1
C 2 U o
1 2
C1 U o
(2.10.58)
(2.10.52)
2 2 n n2 0
(2.10.59)
1
R LC
1 R
,
2L
2n L
LC
(2.10.60)
(2.10.59),
:
1, 2
2 n 4 2n2 4n2
2
n n 2 1
(2.10.61)
, ,
:
2
1
R
) 0 1 (
)
LC
2L
1,2 j p n jn 1 2
(2.10.62)
2. 109
R
2
, p n 1
n
2L
1 R
LC 2 L
(2.10.63)
p , , -
.
2
1
R
b) 1 (
) (2.10.62)
LC
2L
, :
1,2 '
R
,
2L
R2
1
2
LC
4L
'
(2.10.64)
1
R
c) Ao e 1 (
) (2.10.62)
LC
2L
, :
1, 2
(2.10.65)
(2.9.73) (2.9.76)
:
U C (t ) U o C1e1t C2e2t U o U o
2
1
e1t U o
e2t
1 2
1 2
, :
uc (t ) U o [1
2 e 1t 1e 2t
]
1 2
(2.10.66)
, ,
, ;
R, L, C .
,
,
, .
, ,
(2.10.66) (2.10.62), :
U C (t ) U o [1
j p j pt j p j pt
2e1t 1e2t
] U o [1
e
e
] (2.10.67)
1 2
2 j p
2 j p
110
(2.10.:
j p j pt j p j pt
j p j p t j p j p t
e
e
et (
e
e
)
2 j p
2 j p
2 j p
2 j p
et (
1 j t
j t
e p e p
2 j p
2
et (
e
p
j p t
e
2j
j pt
1 j t
j t
e p e p )
2 j p
2
j p t
e
2
j p t
) et (
sin p t cos p t )
p
:
n
sin p t cos p t
sin p t cos p t
sin p t cos p t
2
p
n 1
1 2
[
sin p t cos p t ]
1 2
Asin p t B cos p t ,
A
(1)
, B 1
(2)
(3)
1 2
A C cos , B C sin
B
tg
A
artg
2
B
, C A B2
A
, (2) (4) :
2
C A B2
artg
2
1
1 2
B
artg (
A
2 1 2
1
1 2
1 2
) artg (
1 2
1 2
1 2
sin p t cos p t
1
1 2
sin( p t )
(4)
2. 111
, (2.10.67)
U C (t ) U o [1 e t (
sin p t cos p t )]
p
U o 1 ent
sin 1 2 nt cos 1 2 nt
1 2
(2.10.68)
U C (t ) U o [1
1
1
e nt sin( p t )]
ent
U o 1
sin
2
1 n t
(2.10.69)
arctg (
1 2
).
U o 1
.2.10.7.
. 2.10.7.
zeta .
112
b) 1 (2.10.62)
(2.10.64). [Vukic]:
23
1 2 )nt
C2 e (
1 2 )nt
] (2.10.70)
.2.10.8.
. 2.10.8.
1 , ( zeta ) .
(2.10.62)
, (2.10.65), ..
1, 2
.2.10.8.
(2.10.71)
2. 113
2.11 ,
LTI
2.11.1
.
p( s ) s 3 2s 5
.
MATLAB-, -
.
>> p = [ 1 0 -2 -5]
p =
1
0
-2
-5
.
:
1.
2.
3.
4.
5.
6.
7.
conv
deconv
poly
roots
polyval
polyder
polifit
8.
9.
polivalm
residue
()
1).
roots ..
.
, roots
:
>> p = [ 1 0 -2 -5]
>> r = roots(p)
r =
2.0946
-1.0473 + 1.1359i
-1.0473 - 1.1359i
114
-0.0000
-2.0000
-5.0000
2.11.2.
>> r2 = [ -4.0, -3.0, -1.0 + 2.0i, -1.0 - 2.0i, 0.0 + 0.5i, 0.0 - 0.5000i];
>> p2 = poly(r2)
p2 =
1.0000 9.0000 31.2500 61.2500 67.7500 14.7500 15.0000
roots poly (
) . poly
roots
[9]
>> A = [ -5.0 -52.06; 0.092
>> p3 = poly(A)
>> r3 = roots(p3)
p3 =
1.0000
5.4330
6.9545
-0.433];
2. 115
r3 =
-3.3683
-2.0647
2)
polyval
. o
p( x) x 3 2 x 5 x = 5 :
>> p = [1 0 -2 -5];
>> polyval(p,5)
ans =
110
:
>> x = [ 0.1 0.5 1 2 3 4 5];
>> v = polyval(p,x)
v =
-5.1990
-5.8750
51.0000 110.0000
-6.0000
-1.0000
16.0000
x.
3) () ( )
. conv deconv.
:
a(s) s 2 2s 3 i b(s) 4s 2 5s 6
>> a = [ 1 2 3]; b = [ 4 5 6];
>> c = conv(a,b)
c =
4
13
28
27
18
- c
a b.
>> [q,r] = deconv(c,a)
q =
4
r =
0
116
- r .
q.
4)
()
H s
.
As an s n an1s n1 ... a1s a0
(1)
m n ,
H (s) (proper) ,
m n H (s) (improper)
.
p1, p2 , ..., pn
A(s ) :
As an s p1 s p2 ...s pn ,
(2)
H (s) :
H s
Bs
Bs
,
As a n s p1 s p2 ...s pn
(3)
H (s)
residue
.
p1 , p2 , ... , pn ,
H s
H (s)
Kk
Kn
K1
K2
...
...
,
s p1 s p2
s pk
s pn
K k ()
residue:
[k,p]=residue(b,a)
(4)
2. 117
: k [ K1, K 2 , ..., K n ]
p [ p1, p2 , ..., pn ] .
2.11.3:
H ( s)
s2
s 4s 2 3s
3
>> b = [1 2];
>> a = [1 4 3 0];
>> [k,p] = residue(b,a)
k=
-0.1667
-0.5000
0.6667
p=
-3
-1
0
1
2
1
0.1667 0.5000 0.6667
H ( s)
6 2 3
s (3) s (1)
s0
s 3 s 1 s
H ( s)
s 2 2s 1
s 3 3s 2 4s 2
>> b = [1 -2 1];
>> a = [1 3 4 2];
>> [k,p = residue(b,a)
k=
-1.5000 + 2.0000i
-1.5000 - 2.0000i
4.0000
p=
-1.0000 + 1.0000i
-1.0000 - 1.0000i
-1.0000
H (s)
1.5 j 2 1.5 j 2
4
s 1 j
s 1 j
s 1
m n H (s)
118
H ( s)
B( s)
A( s)
H s
Kp
K p 1
Kn
K1
K2
...
...
.....
,
2
p
s p1 ( s p1 )
s p p 1
s pn
( s pk )
(5)
2.11.4:
H ( s)
5s 1
s 3s 2
3
>> b = [5 -1];
>> a = [1 0 -3 -2];
>> [k,p] = residue(b,a)
k=
1.0000
-1.0000
2.0000
p=
2.0000
-1.0000
-1.0000
H ( s)
1
1
2
s 2 s 1 ( s 1) 2
H ( s)
B( s)
A( s)
B(s)
A(s), (m n).
,
H (s) :
H ( s ) Q( s )
R( s )
A( s)
Q(s ) m n R(s)
n . R(s) / A(s)
.
e residue :
2. 119
H (s)
s 3 2s 4
s 2 4s 2
>> b = [1 0 2 -4];
>> a = [1 4 -2];
>> [k,p,q] = residue(b,a)
k=
20.6145
-0.6145
p=
-4.4495
0.4495
q=
1 -4
H ( s) s 4
20.6145
0.6145
s 4.4495 s 0.4495
k [ K1, K 2 , ..., K n ] ,
p [ p1, p2 , ..., pn ] q [q1, q2 , ..., qn m ]
[b,a] = residue(k,p,q)
H ( s)
B( s)
.
A( s)
2.11.6. :
>> k = [20.6145 -0.6145];
>> p = [ -4.4495 0.4495];
>> q = [ 1 -4];
>> [b,a] = residue(k,p,q)
b=
1.0 0.0 2.0 -4.0
a=
1.0 4.0 -2.0
H ( s)
s 3 2s 4
s 2 4s 2
120
2.11.2
LTI :
laplace, tf, ss , pole, zero, o: s z
1) laplace
laplace
.
.
2.11.7:
:
2. 121
2s 3
s 4s 1
2
5s
s 2
2
122
2.11.10
G ( z )
:
1
z 0.2 z 0.2
2
z2
z
:
>> num = [1 2]; den = [1 0]; Ts=1;
>> G = tf(num, den,Ts)
:
Transfer function:
z+2
----z
Sampling time: 1
3) s z
: s=tf(s); G=(bm*s^m++b1*s+b0)/(an*s^n++a1*s+a0);
2.11.12
G( s)
>> s=tf('s');
>> G=(2*s+3)/(s^2+4*s+1)
:
Transfer function:
2s+3
------------s^2 + 4 s + 1
2s 3
s 4s 1
2
2. 123
: z=tf(s, Ts); G=(bm*z^m++b1*z+b0)/(an*z^n++a1*z+a0);
2.11.13.
G ( s)
:
>> z=tf('z',1);
>> G=(z+1)/(z^2-0.2*z+0.2)
z 1
z 0.2 z 0.2
2
:
Transfer function:
z+1
----------------z^2 - 0.2 z + 0.2
4) ss
ss state-space ( )
LTI .
:
sys = ss(A,B,C,D)
(a continuous-time state-space (ss) model) SYS A,B,C,D.
SYS ss . D=0
.
sys = ss ss .
:
:
G=ss(A,B,C,D)
A, B, C, D :
x Ax Bu
y Cx Du
2.11.14: :
x1 1 2 x1 0
x 0 1 x 1u
2
2
x
y 1 0 1
x2
Matlab :
>> A=[-1 2; 0 -1]; B=[0; 1]; C=[1 0]; D=[0];
>> G=ss(A,B,C,D)
:
124
a=
x1 x2
x1 -1 2
x2 0 -1
b=
u1
x1 0
x2 1
c=
x1 x2
y1 1 0
5) pole zero
Slu`at za odreduvawe na polovite i nulite na sistemot.
:
p=pole(G); z=zero(G);
: G e LTI ( tf ss)
p z , .
2.11.15
:
G(s)
2s 3
s 4s 1
2
; : p1,2 2 3 ; : z1
:
>> s=tf('s');
>> G=(2*s+3)/(s^2+4*s+1);
>> p=pole(G)
>> z=zero(G)
:
p=
-3.7321
-0.2679
z=
-1.5000
2.12
( !)
3
1.5
2
2. 125
1
1
2
3
4
5
8
9
10
n-
cf (t )
f1 (t ) f 2 (t )
f (t )
sF ( s) f (0 )
f (t )
s 2 F (s) sf (0 ) f ' (0 )
f (t )
f ( n) (t )
12
s n f ( s) s ( n 1) f (0 ) ...
f (t )dt
1
F (s)
s
f (at), a 0
1 s
F( )
a a
1 t
f( )
a a
F (as), (a 0)
f (t b); b 0
e bs F (s)
e at f (t )
F ( s a)
e at f (t )
F ( s a)
tf (t )
dF ( s )
ds
n ( n)
(1) F ( s)
t n f (t )
cF ( s)
F1 ( s) F2 ( s)
... sf ( n 2) (0 ) f ( n 1) (0 )
11
2.1.
L
4
f (t )
t
F ( )d
s
f1 ( ) f 2 (t )d
F1 (s) F2 (s)
13
14
lim sF ( s)
f (0)
f ()
s 0
lim sF ( s)
126
1
1
2
2.2.
f (t ), f (t ) 0 t 0
F (s)
3
1
(t )
1
s
1
S (t )
3
t2
te at
t 2 e at
t n e at
10
1 e at
1
a
13
14
15
s n 1
1
sa
1
e at
12
s3
1
tn
n!
11
s2
2
(e at 1 at)
(1 at)e at
sin ot
cosot
t sin ot
( s a) 2
1
( s a)3
n!
( s a ) n 1
a
s( s a)
a
s 2 ( s a)
s
( s a) 2
o
s o2
2
s
s o2
2
2o s
( s o2 ) 2
2
2. 127
16
s 2 o2
t cosot
17
( s 2 o2 ) 2
e at sin ot
18
( s a) 2 o2
sa
e at cosot
19
te at sin ot
20
te
at
21
( s a) 2 o2
2o ( s a)
[(s a) 2 o2 ]2
( s a) 2 o2
cosot
( s a) 2 o2
sht
22
s 2
2
cht
s 2
2
2.3.
( t 0 )
1
1
1
Ts 1
1
s (Ts 1)
s 1
s (Ts 1)
1
1
T
1
1 e at , a
T
1
T
1 Ce at , a , C
T
T
2
3
4
s (Ts 1)
2
s 1
s (Ts 1)
2
22 s 2 1s 1
s 2 (Ts 1)
ae at , a
T (e at 1) t , a
1
T
1
, C T
T
1
t, a ,
T
C (1 e at ) t , a
C1 C2 e at
C1 1 T , C2
22 1T T 2
T
128
1
(Ts 1)
1
s (Ts 1)
1 (1 at)e at , a
1
(T1s 1)(T2 s 1)
10
s
(T1s 1)(T2 s 1)
11
1
s(T1s 1)(T2 s 1)
C (e a1t e a 2 t ), a1
C
C1
T 2 s 2 2Ts 1
, 0 1
s 1
, 0 1
T s 2Ts 1
Ce
1
s(T 2 s 2 2Ts 1)
1
1
, C2
T1 (T2 T1 )
T2 (T1 T2 )
1 2
sin t , ,
T
T
1
T 2
(1 2 )T 2 2
s 1
, 0 1
s(T s 2Ts 1)
1 2
,
T
, arctg
1 Ce t sin(t ),
, 0 1
1
1
, a2
T1
T2
Ce t sin(t ),
2 2
14
1
1
, a2
T1
T2
T1
T2
, C2
T2 T1
T1 T2
13
1
T1 T2
1 C1e a1t C2 e a 2 t , a1
C1
1
T
1
1
, a2
T1
T2
C1e a1t C2 e a 2 t , a1
12
1
T
a 2te at , a
1 2
1
, C
, arctg
T
T
1 Ce t sin(t ),
2 2
(1 2 )T
2
T 2
1 2
,
T
, arctg
T 2
T 2
2. 129
2.13
1.
2.
3.
Dorf, R.C., Bishop, R.H.: Modern Control Systems, Ninth Edition, Prentice Hall
Inernational, 2001.
4.
5.
Dimirovski, G.: Sistemi na avtomatsko upravuvawe, Sveska 3 Sostojbena linearna teorija na upravuvani dinami ,
-
, , 1998.
6.
7.
Jonatan How: Feedback Control Systems, MIT Open Course Ware - Aeronautics
and Astronautics, Fall, 2001. http://ocw.mit.edu/OcwWeb/Aeronautics-andAstronautics/16-31Fall- 2001/LectureNotes/index.htm
8.
Dahleh, M. and all: Lectures on Dynamic Systems and Control, MIT Open
Course Ware - Aeronautics and Astronautics, Fall, 2003.
http://ocw.mit.edu/OcwWeb/Aeronautics-and-Astronautics/
9.
130