Ž. Marković - Metod Za Sintezu Digitalnog Zakona Upravljanja Servo Sistemom Sa Elastično Spregnutim Masama

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, . .
. : 92/97
. . ,
. .
, 2003.
........................................................................................................................................................ 3
1.1
1.2
1.3
........................ 10
2.1
2.2
4.2
............................................................................................... 59
.................................................................... 64
......................................................................................... 68
......................................................................................... 72

....................................... 73
6.1
6.2
6.3

- ..................................................................... 48

................................................................................................. 54

..................................................................................... 59
5.1
5.2
5.3
5.4
..................................................................................................................... 16
................................. 17
........................... 18
............................. 25
.......................................................................... 28
....................................... 30
...................................................................................... 33
.................................................................. 36
............................................................ 40
.................................................... 44

......................................................................................... 48
4.1
................................................ 10
........................................................................................................................... 12
... 15
3.1
3.2
3.3
3.4
3.5
3.6
3.7
3.8
3.9
3.10
.................................................................................................................... 3
.................................... 4
.............................................................................................................................. 8
......................................................................................... 73
................................................................................................................... 84
......................................... 89

........................................................................ 109
7.1
7.2
7.3
7.4
....................................................................................................... 109
- ................ 116

.............................................................. 119

SETUP-A ............................................................. 137
........................................................................................................................................ 140
.................................................................................................................................... 142
1
1.1

,
,
(pole placement [1], [2] pole assignement technique[3]).

.
, ,
() z
, .
,
.
,
.
. ,

.
,
,
-
.
- ,
.
-,

-.
,
-
. (Graphical User Interface)
Matlab 6.0.

,

, .

setup ,

.

.
,
,
.
1.2
,

. 60%
.
, ,
. 60%
, (
) 30%,
10% [4], [5].
(DC ),
. ,
,

.
, ,
() [6].
, (
)
. ,
[7].
,
[8].
,

[9].
,
(DC brushless motor).
,
(
),
. Blaschke [10],
.
Hasse [11], [7], [12].

,
.

[13], [14],
[5], [15], [16], [17]. ,
,
.
,
[7], [18].

,

[19], [20].
,
4

[21].
,

.
, ,
.

:
;
(tracking) ;
;

;

,
(
),
, .
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.
.
,
.
, :
,
,
;

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,
;

;

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,

, ,

, .

.

; Lin Tsai [22],
Bose [23], (. sliding mode control)

, .

()
,
. ,
(PI, PID ),
.
Haneda Nagao [24]
, [25]

.
[26], [27].
; .
,

.
, 100 200
Hz.
:
,

,

,
(
)
.
-

.

.
, ,
-. ,
,
, 500 Hz 2
kHz. ,
/.
.
,
30 Hz 300 Hz.

- .

[28]-[31].

(10-20 Hz).
, -
.
,
:
1.
[32], [33];
2. [31],
[34], [35],
3. (
) [34], [36],
[37].
Meschat [38]
.

[28], [34].

[39], [40].
[41].
, .
,
,
.

[32], [33],
.
,
[29], [30], [31].
[37]
.
,
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FIR -
.
.

[1], [3], [5], [42].

( ) .
[2].
[42] [44].

, , ,
.

,

.
1.3

.

, ,
.

.

.

. ,
,

.

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.

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-
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. (Graphical User
Interface) Matlab 6.0.

.

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, .
,

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8
. ,

- (PI ).
, ,

,
.
,
setup-.
,

.

(pole
placement [1], [2] pole assignement technique[3]).

. ,

,
.
2.1
dx(t )
= Ax(t ) + Bu (t ) ,
dt
(2.1)
: x(t) , u(t) , .
,
:
x(kT + T ) = x(kT ) + u (kT ) ,
(2.2)
= e AT ,
T As
= e ds B.
(2.3)

.
, . :
u (kT ) = Lx(kT ) .
(2.4)
u(t) ,
(2.2), ; (2.2)
:
a1
1
z (kT + T ) =
M
a 2 L a n 1
0 L
0
M
M
0 L
1
an
1
0
0
z (kT ) + u (kT ) ,
M
M

0
0
(2.5)
z n + a1 z n 1 + K + a n ,
(2.6)
10
.
:
P ( z ) = z n + p1 z n 1 + K + p n .
(2.7)
(2.4) :
~
u = L z ,
(2.8)
~
L = [ p1 a1
(2.9)

p2 a2 L
pn an ] ,

(2.7). (2.8) :
~
~
u = L z = L Hx = Lx ,
(2.10)
H x z.
~
. Wc Wc (2.2) (2.5),
:
~
Wc = HWc .
(2.11)
:
~
Wc1
1 a1 L a n 1
0 1 L a
n2
.
=
M M
M
0 0 L 1
:
~
H = WcWc1 .
(2.12)
(2.13)
~
(2.5) Cayley-Hamilton- [3]
~
,
(2.7):
~
~
P( ) = n + p1 n 1 + K + p n I =
.
(2.14)
~
= ( p1 a1 ) n 1 + K + ( p n a n ) I
(2.9) :
( )
~
~
L = [0 L 0 1]P .
(2.15)
~
= HH 1 ,
(2.16)
~
L = L H = [0 L 0 1]P HH 1 H = [0 L 0 1]HP( ) .
, (2.12), :
[0 L 0 1]W~c = [0 L 0 1],
(2.17)
(2.18)
11
:
~~
L = L WcWc1 = [0 L 0 1]Wc1 P( ) .
(2.19)
(2.19) Ackermann- [2], [3].
2.2
,
.
,
()
[2], [45]. (2.20):
x(k + 1) = x(k ) + u (k )
.
y (k ) = Cx(k )
)
x x :
)
)
x (k + 1) = x (k ) + u (k ) ,
(2.20)
(2.21)
(2.20). (2.21)
)
(2.20) (2.20) (2.21) , x
x (2.20). (2.20) (2.21)
)
, x x (2.20)
. (2.21)

:
)
)
)
x (k + 1 k ) = x (k k 1) + u (k ) + K [y (k ) Cx (k k 1)] ,
(2.22)
)
. x (k + 1 k ) x(k + 1)
. :
)
)
x = xx.
(2.23)
(2.22) (2.20), :
)
)
)
x (k + 1 k ) = x (k k 1) K [y (k ) Cx (k k 1)] =
)
= [ KC ]x (k k 1)
(2.24)
(2.24) ,
. ,
,
(2.20) . (2.22)
(2.20) .
(2.22).
)
(2.22) , x (k k 1) k 1 ,
:
)
)
)
x (k k ) = x (k 1 k 1) + u (k 1) + K [y (k ) C {x (k 1 k 1) + u (k 1)}] =
. (2.25)
)
= [I KC ][x (k 1 k 1) + u (k 1)] + Ky (k )
12
(2.25) :
)
)
)
x (k k ) = x(k ) x (k k ) = ( KC )x (k 1 k 1) .
(2.26)
( KC ) .
:
)
)
y (k ) Cx (k k ) = Cx (k k )
)
= (C CKC )x (k 1 k 1)
)
= (I CK )Cx (k 1 k 1)
p , I CK p p ;
CK = I : rang (C ) = p .
Cx (k k ) = y (k ) , . .
p (2.25), .

[46].
2.2.1
2.1.
.
)
)
(2.20) (2.23): x = x x ,
, :
u (k ) = Lx (k k 1) ,
)
x :
)
)
)
x (k + 1 k ) = x (k k 1) + u (k ) + K [y (k ) Cx (k k 1)] .
(2.27)
(2.28)
,
:
x(k + 1) = [ L ]x(k ) + Lx (k k 1)
.
x (k + 1 k ) = [ KC ]x (k k 1)
(2.29)
2.1.
2n .
L KC .
L
(2.7), KC
.
13
2.2.2
(2.24) . ,
CK
.
L
. : (2.20)
(2.24)
P( z ) (2.7). ,
;

. ,
, ,
.
z ,
. ,
,
.
,
,
.
:

[45]. ,
:
,
.
14

. ,
() z
, .
,
.
,

.
.
.

.
,

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.
,
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:
,
,
( , ,
- ).
15
3.1
3.1..
: GR(z) GY(z),
( ) GP(z)
G(z).
3.1. : () ()

3.1.() 3.1.(),
.
.
3.1.() 3.1.() :
T ( z)
,
R( z )
S ( z)
GY ( z ) =
,
R( z )
B( z )
G P (z ) =
,
A( z )
C ( z)
.
G ( z ) =
A( z )
G R (z ) =
(3.1)
u y.
GP(z) ,
(D/A ), , A/D
16
antialiasing .
GP(z) . , . (z) (z)
. , G(z)
.

.
u, , .
r y.
:
R ( z )u ( z ) = T ( z )r ( z ) S ( z ) y ( z ) .
(3.2)
R (
R . ).
I
GR(z) GY(z),
(3.1), (3.2)
:
3.2
deg R deg T ,
(3.3)
deg R deg S .
(3.4)

:
GP(z) G(z) ,
(3.2),

, .
:
GM (z ) =
Bm ( z )
,
Am ( z )
(3.5)
.
3.1.() (3.1) (3.2),
:
[A(z ) R(z ) + B(z ) S (z )] y ( z ) = B( z ) T ( z ) r ( z ) .
(3.6)

(3.5), :
B ( z)
B( z )T ( z )
= m
.
A( z ) R( z ) + B( z ) S ( z ) Am ( z )
(3.7)
,
R(z), S(z) T(z) (3.7),
:
17
B ( z )T ( z ) = Bm ( z ) .
(3.8)
A( z ) R ( z ) + B( z ) S ( z ) = Am ( z ) .
(3.9)
, R(z), S(z) T(z)

,
:
, ,
,
,
II
GP(z) (3.1)
GM(z) (3.5), (3.2)
.
:
deg Am deg Bm deg A deg B .
3.3
, X+BY=C
(3.10)
3.2 X Y
,
A X + B Y = C ,
(3.11)
A, B, C .
, (Diophantus
246?-330? ..) . 13
260 .
: ,
[47]. ,
(3.11),
,
.
x n + y n = z n , (Pierre de
Fermat 1601.-1665. .) x, y z
x n + y n = z n n>2 [48].
1996. , 120 Andrew J. Wiles.
, (3.11)
(Aryabhatta) , C = q m (3.11) (Bezout) .
18
3.3.1
,
, .
:
a x +b y = c ,
(3.12)
a, b, c Z . ()
3.2.
3.1: c ab . c | ab b
c, 1, . (b, c) = 1 c a . c | a.
: (b, c) = 1, x y bx+cy = 1.
a, abx + acy = a. c
, c a.
3.2: (a, b) = 1 c , ax+by = c
x = x0 y = y0. , ,
, :
x = x0 + b t ,
y = y0 a t,
t.
: je (a, b) = 1, x1 y1 ax1+by1 = 1. x0 =
cx1 y0 = cy1 ax+by = c, :
a (cx1 ) + b(cy1 ) = c 1 .
x y ax+by = c. :
ax + by = c,
ax0 + by 0 = c.
, :
a( x x0 ) + b( y y 0 ) = 0,
a( x x0 ) = b( y y 0 ).
b 0 (a, b) = 1, b x x0 x x0 = bt t Z ,
. x = x0 + bt . bt x x0 :
abt = b( y y 0 ) .
b y = y 0 at . , x = x0 + b t ,
y = y 0 a t , ax+by = c, t.
, (a, b) = g ax+by = c, g | c.
g | c :
19
ax + by = c,
a
b
c
x+ y = ,
g
g
g
, , g
.

(3.12) Brahmagupta [48], .
.
b.
b
:
a =bq + r.
(3.13)
u b
r :
r = a b q = s u t u q = ( s t q) u .
(3.14)
b, b r,
b :
a
q1 = a = b q1 + r1
b
r1 = a b q1 ,
(3.15)
x x,
b
q 2 = b = q 2 r1 + r2
r1
r
q 3 = 1 r1 = q 3 r2 + r3
r2
r2 = b q 2 r1 ,
r3 = r1 q 3 r2 ,
(3.16)
r
q n = n 2 rn 2 = q n rn 1 + rn rn = rn 2 q n rn 1 ,
rn 1
r
r
q n +1 = n 1 rn 1 = q n +1 rn + 0 rn = n 1 .
q n +1
rn
(3.16)
b, u=rn.

(3.12). :
a x0 + b y 0 = 1 ,
(3.17)
(3.12) :
x = x0 c , y = y 0 c .
(3.18)
(3.17)
. a = r1 b = r2 . :
20
r1 = q1 r2 + r3
r2 = q 2 r3 + r4
rn 3
M
= q n 3 rn 2 + rn 1
(3.19)
rn 2 = q n 2 rn 1 + 1.
(3.19) :
1 = rn 2 q n 2 rn 1 ,
(3.20)
rn 1 = rn 3 q n 3 rn 2 .
(3.21)
(3.21) (3.20), :
1 = q n 2 rn 3 + (1 q n 2 q n 3 ) rn 2 .
(3.22)
(3.19),
(3.17).

(3.11), . .

,

( ):
, ( )
( )
( ) ( ).
, 3.2
, :
3.3: A, B C .
A B C, A X + B Y = C
X = X0 Y = Y0. , ,
, :
X = X 0 + B Q,
Y = Y0 A Q,
(3.23)
Q .
3.3: A X + B Y = C
:
deg X < deg B ,
(3.24)
deg Y < deg A .
(3.25)
,
(3.11).
, ,
.
21
(3.11). R1 ( z ) = A( z )
R2 ( z ) = B( z ) . :
R1 ( z ) = Q1 ( z ) R2 ( z ) + R3 ( z )
R 2 ( z ) = Q 2 ( z ) R3 ( z ) + R 4 ( z )
M
R n 2 ( z ) = Qn ( z ) Rn 1 ( z ) + Rn ( z )
(3.26)
R n 1 ( z ) = Qn +1 ( z ) Rn ( z ) + Rn +1 ( z )
R n +1 ( z ) = 0.
(3.26)
A(z) B(z) Rn(z). A(z) B(z)
Rn(z), :
Rn ( z ) = 1 .
(3.27)
(3.26), :
1 = Rn ( z ) = Rn 2 ( z ) Qn ( z ) Rn 1 ( z ) ,
(3.28)
R n 1 ( z ) = R n 3 ( z ) Qn 1 ( z ) R n 2 ( z ) .
(3.29)
(3.29) (3.28) :
1 = Qn ( z ) Rn 3 ( z ) + (1 + Qn ( z ) Qn 1 ( z )) Rn 2 ( z )
= U n 3 ( z ) R n 3 ( z ) + Vn 2 ( z ) Rn 2 ( z ).
(3.30)
(3.30), :
1 = U 1 ( z ) R1 ( z ) + V2 ( z ) R2 ( z ) = U 1 ( z ) A( z ) + V2 ( z ) B( z ) ,
(3.31)
(3.11):
X ( z) = U1 ( z) C ( z) ,
(3.32)
Y ( z ) = V2 ( z ) C ( z ) .
(3.33)
3.3.2

,
z
, . .
(3.9), :
A( z ) R ( z ) + B ( z ) S ( z ) = Ac ( z ) .
(3.34)
22
(3.34) Am Ac .
A(z) B(z) :
y B( z )
,
=
u A( z )
(3.35)
A( z ) = z n + a n 1 z n 1 + ... + a1 z + a 0 ,
(3.36)
B ( z ) = bn z n + bn 1 z n 1 + ... + b1 z + b0 ,
(3.37)
(3.35)
, . (z) (z) .
(3.34)
z:
a r
i + j =k
i j
b s
i+ j =k
= a ck , k = 0, K, m ,
(3.38)
m = max deg( AR, BS ) , :
a 0
b0
0 L 0
0 L 0
b1
b0 L 0
a0 L 0
a1
M
M
b1 L M
a1 L M
M L 0
M L 0 bn 1
a n 1
m + 1 1 a n 1 L a 0
bn bn 1 L b0
0
0
bn L b1
1 L a1
M
0 L M
0 L M
M
M L bn 1
0
M L a n 1
0
0
0
0 L bn
0 L 1
24443 144424443
1444
deg R +1
deg S +1
r0 a c 0
r a
1 c1
M M

rp 1 M
rp = M .

s0 M
s M
1
M a cm 1
s a
l cm
(3.39)
S:
a0
a
1
M
a n 1
S= 1
0
M
0
0
0
a0
a1
M
a n 1
1
0
M
0
L 0
L 0
L M
L 0
L a0
L a1
L M
L a n 1
L 1
b0
b1
M
bn 1
bn
0
M
0
0
0
b0
b1
M
bn 1
bn
0
M
0
L 0
L 0
L M
L 0
L b0
L b1
L M
L bn 1
L bn [m +1m +1]
(3.40)
(3.39) (Sylvester) .
(z) (z)
23
, S.
(z) (z) :
n
A( z ) = ( z i ) ,
(3.41)
i =1
B ( z ) = bn ( z i ) ,
(3.42)
i =1
:
S = (1)
n( n 1)
2
i =1
j =1
(bn ) n ( i j ) .
(3.43)
i j 0, (i, j ) [1, n] ,
(3.44)
(z) (z) ,
.
(3.39) R(z)
S(z) RS:
RS = r0
r1 L rp 1
rp
s0
s1 L s l 1
sl
T
m +11
(3.45)
R(z) S(z) :
RS = S 1 A c
(3.46)
(3.46) S , .
( (3.38)
), :
m + 1 = deg R + deg S + 2 .
(3.47)
m = max deg( AR, BS ) m : m = deg AR

m = deg BS . m = deg AR . , (3.47):
deg AR + 1 = deg R + deg S + 2,

deg A + deg R + 1 = deg R + deg S + 2,
:
deg S = deg A 1 .
(3.48)
(3.34) :
deg( AR + BS ) = deg Ac ,
deg AR = deg( Ac BS ) = max deg( Ac , BS ),

(3.48) deg A :
deg R = max(deg Ac deg A, deg B 1) .
(3.49)
24
:
deg S = deg A 1,
deg R = max(deg Ac deg A, deg B 1).
(3.50)
m = deg BS , :
deg R = deg B 1,
deg S = max(deg Ac deg B, deg A 1).
(3.51)
(3.50) (3.51) :
deg Ac deg A + deg B 1 .
(3.52)
Ac , (3.52) ,
:
deg Ac deg A + deg B 1,
deg R = deg B 1,
deg S = deg A 1.
(3.53)
3.3.
3.4

: R(z), S(z) T(z)
(3.7):
B ( z)
B( z )T ( z )
= m
,
A( z ) R( z ) + B( z ) S ( z ) Am ( z )
(3.7)
B ( z )T ( z ) = Bm ( z ) .
(3.8)
A( z ) R ( z ) + B( z ) S ( z ) = Am ( z ) .
(3.9)
(3.7)
:
A( z ) R( z ) + B( z ) S ( z ) = 0 .
(3.54)
B(z) T(z).
(3.54) Am ( z ) .
(3.9) (3.7)
, . .
, . B(z).
B(z) Bm(z),
(3.54), , .
25
,
, . z .
B(z) :
B( z ) = B + ( z ) B ( z ) ,
(3.55)
B ( z ) , B + ( z )
z . ,
B( z )
B + ( z ) , . B + ( z ) .
B ( z ) A( z ) R( z ) + B( z ) S ( z ) ,
Bm ( z ) ,
:
Bm ( z ) = B ( z ) Bm ( z ) .
(3.56)
,
Bm ( z ) . B + ( z ) A( z ) R( z ) + B( z ) S ( z ) ,
R( z ) . :
R ( z ) = B + ( z ) R ( z ) ,
(3.57)
(2.33) :
B ( z ) Bm ( z )
B + ( z) B ( z) T ( z)
.
=
Am ( z )
B + ( z ) [ A( z ) R ( z ) + B ( z ) S ( z )]
(3.58)
, . A(z).
, . A(z),
z . , A(z)
:
A( z ) = A + ( z ) A ( z ) ,
(3.59)
A ( z )
( ), A + ( z ) .
A + ( z ) T ( z ) ,
:
T ( z ) = A + ( z ) T ( z ) .
(3.60)
A + ( z ) A( z ) R ( z ) + B( z ) S ( z ) ,
S ( z ) . :
S ( z ) = A + ( z ) S ( z ) ,
(3.61)
(3.58) :
B ( z ) Bm ( z )
B + ( z ) B ( z ) A + ( z ) T ( z )
,
=
Am ( z )
A + ( z ) B + ( z ) [ A ( z ) R ( z ) + B ( z ) S ( z )]
(3.62)
26
B ( z)
T ( z )
= m
.
A ( z ) R ( z ) + B ( z ) S ( z ) Am ( z )
(3.63)
Ao ( z )
.
,
. , Ao ( z )
A( z ) R( z ) + B( z ) S ( z ) T ( z ) .
(3.62) (3.63) ,
:
A ( z ) R ( z ) + B ( z ) S ( z ) = Am ( z ) Ao ( z ) ,
(3.64)
T ( z ) = Bm ( z ) Ao ( z ) .
(3.65)
A( z ) R( z ) + B( z ) S ( z ) = Am ( z ) Ao ( z ) B + ( z ) A + ( z ) ,
(3.66)
T ( z ) = Bm ( z ) Ao ( z ) A + ( z ) .
(3.67)
Ao ( z ) ,
R( z ) S ( z ) ,
R f ( z ) S f ( z ) ,
, :
R ( z ) = R f ( z ) R ( z ) ,
(3.68)
S ( z ) = S f ( z ) S ( z ) .
(3.69)

R f ( z ) S f ( z ) ,
, (3.66) (3.67). ,
:
A( z ) = R f ( z ) A( z ) ,
(3.70)
B ( z ) = S f ( z ) B( z ) .
(3.71)
:
A( z ) R ( z ) + B ( z ) S ( z ) = Am ( z ) Ao ( z ) B + ( z ) A + ( z ),
,
+
T ( z ) = Bm ( z ) Ao ( z ) A ( z ).
(3.72)
R( z ) S ( z ) , (3.68) (3.69):
R ( z ) = R f ( z ) R ( z ) ,
(3.68)
S ( z ) = S f ( z ) S ( z ) .
(3.69)
27
Ao ( z )
R f ( z ) S f ( z ) 3.7. 3.8..
3.4.1
:
B ( z ) A + ( z ) Ao ( z ) Am ( z ) .
+
, A + ( z ) A + (z ) = 1 .
: B + ( z ) Ao ( z ) Am ( z ) .

2.2.1.
, :
Am (z ) = det( zI + L) ,
(3.70)
Ao ( z ) = det( zI + KC ) .
(3.71)
,
Ao ( z ) .
Ao ( z ) A( z ) R ( z ) + B( z ) S ( z )
T ( z ) , Ao ( z )
.
.

. Ao ( z ) Am ( z )
Ao ( z )
. , ,
A + ( z ) Ao ( z ) = Ao ( z ) .
Ao ( z )
, 3.7.
3.8..
3.5

. I II
, . (3.3), (3.4) (3.10)
(3.2):
deg R deg T ,
(3.3)
deg R deg S .
(3.4)
deg Am deg Bm deg A deg B .
(3.10)
28
,
:
A + ( z ) Ao ( z ) = Ao ( z ) ,
(3.72)
Am ( z ) Ao ( z ) = Ac ( z ) .
(3.73)

3.3., 3.3., (3.53):
deg Ac deg A + deg B 1,
deg R = deg B 1,
deg S = deg A 1.
(3.53)

,
(3.10) :
deg Ao 2 deg A deg Am deg B + 1 .
(3.74)
:
(3.66) (3.72) :
A( z ) R( z ) + B( z ) S ( z ) = B + ( z ) Ao ( z ) Am ( z ) .
(3.75)
deg B < deg A (3.4): deg S deg R , :
deg AR = deg( AR + BS ) = deg B + Ao Am .
(3.76)
deg R = deg Ao + deg Am + deg B + deg A .
(3.77)
(3.72) T ( z ) :
deg T = deg Ao + deg Bm .
(3.78)
(3.3), :
deg Ao + deg Am + deg B + deg A deg Ao + deg Bm .
(3.79)
(3.79) :
deg Am deg Bm deg A deg B + .
(3.80)
deg B , (3.56),
(3.10).
, S ( z ) (3.53), (3.4), :
deg Ao + deg Am + deg B + deg A deg A 1 .
(3.81)
(3.81) (3.74).
, (3.3) (3.4)
. ,
:
deg R = deg S = deg T .
(3.82)
29
,
, :
deg R = 1 + deg S = 1 + deg T ,
(3.83)
3.6

. .
,
,

, ,
[3].
.
3.4:
(3.1):
B( z )
,
A( z )
(3.1)
B o ( z)
G ( z) = o
.
A ( z)
(3.84)
GP ( z) =
:
o
P
G P (z ) G Po ( z ) ,
G M (z ) .

G Po ( z ) , :
G P ( z ) G Po ( z ) <
GP ( z) T ( z)
G ( z) GR ( z)
,
= P
G M ( z ) S ( z ) G M ( z ) GY ( z )
(3.85)
z = 1 , (3.1):
G R (z ) =
T ( z)
,
R( z )
(3.86)
(feedforward) ,
GY ( z ) =
S ( z)
,
R( z )
(3.87)
(feedback).
:
(3.85) [2].
:
30
G LG ( z ) =
B( z ) S ( z )
,
A( z ) R( z )
:
1 + G LG ( z ) = 1 +
B ( z ) S ( z ) B + ( z ) Ao ( z ) Am ( z )
=
.
A( z ) R( z )
A( z ) R( z )
, 3.4.:
Ao ( z ) =
T ( z) B ( z)
,
Bm ( z)
B + ( z ) B ( z ) T ( z ) Am ( z ) B( z ) Am ( z ) T ( z )
=
.
1 + G LG ( z ) =
A( z ) R( z )
A( z ) Bm ( z ) R( z )
(3.1) (3.5), :
1 + G LG ( z ) =
(3.85)
GP ( z) T ( z)
.
G M ( z ) R( z )
S (z )
, :
R(z )
G ( z) T ( z)
S ( z)
S ( z) o
GP ( z)
GP ( z) < P
= 1 + G LG ( z ) ,
R( z )
R( z )
G M ( z ) R( z )
,
o
G LG ( z ) G LG
( z ) < 1 + G LG ( z ) .
(3.85)
[2].
G M (z ) ,
G P (z ) , G Po (z ) .
G Po (z )
:
G M (z ) ;
G P (z ) G Po (z ) z ,

G Po ( z ) G P ( z ) < 1 + G P ( z ) ,
(3.88)
z = 1 .
(3.88)
1 + G P ( z ) 1 + G Po ( z ) [2].
3.4.:
3.4.
. ,
31
(3.88)
.
G Po ( z ) 1 ,
.
; ,
(3.85) z = e jT ,
.
.
, (3.85)
:
G LG ( z ) =
S ( z ) B( z ) 1
< ,
R( z ) A( z ) 3
(3.89)
o
G LG
( z) =
S ( z) B o ( z) 1
< .
R( z ) Ao ( z ) 3
(3.90)
, (3.85)
1
.
3
:
G P ( z ) G Po ( z )
GP ( z)
G ( z)
1
R
.
G M ( z ) GY ( z )
(3.91)
(3.85) .
G P (z ) ,
. ,
G M (z ) ,
. G P (z ) , G M (z )
, G M (z ) .
G P ( z ) G M ( z )
.
.
. ,
, ,
.
:
GR ( z) T ( z)
.
=
GY ( z )
S ( z)

.
, .
32

.
G P (z ) G Po ( z ) .
3.7
,

, .
.
,
, .
3.2.
( z ) ( z ) .
3.2. .
, r ( z ) 0 ,
. :
u( z) =
A( z ) S ( z )
C ( z) S ( z)
( z)
( z) .
A( z ) R( z ) + B( z ) S ( z )
A( z ) R( z ) + B( z ) S ( z )
(3.92)
, r ( z ) 0 ,
, . :
y( z) =
A( z ) R( z )
C ( z ) R( z )
( z) +
( z) .
A( z ) R( z ) + B( z ) S ( z )
A( z ) R( z ) + B( z ) S ( z )
(3.93)
S u ( z ) =
u( z)
C ( z) S ( z)
=
,
( z)
A( z ) R( z ) + B( z ) S ( z )
(3.94)
S u ( z ) =
u( z)
A( z ) S ( z )
=
,
( z)
A( z ) R( z ) + B( z ) S ( z )
(3.94)
y( z)
C ( z ) R( z )
=
,
( z ) A( z ) R( z ) + B( z ) S ( z )
(3.94)
S y ( z ) =
33
S y ( z ) =
y( z)
A( z ) R( z )
=
.
( z ) A( z ) R ( z ) + B ( z ) S ( z )
(3.94)
(3.94) ,
. (3.94) :
3.1.

(z )
C ( z) S ( z)
A( z ) R( z ) + B( z ) S ( z )
C ( z ) R( z )
A( z ) R ( z ) + B( z ) S ( z )
(z )
A( z ) S ( z )
A( z ) R( z ) + B( z ) S ( z )
A( z ) R ( z )
A( z ) R( z ) + B ( z ) S ( z )

. , , ,
:
y ( z ) = P( z )u ( z ) ,
:
u ( z ) = C ( z ) (r ( z ) y ( z ) ) ,
y ( z ) = H ( z )u ( z ) =
C ( z ) P( z )
,
1 + C ( z ) P( z )

, :
S=
log(H ( z ) ) dH ( z ) H ( z )
1
=
=
.
log(P( z ) ) dP( z ) P( z ) 1 + C ( z ) P ( z )
[2]
, :
S y ( z ) =
B( z ) R( z )
.
A( z ) R( z ) + B( z ) S ( z )
(3.94)
(3.94),
,
, ,
.
3.1.,
. , (
, ),
R( z ) S ( z )
34
, .
, (3.75) :
A( z ) R( z ) + B( z ) S ( z ) = B + ( z ) Ao ( z ) Am ( z ) .
(3.75)
,
R( z ) , S ( z ) Ao ( z ) , .
, 3.2.
, ,
, . ,
. ,
, S e jT
. ,

R( z ) . ,
, R(1) = 0 ,
.
, R( z )
S ( z ) ,
Ao ( z ) , ,
R( z ) S ( z ) Ao ( z ) ( ).
R( z ) S ( z ) ,
Ao ( z ) .
3.7.1
,
,
.
, ,
.
,
.
,
, .
.
,
, z
.
.
.

.
, ,

,
. R( z )
,
35
Ao ( z ) .
- ,
, . (notch) . , notch
:
Q( z ) = z 2 2 z cos(T ) + 1 ,
(3.95)
, , S ( z ) .
, 3.4.,
A + ( z ) S ( z ) ( 3.61), A + ( z )
- ,
notch - .
,
,
.
( )
, . Ao ( z ) .
,
2.2.2.
3.8
,
( tracking)
.
,
. , IMP (Internal Model Principle)
[49]. , /

,

.
: IMP,
[49]-[51],
IMC (Internal Model Control),
[52].
Ya. Z. Tsypkin
, IMPACT (Internal Model Principle And Control Together) [53].

[54].
(
)
,
( )
. , .
,
,
.

.
36
3.8.1
:
(z 1 ) (k ) = (k ) ,
(3.96)
z 1 = 1 + f1 z 1 + f 2 z 2 + K + f deg z (deg ) ,
(3.97)
( )
, :
(k ) = , k = 0,
(k ) = 0, k 0.
(3.98)
E{ (k )} = 0, k = 0,
2
E{ (k ) (k t )} = , t = 0,
E{ (k ) (k t )} = 0, t 0.
(3.99)
( )
(k ) , z 1
z .
(k ) . :
(z 1 ) (k ) = 0, k deg ,
(3.100)
( )
, ( 1), K , ( deg ) . z 1 .
. z 1
, , .
, z 1 (k ) . ,
, P :
( )
( )
(z 1 ) = (1 z 1 ) P (z 1 ) ,
(3.101)
, :
(k + 1) = P (z 1 ) (k ) ,
(3.102)
P (z 1 ) (k ) .
3.2.
.
3.2.
a
a + bk
a + bk + ck 2
a sin (k + b )
(k ) = (k T )
P (z 1 )
(z 1 )
(k )
1 z 1
(1 z )
(1 z )
1 2
2 z 1
1 3
3 3z 1 + z 2
1 2 cos z 1 + z 2
2 cos z 1
1 z T
z (T 1)
37
3.8.2
,
. ,
:
A( z ) y (k ) = B( z )u (k ) + C ( z ) (k ) ,
(3.103)
R( z )u (k ) = S ( z ) y (k ) + T ( z )r (k ) ,
(3.104)
:
, :
y (k ) =
B( z ) T ( z )
R( z ) C ( z )
r (k ) +
(k ) ,
A( z ) R( z ) + B( z ) S ( z )
A( z ) R ( z ) + B( z ) S ( z )
(3.105)
u (k ) =
A( z ) T ( z )
S ( z) C ( z)
r (k )
(k ) .
A( z ) R( z ) + B( z ) S ( z )
A( z ) R( z ) + B( z ) S ( z )
(3.105)
(z 1 ) (k ) = 0, k deg ,
(3.100)
y ( z ) :
R( z ) C ( z )
lim
(k ) = 0 .
k A( z ) R ( z ) + B ( z ) S ( z )
(3.106)
( )
1. z 1 R( z ) , . R ( z ) = ( z ) R1 ( z ) ,
2. ( A( z ) R( z ) + B( z ) S ( z ) 0, z 1) .
( )
, z 1 R( z )
.
.
3.8.3
, ,
(. tracking errors),
r (k ) :
(z 1 ) r (k ) = 0, k deg .

r ( 1), K , r ( deg ) . , :
(3.107)
38
( )
( )
z 1 r (k ) = N z 1
(k ) = 1, k = 0,
(k ), (k ) = 0, k 0,
deg N < deg .
(3.108)
, . r ( 1) = K = r ( deg ) = 0 , r (k )
() . N z 1
:
( )
r (0) = n0 ,
r (1) + f 1 r (0) = n1 ,
r (2) + f1 r (1) + f 2 r (0) = n2 ,
(3.109)
M
r (deg ) + f 1 r (deg 1) + K + f deg r (0) = ndeg = 0.
(deg N < deg )
( )
r (k ) + f1 r (k 1) + K + f deg r (deg ) = z 1 r (k ) = 0,
( )
N z 1 = n0 + n1 z 1 + K ndeg N z deg N .
(3.110)
, , ,
. :
R( z )u (k ) = S ( z ) y (k ) + T ( z )r (k + d ) .
(3.111)
, Bd ( z ) = z d B ( z ) ,
:
y (k ) =
Bd ( z ) T ( z )
B( z ) T ( z )
r (k + d ) =
r (k ) .
A( z ) R( z ) + B( z ) S ( z )
A( z ) R( z ) + B( z ) S ( z )
(3.112)
Bd ( z ) T ( z )
r (k ) =
A( z ) R( z ) + B( z ) S ( z )
A( z ) R( z ) + B( z ) S ( z ) Bd ( z ) T ( z ) N ( z )
(k ).
A( z ) R( z ) + B ( z ) S ( z )
( z )
e( k ) = r ( k ) y ( k ) = r ( k )
(3.113)
:
1. ( A( z ) R( z ) + B( z ) S ( z ) 0, z 1) ,
( )
2. z 1 : A( z ) R( z ) + B( z ) S ( z ) Bd ( z ) T ( z ) .
:
Bd ( z ) T ( z ) + ( z ) M ( z ) = A( z ) R( z ) + B ( z ) S ( z ) .
(3.114)
, M ( z )
:
deg M ( z ) = deg Bd ( z ) 1 .
(3.115)
39
, :
M ( z) N ( z)
(k ) = 0 .
lim
k A( z ) R ( z ) + B ( z ) S ( z )
3.9
(3.116)

.
[2], [44].
, ,
,
.
3.9.1
.
, ,

, (.
3.3.). ,
(. ringing, ripple)
. ,
.
z (
)
( ), 3.3.
, .
.
3.3.

40
3.9.2

,
.
Ts , .
. ,
.
,
.
,

,
.
,
(
), 3 4
f 0 , [45]:
Ts
1
.
(3 4) f 0

,
. ,
,

.
,
, ,

.
3.9.3

GM(z).
3.4.
, (3.56):
Bm ( z ) = B ( z ) Bm ( z ) .
(3.56)
(3.56) ,
.
. ringing-. , GM(z),
,
.

. ,

41
. ,
.
,
:
P1 ( z ) = z a ,
(3.117)
a :
a=e
Ts
Td
(3.118)
(3.118) Ts , Td .
[2]. ,
z-
. z-
.
z- (dead-beat ). :
Am ( z ) = [P1 ( z )] = ( z a ) ,
n
(3.119)
n GM(z), . Am ,
3.5.
[2] z, :
Am ( z ) = z n 1 ( z a ) .
(3.120)
-
, - :
P1 ( z ) = z 2 + p1 z + p 2 ,
p1 p 2 :
(3.121)
p1 = 2e Ts cos Ts 1 ,
(3.122)
p 2 = e Ts .
(3.123)
(3.122) (3.123) Ts ,
.
. , [2]
z-, :
Am ( z ) = z n 2 z 2 + p1 z + p 2 .
(3.124)

z-,
- , :
p3 = .
(3.125)
Am GM(z), :
Am ( z ) = ( z p 3 )
n2
(z 2 + p1 z + p 2 ).
(3.126)
42
, . Bm GM(z), , ,
B (z ) . Bm (z ) ,
, :
K=
Am (1)
.
B (1)
(3.127)

. antialiasing ,
.
3.9.4

. ;
, (3.1) i (3.5), :
y( z ) = GM ( z ) r ( z) =
Bm ( z )
r ( z ),
Am ( z )
y( z) = GP ( z) u( z) =
B( z )
u ( z ).
A( z )
:
u( z) =
GM ( z )
r( z) .
GP ( z)
(3.128)
(3.128)
.
G P (z ) G M (z ) . ,
(.
).
,
,
.
,
.
,
. , ,
.
, ,
.

,
. ,
. windup-
.
,
(anti-windup), [26], [45].
, 3.7. 3.8.,

43
R(z). 3.4.
:
u ( z ) = S ( z ) y ( z ) + T ( z )r ( z ) + (1 R( z ) )v( z ) ,
(3.129)
v( z ) = sat [u ( z )] .
(3.130)
3.4. (anti-windup) .
3.10

(SISO).

.

.
3.10.1
()
.
, e
. , e , R S
R = 1 S = K , .
, :
A( z ) + K B( z ) = 0 .
(3.131)
,
R S ,
.
,
,
. ,
, .
44
3.10.2
[2], [54]
,
.
:
G( z) =
B ( z )
1
(
)
G
z
=
,
zd
z d A( z )
(3.132)
deg A( z ) = deg B ( z ) . d .
:
G fb ( z ) =
S ( z )
,
R ( z )
(3.133)
.
, :
u ( z ) = G fb ( z )(r ( z ) y ( z ) ) G ( z )G fb ( z )(1 z d )u ( z ) .
(3.134)
:
Bm ( z )
B ( z ) S ( z )
= d
.
Am ( z ) z ( A( z ) R ( z ) + B ( z ) S ( z ) )
(3.135)

. (3.133),
(3.135). , .
:
u( z) =
A( z ) Bm ( z )
S ( z)
(r ( z ) y ( z ) ) =
(r ( z ) y( z ) ) .
R( z )
B( z )( Am ( z ) Bm ( z ) )
(3.136)
:
G fb ( z )
S ( z)
z d A( z ) S ( z )
= d
=
.
R( z ) z ( A( z ) R ( z ) + B ( z ) S ( z ) ) B ( z ) S ( z ) 1 + G ( z )G fb ( z )(1 z d )
(3.137)
(3.137) (3.134).
,
.
3.10.3 (Model following control)

(model following controller).
(3.65), (3.64), :
45
T ( z ) Bm ( z ) Ao ( z ) A + ( z ) Bm ( z ) Ao ( z ) A + ( z ) Am ( z )
=
=
=
R( z )
B + ( z ) R ( z )
B + ( z ) R ( z ) Am ( z )
Bm ( z ) A( z ) R ( z ) + B ( z ) S ( z )
Bm ( z ) A( z )
Bm ( z ) B ( z ) S ( z )
=
+
=
B + ( z ) R ( z ) Am ( z )
B + ( z ) Am ( z ) B + ( z ) R ( z ) Am ( z )
B ( z ) Bm ( z ) A( z )
Bm ( z ) B ( z ) S ( z ) Bm ( z ) A( z ) Bm ( z ) S ( z )
=
+
+
.
B ( z ) B + ( z ) Am ( z ) B + ( z ) R ( z ) Am ( z ) Am ( z ) B( z ) Am ( z ) R( z )
, (3.2) :
u( z) =
=
B ( z ) A( z )
B ( z) S ( z)
T ( z)
S ( z)
S ( z)
r ( z)
y( z)
r ( z)
y( z) = m
r ( z) + m
R( z )
R( z )
Am ( z ) B ( z )
Am ( z ) R ( z )
R( z )
Bm ( z ) A( z )
S ( z)
r ( z)
( y ( z ) y m ( z ) ),
Am ( z ) B( z )
R( z )
(3.138)
:
ym ( z) =
Bm ( z )
r ( z) .
Am ( z )
(3.139)
(3.138) 3.5. 3.5.

.
3.5. (3.138)
3.10.4 - (The Dahlin-Higham algorithm)

- [2], [45],
,
.
(3.132). A( z ) B ( z )
. , ,
:
G ( z ) = z d .
(3.140)
,
, R.
:
46
Gm ( z ) =
1 a
.
z (z a )
d 1
(3.141)

.
- ,
. ,
, ,
, ,

.
47

, .
,
-
. .
(Graphical User Interface) Matlab 6.0,

. (*.m, *.mat)

.
4.1

, ,
:
I
-
GP(z)
, (D/A ),
, A/D antialiasing
G(z),
( 4.1.).
4.1.
(z), B(z) C(z),
, (z) (z),
(z) (z), .
s.
48
II

, .

GP(z).

GP(z) . B(z).

z . ,

,
,

(ripple)
.

B + ( z ) B ( z )
z .
B(z)
: B ( z ) = B + ( z ) B ( z ) .
III

, .

,
R( z ) S ( z ) ,

R f ( z ) S f ( z ) ,
,
R ( z ) = R f ( z ) R ( z )
S ( z ) = S f ( z ) S ( z ) .

R f ( z )
S f ( z ) . ,
, A( z ) = R f ( z ) A( z ) B ( z ) = S f ( z ) B( z ) .
49
IV

R.
,
deg R deg T
deg R deg S .

, deg R = deg S = deg T , je
,
deg R = 1 + deg S = 1 + deg T ,
.
V

,

.
deg A deg B +

,
:
deg S = deg A 1 ,
(4.1)
deg R = deg S deg R = 1 + deg S ,
(4.2)
deg Am = deg A ,
(4.3)
deg Ao = deg R + deg S + 2 deg Am deg B + 1 ,
(4.4)
VI

GM(z).
, 4.8.3.,
:
o ,
o - ,
o
.
50
Td ,

.
. , . Bm GM(z),
B ( z ) . Bm ( z ) , ,
,
K = Am (1) / B (1) .
VII
,
Ao ( z ) . ,
Ao ( z ) ,
R( z ) S ( z )
Ao ( z ) ( ).
(Sylvester)
A( z ) B ( z ) , (3.40). R ( z ) ,
S ( z ) T ( z ) , :
A( z ) R ( z ) + B ( z ) S ( z ) = Am ( z ) Ao ( z ) B + ( z ),
,
T ( z ) = Bm ( z ) Ao ( z ).
(4.5)
51
R( z ) S ( z ) , (4.6) (4.7):
R ( z ) = R f ( z ) R ( z ) ,
(4.6)
S ( z ) = S f ( z ) S ( z ) .
(4.7)

Ao ( z ) ,
,
4.6.

Ao ( z ) . ,

R( z ) ,
R( z )
z- .
R( z ) z-, .

,

.
, R( z ) , S ( z ) T ( z ) ,
,
4.2.

4.3. .
4.2. .
52
53
4.2
, .
(Graphical User Interface),
.
Matlab 6.0.,
,
, ,
. .
- I
I
4.1. , (z), B(z) C(z),
.
s

.
4.4.
54
- II
>> ,
II 4.1. ,

z
. , text box
B(z) ,
B+(z) B-(z) -> .
4.5.
55
- III, IV V
III, IV V, 4.1.
, R f ( z ) S f ( z ) ,
R( z ) radio button.

R( z ) S ( z )
.
4.6.
56
- VI
VI 4.1. ,
chek box-, radio button- text box-

VI .
,
Gm(z)
,
Bm ( z ) Am ( z )
Gm ( z ) = Bm ( z ) / Am ( z ) .
4.7.
- VII
VII 4.1. ,
Ao ( z ) ,
R'(z) - Su Sy R(z), S(z) T(z)
, R(z),

57
M opt
.
. .
4.8.
58

.

, ,
.
5.1.
(. DC brushless motor).
5.1.
,
.

,
.
5.1

,
.

() [7].
,
.

.
.

.
59
,
, ,
, .

,
[7]. ,
,
. ,
,
. ,

. ,
,
.

. ,
. ,
.
5.1.1 PWM

PWM . ,
PWM
. ,
. ,
PWM
. ,

.
PWM ,
.
,
,
.
5.2. PWM
. I d* I q*
M * * .
(PI)
feed-forward U d* U q* .
U d* U q*
U a* , U b* U c* .
e . d-q e
r k .
U a* , U b* U c*
.
60
5.2. PWM
d q ,
. ,
,
.
(VCO) .
VCO
. VCO .
VCO
,
- .
.

. ,
TPWM , Tcr
Tcr = k TPWM (k = 1, 2, 3,...) .

Tcr = TPWM . ,
. ,
,
.
, ""
.
5.1.2
,
. ,

. ,
q-, 5.3.
61
5.3. q

. , (),
PWM
. Tcr = TPWM ,
Tcr / 2 .

. Tcr .
,
. ,
PI .
PI
.
Tcr :
exp ( sTcr )
1
,
1 + sTcr
(5.1)
exp ( s
1
Tcr
)
.
T
2
1 + s cr
2
(5.2)
Wd (s) =
1
,
1 + sTd
(5.3)
Td , .
. n

Wn(s) =
( 1 + s
(5.4)
i =1
d = 1 / d
(5.4) 3 dB. :
62
( 1 + s ) =
i
2.
(5.5)
i =1
n = 2: (5.5) :
1 2 1 2 + j( 1 + 2 ) = 2 ,
(5.6)
:
2
2
4
4
2
2
1 ( 1 + 2 ) + 1 + 2 + 6 1 2
.
= 2 =
d
2 12 22
2
d
(5.7)
1 2
, :
d = lim
( 12 + 22 ) + 14 + 24 + 6 12 22
2
2
1
1 2 0
2
2
+ 22
2
1
(5.8)
n = 3: (5.5) :
1 2(1 2 + 1 3 + 2 3 ) + j( 1 + 2 + 3 ) = 2 ,
(5.9)
:
d =
+ 22 + 32
2
1
(5.10)

n :
d =
1
n
i =1
(5.11)
2
i
, n
:
W1(s) =
1
,
1 + s d
(5.12)
d (5.11).
Td
. (5.8)
(5.1) (5.2) :
Td = Tcr2 + ( Tcr 2 )2 =
5
Tcr .
2
(5.13)
,
:
f bwcr [Hz ] =
1
1
0.0396
.
ln cr =
Tcr [s]
2Tcr opt
(5.14)
63
,
5 kHz 15 kHz.
(5.14) Tcr = TPWM PI
PWM 198 Hz 594 Hz.
,
.
,
Wem(s) =
1
,
1 + em s
(5.15)
em .
em
z-. (5.10)
opt :
em [ s ] =
3
T = 6.95 Tcr [ s ].
1 cr
ln
opt
(5.16)
(5.16)
PWM .
,
.
5.2

.
,

[55].

.

.
,
. , ,
, .
. ,
.
,
.
,
. . ,

.
64

. ,
, .

.
.
5.2.1

5.4. ,
.
Mm, m, m
Ml, l, l
Kv, Ks
5.4.
:
Jm
Jl
d 2 m
d
d
= M em K v m l K s ( m l ) ,
2
dt
dt
dt
(5.17)
d 2 l
d
d
= K s ( m l ) + K v m l M l ,
2
dt
dt
dt
(5.18)
m =
d m
,
dt
(5.19)
l =
d l
,
dt
(5.20)
J m J l , ;
K v ();
K s ;
M em ;
M l
m l , ,
m l , .
65
, ,
5.5.
m m
l l .
--
K v ( m (s ) l (s )) . , K v
.
M o M l .
,
:
M o (s ) = K s ( m (s ) l (s )) + K v ( m (s ) l (s )) .
(5.21)
5.5.

,
:
m (s ) =
Jl s2 + Kv s + Ks
M em (s )
s 2 (J m J l s 2 + ( J m + J l ) (K v s + K s ))
Kv s + Ks
2
M l (s )
2
s (J m J l s + ( J m + J l ) (K v s + K s ))
l (s ) =
Kv s + Ks
M em (s )
s (J m J l s + ( J m + J l ) (K v s + K s ))
2
(5.22)
(5.23)
J m s2 + Kv s + Ks
2
M l (s )
s (J m J l s 2 + ( J m + J l ) (K v s + K s ))
,

, :
66
Jl 2 Kv
s +
s +1
Ks
Ks
1
m (s ) =
M em (s )
Jm Jl
Kv
(J m + J l ) s
2
s +
s +1
K s (J m + J l )
Ks
(J m + J l ) s
Kv
s +1
Ks
Jm Jl
K
s2 + v s +1
K s (J m + J l )
Ks
(5.24)
M l (s )
:
1
s2 +
2 z
s +1
z
M em (s )
2 p
2
s +1
s +
p
p2
m (s ) =
(J m + J l ) s 1
2
z
2 z
1
(J m + J l ) s 1
p2
s +
2
s +1
2 p
(5.25)
M l (s )
s +1

, :
l (s ) =
(J m + J l ) s
Kv
s +1
Ks
Jm Jl
K
s2 + v s +1
K s (J m + J l )
Ks
M em (s )
J m 2 Kv
s +
s +1
Ks
Ks
1
M l (s )
Jm Jl
Kv
(J m + J l ) s
2
s +
s +1
K s (J m + J l )
Ks
(5.26)
:
2 z
1
l (s ) =
(J m + J l ) s 1
s +
2
p2
s +1
2 p
s +
2
M em (s )
s +1
2 z
(5.27)
s +1
z
M l (s )
2 p
2
s +
s +1
p
p2
z2
1
(J m + J l ) s 1
(5.25) (5.27) p z ,
p z , :
67
p =
K s (J m + J l )
,
Jm Jl
(5.28)
Ks
,
Jl
(5.29)
K v2 ( J m + J l )
,
4K s J m J l
(5.30)
K v2
.
4K s J l
(5.31)
z =
p =
z =
p z (5.28) (5.29)
[34] ( p ) ( z ) ,
:
Rr =
5.3
p
J
= 1+ l .
z
Jm
(5.32)

() .
: ( )
.
5.3.1
,
. ,
,
.
.
,
.
.

.
. ,
.
. , ,
.
.
,
. ,
.
68
. ,
capture/compare
,
. , ,
.
, , ,
, ,
. ,
.
5.3.2

.
, (EXS)
,
.
. [25],
.
up/down 10, 12, 14 16 .

sine cosine
EXS
arctg
NF
HF
PI
up
16-bit up/down
msb
down
VCO
lsb

5.6. .
arctg
(HF ).
.
a
, .
,
- .
(BVCO).
BVC 16-
,
69
.
. , ;
. ,
.

[56],

14( 1 + sN )
out
,
(sN ) =
(sN + 2.4 )(sN2 + 3.4sN + 5.8 )
in
(5.33)
, s N
f BW ,
sN =
2 s
.
f BW
(5.34)
f BW
, 520 Hz kHz.
,
:
Wrd ( s) =
1
1 + rd s
(5.35)
rd .

(5.33)
. :
out
14
(sN )
.
( s N + 2.4)(3.4s N + 5.8)
in
(5.36)
(5.36) :
out
14 / 13.92
(sN )
,
( 1n s N + 1)( 2 n s N + 1)
in
(5.37)
, 1n = 1 / 2.4, 2 n = 3.4 / 5.8 , .

(5.8), :
rdn = 12n + 22n = 0.7192 .
(5.38)
, (5.34), -
rd [s] = rdn
f BW [ Hz]
0.4578
.
f BW [ Hz]
(5.39)
70
(5.33)

f BW = 1kHz .
1.4
1.2
1
0.8
0.6
0.4
0.2
0
5
x 10
-3
5.7.

50%
. : rd = 330 s .
5.3.3
,
, . N . ,
:
[rad ] =
2
.
2N
(5.40)
,
.
- , :
[rad / s] =
2
= N ,
T
2 T
(5.41)
.
,
, ,
("") . ,
,
, . .
71
5.4
, 5.8
,
.
5.8.
72

.
.
,

,
.

, .

. ,

- (PI ).
Simulink-, (*.mdl)
.
6.1

.
.
. ,
,
,
. , , (
), ,
5.8., :
:
Pnom = 1,49 kW ,
nom = 3000 r / min ,
Tnom = 5,7 N m ,
Tmax = 24 N m ,
( ) J = 0,00062 kg m 2 ,
p = 4,
16 ,
f bw = 1 kHz ,
():
73
em = 0.0005 ,
:

.1
.2
.3
J = 0,00022 kg m 2 ,
K v = 0,004 Nms / rad ,
K s = 150 Nm / rad ,
K s = 350 Nm / rad ,
K s = 1400 Nm / rad .
J = 0,00062 kg m 2 .
6.1. Simulink-
5.8, .
6.1.
, 5:
5.1.
(5.15.), ,
5.2.,
5.3.2.,
5.3.3.
.

6.1.
,
6.2.
,

; :
Wem(s) =
1
,
1 + em s
(6.1)
74
, em = 0.0005 ,
Wem(s) =
1
.
1 + 0.0005s
(6.2)
5.22.
:
Wmeh ( s ) =
m (s )
M em (s )
Jl s2 + Kv s + Ks
,
s 2 (J m J l s 2 + ( J m + J l ) (K v s + K s ))
, J m = 0,00062 kg m 2 ,
K s = 350 Nm / rad K v = 0,004 Nms / rad :
Wmeh ( s) =
(6.3)
J l = 0,00084 kg m 2 ,
0.00084 s 2 + 0.004 s + 350

.
5.208 10 7 s 4 + 5.84 10 6 s 3 + 0.511 s 2
(6.4)
6.2.
:
W = Wem ( s ) Wmeh ( s) =
6.152 10 7 s 2 + 2.93 10 6 s + 0.2563

. (6.5)
2.604 10 10 s 5 + 5.237 10 7 s 4 + 2.613 10 4 s 3 + 0.511 s 2
6.5.
T = 0.0003 s , :
9.182 10 9 z 4 + 1.373 10 8 z 3 4.628 10 8 z 2 + 1.836 10 8 z + 6.791 10 9

. (6.6)
G( z) =
z 5 4.458 z 4 + 7.96 z 3 7.094 z 2 + 3.138 z 0.547
:
Gb ( z ) =
K n p 4 ( z 1) 16 4 4 ( z 1)
,
z
z
2
2
(6.7)

:
75
G p ( z ) = G ( z ) Gb ( z ) =
0.01512 z 4 + 0.02262 z 3 0.07622 z 2 + 0.03024 z + 0.01118

. (6.8)
z 5 3.458 z 4 + 4.502 z 3 2.591 z 2 + 0.547 z
z
6.8. 6.3 6.4:
Bodeove karakteristike
40
Amplituda (dB)
20
-20
-40
-60
90
0
Faza (deg)
-90
-180
-270
-360
-450
10
10
10
Frekvencija (rad/sec)
6.3.
Dijagram polova i nula
0.4
0.3
0.2
Imaginarna osa
0.1
-0.1
-0.2
-0.3
-0.4
-3.5
-3
-2.5
-2
-1.5
-1
-0.5
0.5
Realna osa
6.4.
76
6.1.1

.
z
,
.
J m
J o ,
:
1.
Jm =
Jo
;
4
2.
Jm =
Jo
;
3
3.
Jm =
Jo
;
2
4.
Jm = Jo ;
5.
Jm = 2 Jo ;
6.
Jm = 3 Jo ,
7.
Jm = 4 Jo .

6.5, 6.6 6.7.
40
Amplituda (dB)
20
Jm/Jo=4
0
-20
Jm/Jo=1/4
-40
-60
90
Jm/Jo=1/4
Jm=4*Jo
Jm=3*Jo
Jm=2*Jo
Jm=Jo
Jo=2*Jm
Jo=3*Jm
Jo=4*Jm
Jm/Jo=4
Faza (deg)
-90
-180
-270
-360
-450
10
10
10
6.5.

77

0.5
Jm/Jo=4
0.4
0.3
Jm/Jo=1/4
Imaginarna osa
0.2
Nule koje se ne menjaju
0.1
Polovi koji se ne menjaju
-0.1
-0.2
-0.3
-0.4
-0.5
-3.5
-3
-2.5
-2
-1.5
-1
-0.5
0.5
1.5
Realna osa
6.6.

0.4
Jm/Jo=4
0.3
Imaginarna osa
0.2
Jm/Jo=1/4
0.1
-0.1
-0.2
-0.3
-0.4
0.8
0.85
0.9
0.95
1.05
1.1
1.15
Realna osa
6.7.

78
. K s ,

:
1. K s = 87,5 Nm / rad ;
5. K s = 700 Nm / rad ;
2. K s = 116,6 Nm / rad ;
6. K s = 1050 Nm / rad ,
3. K s = 175 Nm / rad ;
7. K s = 1400 Nm / rad .
4.
K s = 350 Nm / rad ;

6.8, 6.9, 6.10 6.11.
40
Amplituda (dB)
20
-20
-40
-60
90
Ks=87,5 Nm/rad
Ks=116,6 Nm/rad
Ks=175 Nm/rad
Ks=350 Nm/rad
Ks=700 Nm/rad
Ks=1050 Nm/rad
Ks=1400 Nm/rad
Faza (deg)
-90
-180
-270
-360
-450
10
10
10
6.8.

79

0.8
Ks=1400 Nm/rad
0.6
0.4
U smeru porasta Ks
Polovi koji se ne menjaju
Imaginarna osa
0.2
U smeru porasta Ks
Nula koja se ne menja
Ks=87,5 Nm/rad
-0.2
-0.4
-0.6
-0.8
-3.5
-3
-2.5
-2
-1.5
-1
-0.5
0.5
1.5
Realna osa
6.9.


0.6
0.4
Ks=1400 Nm/rad
Imaginarna osa
0.2
Ks=87,5 Nm/rad
-0.2
-0.4
-0.6
0.8
0.85
0.9
0.95
1.05
1.1
Realna osa
6.10.

80
x 10
-4
Imaginarna osa
Ks=1400 Nm/rad
Ks=87,5 Nm/rad
-2
Smer porasta Ks
-4
-6
-3.235
-3.23
-3.225
-3.22
-3.215
-3.21
-3.205
-3.2
Realna osa
6.11.

(5.28)
p ,

- - .

.
,
6.12.
(Hz)
Hz
250
200
229,72
205,47
177,94
145,29
150
125,82
118,63
114,86
100
50
0
Jm=Jo/4 Jm=Jo/3 Jm=Jo/2
Jm=Jo
Jm=2*Jo Jm=3*Jo Jm=4*Jo
6.12. p
81
K s ,
-
- .
K s .
, ,
, 6.13.
(Hz)
Hz
350
315,30
300
273,06
250
222,95
200
157,65
150
100
78,83
90,99
111,48
50
0
87,5
116,6
175
350
700
1050
1400 Nm/rad
6.13. p
K s
, ,
,
. .
,
:
6.1.
Jm
kg m 2

1 2 3
0.00062
0.00062
0.00062
Jl
kg m 2
0.00208
0.00084
0.00084
Jl / Jm
. .
3.3548
1.3548
1.3548

:

:
Ks
N m
rad
150
350
1400
Hz
89.19
157.65
315.30
82
2
(6.8):
0.01512 z 4 + 0.02262 z 3 0.07622 z 2 + 0.03024 z + 0.01118

.
G p 2 ( z) =
z 5 3.458 z 4 + 4.502 z 3 2.591 z 2 + 0.547 z
(6.8)
, :
0.01515 z 4 + 0.02224 z 3 0.07813 z 2 + 0.03005 z + 0.01121

.
z 5 3.518 z 4 + 4.596 z 3 2.626 z 2 + 0.547 z
(6.9)
0.01454 z 4 + 0.02299 z 3 0.06705 z 2 + 0.02989 z + 0.01076

.
G p3 ( z) =
z 5 3.209 z 4 + 4.117 z 3 2.455 z 2 + 0.547 z
(6.10)
G p1 ( z ) =

z (6.8.), (6.9.) (6.10) 6.14 6.15:
60
Konfig. br. 1
Konfig. br. 2
Konfig. br. 3
Amplituda (dB)
40
20
0
-20
-40
-60
90
Faza (deg)
0
-90
-180
-270
-360
-450
1
10
10
10
10
10
Frek vencija (rad/sec)
6.14.
83

Konfig. br. 1
1
0.8
Konfig. br. 2
Konfig. br. 3
0.6
Imaginarna osa
0.4
0.2
0
-0.2
-0.4
-0.6
-0.8
-1
-3.5
-3
-2.5
-2
-1.5
-1
-0.5
0.5
1.5
Realna osa
6.15.
6.2
a je

,
3.
2,
.
I

GP(z)
, G(z),

( 6.16.), 2 :
A( z ) = z 5 3.458 z 4 + 4.502 z 3 2.591 z 2 + 0.547 z ,
(6.11)
B ( z ) = 0.01512 z 4 + 0.02262 z 3 0.07622 z 2 + 0.03024 z + 0.01118 ,
(6.12)
C ( z ) = 0.4289 z 4 + 4.006 z 3 + 1.573 z 2 1.826 z 0.1728 ,
(6.13)
84
Ts = 0.0003 s .
6.16.
II

GP(z) . B(z). 6.4.
, B(z), :
Z B1 = 3.22777,
Z B 2 = 0.980575 + j 0.192439,
- ,
Z B 3 = 0.980575 j 0.192439,
Z B 4 = 0.229411.
(6.14)

(ripple) Z B1 Z B 4 . ,
- Z B 2 Z B 3 z ,

,
, .

B(z) : B ( z ) = B + ( z ) B ( z ) , B + (z )
, B (z )
z .
:
B + ( z) = 1 ,
(6.15)
B ( z ) = B( z ) = 0.01512 z 4 + 0.02262 z 3 0.07622 z 2 + 0.03024 z + 0.01118 .
(6.16)
III
3.7. ,
. ,
R(z ) S (z ) ,
R f (z ) S f (z ) , , R( z ) = R f ( z ) R ( z )
S ( z ) = S f ( z ) S ( z ) .
R f (z ) S f (z ) .

85
,
,
R( z ) . ,
, R(1) = 0 ,
. 3.2. ,
,
:
R f ( z ) = 1 z 1 ,
(6.17)
S f ( z) = 1 .
(6.18)
IV
R,
deg R deg T
deg R deg S . ,
, :
deg R = 1 + deg S = 1 + deg T .
(6.19)
V

,
.
:
deg A = deg A = 5, deg B + = 0,
(6.20)
deg S = deg T = deg A 1 = 4, deg R = 1 + deg S = 5, ,
(6.21)
deg Am = deg A = 5 ,
(6.22)
deg Ao = deg R + deg S + 2 deg Am deg B + 1 = 5 + 4 + 2 5 0 1 = 5 .
(6.23)
VI

GM(z). Am Bm .
,
.
z-.
6 ,
(3.118) Am :
T
s
Td
Am ( z ) = z e
= ( z 0.85)5 .
(6.24)
86
n GM(z), . Am ,
.
Bm = Bm ( z ) B ( z ) , GM(z), B (z ) .
Bm (z ) , ,
, K = Am (1) / B (1) .

GM(z):
GM ( z ) =
Bm ( z ) 0.00039 z 4 + 0.00058 z 3 0.00196 z 2 + 0.00078 z + 0.000288

. (6.25)
= 5
Am ( z )
z 4.25 z 4 + 7.225 z 3 6.14125 z 2 + 2.61003 z 0.443705
6.17.

VII
,
Ao (z ) Ao (z )
.

,
. ,
:
Ao ( z ) = ( z 0.7) 2 ( z 0.5) ( z 0.1) .
(6.26)
87
6.18.

R ( z ) ,
S (z ) T (z ) , R(z ) S (z ) ,
:
R ( z ) = (1 z 1 ) (z 4 1.85814 z 3 + 0.981306 z 2 0.16905 z + 0.058215) ,
(6.27)
S ( z ) = 4.36751 z 4 14.4635 z 3 + 17.7422 z 2 9.5211 z + 1.87592 ,
(6.28)
T ( z ) = 0.025829 z 4 0.051658 z 3 + 0.035644 z 2 0.009401 z + 0.000632 .
(6.29)
6.19. .
88
6.3
-
.
,

.
2, : ,

. , 2 (
)
( ),
6.1.1., 6.1. ,

- (PI
), [26], [27],
2 1
(). MATLAB-
Simulink,
.
6.3.1

.
150 / t=0.2 s
M opt = M nom = 5.7 Nm ,
t=0.5 s.
Momenat opterecenja
7
Mopt=5.7 Nm
Momenat (Nm)
-1
0.1
0.2
0.3
0.4
0.5
Vreme (s)
0.6
0.7
0.8
0.9
6.20. .

:
1:
Ao ( z ) = ( z 0.7) ( z 0.5) ( z 0.3) ( z 0.1)
89
2:
3:
Ao ( z ) = ( z 0.3) 2 ( z 0.1) 2
Ao ( z ) = z 2 ( z 0.1) 2
Odziv brzine motora - regulator broj 1
180
Polovi opservera Ao su: 0.7, 0.5, 0.3 i 0.1

referentna brzina 150 ob/min
160
140
Brzina motora (ob/min)
120
100
80
60
40
20
0.1
0.2
0.3
0.4
0.5
Vreme (s)
0.6
0.7
0.8
0.9
0.9
6.21. 1.
Odziv brzine motora - regulator broj 2
160 referentna brzina 150 ob/min
140
Brzina (ob/min)
120
100
80
60
40
20
0.1
0.2
0.3
0.4
0.5
Vreme (s)
0.6
0.7
0.8
6.22. 2.
90
Odziv brzine motora - uvecan detalj

150.5
Regulator 1 (polovi opservera Ao su: 0.7, 0.5, 0.3 i 0.1)
Brzina (ob/min)
150
Regulator 2 (polovi opservera Ao su: 0.3, 0.3, 0.1 i 0.1)
149.5
149
148.5
148
147.5
0.22
0.23
0.24
0.25
0.26
Vreme (s)
0.27
0.28
0.29
6.23. 1
2 .
Odziv brzine motora - regulator 3
180
Polovi opservera Ao su: 0.1, 0.1, 0 i 0

160
140
Brzina (ob/min)
120
100
80
60
40
20
0.1
0.2
0.3
0.4
0.5
Vreme (s)
0.6
0.7
0.8
0.9
6.24. 3.
91
Odziv momenta motora - regulator 1
10
Momenat (Nm)
Momenat: 5.7 Nm
Ripl momenta: 0.12 Nm
-2
0.1
0.2
0.3
0.4
0.5
Vreme (s)
0.6
0.7
0.8
0.9
6.25. 1.
10
Momenat (Nm)
Momenat: 5.7 Nm
-2
0.1
0.2
0.3
0.4
0.5
Vreme (s)
0.6
0.7
0.8
0.9
6.26. 2.
92
25
Polovi opservera Ao su: 0.1, 0.1, 0 i 0
20
Momenat (Nm)
15
10
-5
-10
0.1
0.2
0.3
0.4
0.5
Vreme (s)
0.6
0.7
0.8
0.9
6.27. 3.
,
z ,
( 1 2).
1 2
,
() .
, z
,
,
3,
, ,
.
6.3.2

.
150 /
t=0.2 s M opt = M nom = 5.7 Nm ,
t=0.5 s.
93
Odziv brzine motora

referenca brzine 150 ob/min
160 Jm=0.00062 kgm 2
Jo =0.00084 kgm 2
140
Brzina (ob/min)
120
100
80
60
40
20
0.1
0.2
0.3
0.4
0.5
Vreme (s)
0.6
0.7
0.8
0.9
6.28. .
Odziv brzine opterecenja
160 Jm=0.00062 kgm 2
Jo =0.00084 kgm 2
140
Brzina (ob/min)
120
100
80
60
40
20
0.1
0.2
0.3
0.4
0.5
Vreme (s)
0.6
0.7
0.8
0.9
6.29. .
94
Odziv brzine motora - povecanje momenta inercije motora za 100%

160 Jm=0.00124 kgm 2
Jo =0.00084 kgm 2
140
Brzina (ob/min)
120
100
80
60
40
20
0.1
0.2
0.3
0.4
0.5
Vreme (s)
0.6
0.7
0.8
0.9
6.30. 100%.
Uvecan detalj odziva brzine motora bez promene i sa povecanjem momenta inercije motora za 100%
2
Jm=0.00124 kgm
Jo =0.00084 kgm 2
155
Brzina (ob/min)
150
Jm=0.00062 kgm
Jo =0.00084 kgm 2
145
140
135
0.22
0.24
0.26
0.28
Vreme (s)
0.3
0.32
0.34
6.31.
100%.
95
Odziv brzine motora sa smanjenjem momenta inercije motora za 50%
1000

2
Jm=0.00031 kgm
500 Jo =0.00084 kgm 2
0
Brzina (ob/min)
-500
-1000
-1500
-2000
-2500
-3000
-3500
-4000
0.1
0.2
0.3
0.4
0.5
Vreme (s)
0.6
0.7
0.8
0.9
6.32. 50%.
Odziv elektromagnetnog momenta
7
Jm=0.00062 kgm
Jo =0.00084 kgm 2
Moment: 5.7 Nm
Moment (Nm)
1
0
-1
-2
0
0.1
0.2
0.3
0.4
0.5
Vreme (s)
0.6
0.7
0.8
0.9
6.33. .
96
Odziv elektromagnetnog momenta motora pri povecanju momenta inercije motora za 100 %
8
7
Jm=0.00124 kgm
Jo =0.00084 kgm 2
Moment (Nm)
5
Moment: 5.7 Nm
4
3
2
1
0
-1
-2
0
0.1
0.2
0.3
0.4
0.5
Vreme (s)
0.6
0.7
0.8
0.9
6.34. 100%..
Odziv elektromagnetnog momenta motora pri smanjenju momenta inercije motora za 50%
25
20
Jm=0.00031 k gm
Jo =0.00084 k gm
2
2
15
Momenat (Nm)
10
-5
-10
-15
-20
0.1
0.2
0.3
0.4
0.5
Vreme (s)
0.6
0.7
0.8
0.9
6.35. 50%..
97
Odziv brzine motora pri povecanju momenta inercije opterecenja od 100%

160 Jm=0.00062 k gm
Jo =0.00168 k gm
2
2
140
120
100
80
60
40
20
0.1
0.2
0.3
0.4
0.5
Vreme (s)
0.6
0.7
0.8
0.9
6.36. 100%.
Odziv brzine motora pri smanjenju momenta inercije opterecenja od 50%
160 Jm=0.00062 k gm 2
Jo =0.00042 k gm 2
140
120
100
80
60
40
20
0.1
0.2
0.3
0.4
0.5
Vreme (s)
0.6
0.7
0.8
0.9
6.37. 50%.
98

Uvecani detalj - odziv brzine motora za razlicite promene momenta inercije
opterecenja: pri povecanju od 100% i smanjenju od 50%
155
Jm=0.00062 k gm
Jo =0.00168 k gm
2
2
150
Jm=0.00062 k gm
Jo =0.00084 k gm
145
Jm=0.00062 k gm
Jo =0.00042 k gm
2
2
2
2
140
135
130
0.22
0.24
0.26
0.28
Vreme (s)
0.3
0.32
6.38. ,
100% 50%.
Odziv elektromagnetskog momenta motora pri povecanju momenta inercije opterecenja od 100%
7 Jm=0.00062 k gm
Jo =0.00148 k gm
2
2
Momenat (Nm)
5
Momenat: 5.7 Nm
-1
0.1
0.2
0.3
0.4
0.5
Vreme (s)
0.6
0.7
0.8
0.9
6.39.
100%.
99
Odziv elektromagnetskog momenta motora pri smanjenju momenta inercije opterecenja od 50%
7 Jm=0.00062 k gm
Jo =0.00042 k gm
2
2
Momenat (Nm)
5
Momenat: 5.7 Nm
-1
0.1
0.2
0.3
0.4
0.5
Vreme (s)
0.6
0.7
0.8
0.9
6.40.
50%.

.
, ,
(
). ,
, ,
. ,
, ,
, ,
.

. ,
, ,
, .
,
.
6.3.3

.
100
150 / t=0.2 s
t=0.5 s.
Odziv brzine motora pri promeni koeficijenta krutosti osovine
Ks=1000 Nms/rad
160
140
Brzina (ob/min)
120
100
80
60
40
20
0.1
0.2
0.3
0.4
0.5
Vreme (s)
0.6
0.7
0.8
0.9
6.41. .
Odziv brzine motora pri promeni koeficijenta krutosti osovine
Ks=150 Nms/rad
160
140
120
Brzina (ob/min)
100
80
60
40
20
-20
0.1
0.2
0.3
0.4
0.5
Vreme (s)
0.6
0.7
0.8
0.9
6.42. .
101
Uvecan detalj odziva brzine motora pri promeni koeficijenta krutosti osovine
Ks=150 Nms/rad
155
150
Brzina (ob/min)
145
Ks=350 Nms/rad
140
Ks=1000 Nms/rad
135
130
125
120
115
0.5
0.52
0.54
0.56
0.58
0.6
Vreme (s)
6.43. ,
.
Odziv elektromagnetskog momenta motora pri promeni koeficijenta krutosti osovine
Ks=1000 Nms/rad
Momenat (Nm)
5
Momenat: 5.7 Nm
-1
0.1
0.2
0.3
0.4
0.5
Vreme (s)
0.6
0.7
0.8
0.9
6.44. .
102
Odziv elektromagnetskog momenta motora pri promeni koeficijenta krutosti osovine

Ks=150 Nms/rad
Momenat (Nm)
Momenat: 5.7 Nm
-1
0.1
0.2
0.3
0.4
0.5
Vreme (s)
0.6
0.7
0.8
0.9
6.45. .

.
,
, . 6.41.

, -
.
6.3.4

.
2 ( )

( ), 6.1.1., 6.1. ,
,
150 / t=0.2 s
t=0.5 s.
103
Odziv brzine motora pri prelasku konfiguracije broj 2 u konfiguraciju broj 1
180
160
140
Brzina (ob/min)
120
100
80
60
40
20
0.1
0.2
0.3
0.4
0.5
Vreme (s)
0.6
0.7
0.8
0.9
6.46. 2 1.
Odziv brzine motora pri prelasku konfiguracije broj 2 u konfiguraciju broj 3
Brzina (ob/min)
-500
-1000
-1500
-2000
0
0.1
0.2
0.3
0.4
0.5
Vreme (s)
0.6
0.7
0.8
0.9
6.47. 2 3.
104
Odziv elektromagnetnog momenta motora pri prelasku konfiguracije broj 2 u konfiguraciju broj 1
8
Momenat (Nm)
Momenat: 5.7 Nm
-1
0.1
0.2
0.3
0.4
0.5
Vreme (s)
0.6
0.7
0.8
0.9
6.48. 2
1.
Odziv elektromagnetnog momenta motora pri prelasku konfiguracije broj 2 u konfiguraciju broj 3
25
20
15
Momenat (Nm)
10
-5
-10
-15
-20
0.1
0.2
0.3
0.4
0.5
Vreme (s)
0.6
0.7
0.8
0.9
6.49. 2
3.
105

2 1
.
,
,
( ). ,
2 3,
, ,
,. .
6.3.5
PI

- (PI)
, [26], [27].
:
2 1.
, ,
150 / t=0.2 s
t=0.5 s.
Uporedni prikaz odziva brzine motora za sistem sa
polinomijalnim regulatorom i sistem sa PI regulatorom
180
160
140
Brzina (ob/min)
120
PI regulator
Ripl brzine 10 ob/min
100
Polinomijalni
regulator
Ripl brzine 0.1 ob/min
80
60
40
20
0.1
0.2
0.3
0.4
0.5
Vreme (s)
0.6
0.7
0.8
0.9
6.50.
PI .
106

Uporedni prikaz odziva elektromangnetnog momenta motora za sistem sa
polinomijalnim regulatorom i sistem sa PI regulatorom
14
12
10
Momenat (Nm)
2
0
Polinomijalni
PI regulator
regulator
Ripl momenta 5 Nm Ripl momenta 0.06 Nm
-2
-4
-6
0.1
0.2
0.3
0.4
0.5
Vreme (s)
0.6
0.7
0.8
0.9
6.51.
PI .
180
Uporedni prikaz odziva brzine motora za sistem sa polinomijalnim regulatorom

i sistem sa PI regulatorom pri prelasku konfiguracije 2 u konfiguraciju 1
160
140
Brzina (ob/min)
120
PI regulator
Ripl brzine 5 ob/min
100
Polinomijalni
regulator
Ripl brzine 0.05 ob/min
80
60
40
20
0.1
0.2
0.3
0.4
0.5
Vreme (s)
0.6
0.7
0.8
0.9
6.52.
PI 2 1.
107

Uporedni prikaz odziva elektromagnetnog momenta motora za sistem sa polinomijalnim
regulatorom i sistem sa PI regulatorom pri prelasku konfiguracije 2 u konfiguraciju 1
12
10
Momenat (Nm)
-2
Polinomijalni
regulator
Ripl momenta 0.06 Nm
-4
PI regulator
Ripl momenta 5 Nm
-6
0.1
0.2
0.3
0.4
0.5
Vreme (s)
0.6
0.7
0.8
0.9
6.53.
PI 2
1.

PI ( 6.50.),
PI
. ,
30 ms
PI . PI
100 ,
PI 10 / 0,1 /
.
; PI
5 Nm,
, 0,06 Nm.
2
1. PI
.
, PI
100 ,
.

PI .
108

,
.

, setup-.

,
.
7.1

,

.. ,
,
.

,
.
.
.
.
online .
,

. , off-line
, ,
,
(batch processing). offline () ,
.
, ,
,
( ARX ARMAX
), ,
, .
,
.
,
.
,

109
.

(, ) . ,
,
.

.
, , .
. , off-line
.
on-line ,
.

. , ,

.

. ,
,
.
,
() () . ,

.
. ,
. (resiuals),
.
,
. : , (
) (
). ,
, , ,
, .
,
.
.
,
, .
.
7.1.1
,
.
.

:
110
o
,
o ( ) ,
o ,
( ).

, .
:
1 -
.
2 - .
.
.

.
.
3 - ( )
.
4 -
.
5 - .
, , ,
( 3) (
4).
( 1 2).
7.1.2

.
7.1.2.1
,

:
y u (kT ) + a1 y u (kT T ) + ... + a m y u (kT mT ) =
= b1u (kT dT T ) + ... + bm u (kT dT mT )
(7.1)
111
u (kT ) = U (kT ) U 0 ,
(7.2)
y (kT ) = Y (kT ) Y0 ,
U(kT) Y(kT)
U0 Y0 ; d
( ).
Z (7.1),
:
( )
( )
y u ( z ) B z 1
b1 z 1 + K + bm z m
d
G p (z ) =
=
z =
z d .
1
1
m
u(z )
Az
1 + a1 z + K + a m z
(7.3)
7.1

n(kT) ,
7.1.
n(kT) (autoregressive
moving average) ,
(kT)
( ), :
v = E{v(kT )} = 0 ,
cov[v(kT ), ] = E{v(kT ) v(kT + )} = v2 ( ) .
(7.4)
v2 , ( ) - :
1
N N
v2 = lim
[v(kT ) v ]
k =1
1 za = 0
( ) =
.
0 za 0
(7.5)
( )
( )
1
p
n( z ) C z 1 1 + d1 z + ... + d p z
.
Gv ( z ) =
=
=
v( z ) D z 1
1 + c1 z 1 + ... + c p z p
(7.6)
(7.3) (7.6) 7.1:
112
y(z ) =
B (z 1 ) d
D (z 1 )
(
)
z
u
z
+
v( z ) .
A(z 1 )
C (z 1 )
(7.7)

A z 1 , B z 1 , C z 1 D z 1 ,
.
m n d .
n(kT) y(kT) , .
C z 1 z .
(7.7) , RMA BJ
(Box-Jenkins) .
:
RMAX ML :
( ) ( ) ( )
( )
( )
y(z ) =
(7.8)
RX LS :
y(z ) =
B (z 1 ) d
D (z 1 )
(
)
z
u
z
+
v( z ) .
A(z 1 )
A(z 1 )
B(z 1 ) d
1
z u(z ) +
v( z ) .
1
A(z )
A(z 1 )
(7.9)
OE (Output-Error) :
y(z ) =
B (z 1 ) d
z u (z ) + v( z ) .
A(z 1 )
(7.10)
7.1.2.2
y (k 1), y (k 2),..., y (k m)
u (k d 1), u (k d 2),..., u (k d m) k,
k-1.
a1 (k 1), a 2 (k 1), ... , a m (k 1), b2 (k 1), b2 (k 1), ... , bm (k 1) .
:
y (k ) + a1 (k 1) y (k 1) + ... + a m (k 1) y (k m )
b1 (k 1) u (k d 1) ... bm (k 1) u (k d m ) = e(k ) ,
(7.11)
e(k) y(k)
.
k.
y(k) y (k k 1) , :
y (k k 1) = a1 (k 1) y (k 1) ... a m (k 1) y (k m )
T
+ b1 (k 1) u (k d 1) + ... + bm (k 1) u (k d m ) = (k )(k 1) ,
(7.12)
113
(k ) m
T
k-1,
T (k ) = [ y (k 1) ... y (k m ) u (k d 1) ... u (k d m )] ,
(k 1) :
(k ) = a1 (k ) a 2 (k ) ... a m (k ) b1 (k ) b2 (k ) ... bm (k ) .
(7.13)
(3.14)
k ,
:
T
e(k ) = y (k ) y (k k 1) = y (k ) (k )(k 1) .
(7.15)
m+d
, k.
k=1,2,,m+d+N , N+1
T
y (k ) = (k )(k 1) + e(k ) ,
(7.16)

y (m + d + N ) = (m + d + N )(m + d + N 1) + e(m + d + N ) ,
(7.17)
y (m + d + N ) = [ y (m + d ) y (m + d + 1) y (m + d + 2 ) ... y (m + d + N )] ,
(7.18)
e (m + d + N ) = [ e(m + d ) e(m + d + 1) e(m + d + 2 ) ... e(m + d + N )] ,
(7.19)
:
T
(m + d + N ) =
y (m + d 2)
u (m 1)
u (m 2) ... u (0)
... y (d )
y (m + d 1)
y (m + d )
y (m + d 1)
... y (d + 1) u (m )
u (m 1) ...
u (1) .
=
...............................................................................................................................
y (m + d + N 1) y (m + d + N 2)... y (d + N ) u (m + N 1) u (m + N 2 )...u ( N )
(7.20)

. ,
= ,
(7.21), ,
J ( ) = e (m + d + N ) e(m + d + N ) =
T
m+ d + N
e (k ) ,
2
(7.21)
k =m+ d
(7.17), :
e(m + d + N ) = y (m + d + N ) (m + d + N )(m + d + N 1) .
(7.22)
N 2m
:
T = T y .
(7.23)
114
, (7.22) (7.21),
(7.24):
J ( ) = y y y y + .
T
(7.24)
,
(7.23)
(7.22) .
(7.23)
T
(m + d + N 1) = P(m + d + N ) T (m + d + N ) y (m + d + N ) ,
(7.25)
P(m + d + N ) :
P(m + d + N ) =
(m + d + N ) (m + d + N )]
(7.26)
,
, .
(7.20).

,
:
. m d .
. u (kT ) = U (kT ) U 0 U 0
.
. u (kT ) m
.
. y (kT ) = Y (kT ) Y0 , Y0
Y0 = K U 0
.
T
. E{e(k )} = 0 .

[45],
[57].
7.1.3 MATLAB 6.0
MATLAB 6.0
, toolbox- [58]. ,
, . System Identification
Toolbox [59]. System Identification Toolbox
, 7.1.1..
2
- ,
.
,
115
. 3 ,
,
.
4 .
. , (maximal
likelihood) ,
.
5 ,
, . toolbox-

toolbox- Control
System Toolbox [60] Signal Processing Toolbox [61].
7.2

, setup
. setup
:
(DC brushless )
Vickers- ( MOOG),
, 7.2.
- ,
;
DBM03
Vickers- ( MOOG) ,
PC RS232/RS485
DBM03 ,
.
7.2 -

DBM03 Vickers- (
MOOG) 7.3.
116
. DBM03

. DC brushless .
(DSP) ,
.
(IFOC), 0.0003s (300 s).

, , , ,
.
7.3 DBM03
setup-
DBM03 :
;
;
10 kHz;
IGBT ;
;
, ,
, ,
,
RS232/RS485 PC .
DBM03 RS232/RS485
PC DBM
Windows
, :
communication setup;

terminal screen;
,
(. text box) command screen;
117
,
(download),
(upload) drive test;
digital scope,
save or load.
7.4. main menu

.
7.4 main menu Windows DBM
7.5 drive test Windows DBM
118
setup-
4096 ( 212 )
, stimulus
. 7.5.
7.3
,
,
. , 7.1.

.
7.3.1 ( 1)
5,

( D/ ),
- ( /D ).

, ,
.
u (kT ) ,
7.1.2.:
. u (kT ) = U (kT ) U 0 U 0
.
. u (kT ) m
, m .
T
. E{e(k )} = 0 .
,
( pseudorandom
binary sequence). ( ),

,
.
( ) (7.4).

.
,
,
. .

:
119
1. DBM03
216
.
,
2 9
.
2.
DBM03 Ts = 0.0003 s . ,
setup-
.
3.9.2.
:
f0
1
800 Hz .
4 Ts
(7.27)
,
, 200 Hz.
,
:
Tmin = 8 Ts = 8 0,0003 s = 0,0024s .
(7.28)
3.

, MATLAB-
randn [58] ,
, :
v = E{v(kT )} = 0 ,
v = v2 = 1,
(7.29)
cov[v(kT ), ] = E{v(kT ) v(kT + )} = ( ) = 1 .

2
v

M test ( 2 9 ),

M test (
2 9 ). (7.29) ,

.
1., 2. 3.

MATLAB- m ( ), :
120
...
randn('state',sum(100*clock));
% Podeava se stanje generatora sluajnih brojeva
for i=1:7:4088,
z=randn;
for j=1:1:7,
if z>=0
x=512;
y=512;
else
x=65024;
y=-512;
end
B(i+j)=x;
N(i+j)=y;
end
end
fid = fopen('no1-8-9-bin.txt','wt')
fprintf(fid,'%5i\n',B);
fclose(fid);
...
m MATLAB
, .
PC setup-
DBM DBM03 .
drive test dwnload stimulus
(from file), execute, upload response (to file) ( 7.5),
,
.

.
7.3.2
( 2)
MATLAB- System Identification Toolbox

7.1.1.
MATLAB-
ident,
7.6.
.

Preprocess , Operations ( 7.7).
: Select channels... , Select
experiments... Merge experiments...,
, Select range
, Remove means Remove trends
121
, Filter... Resample...
, . .
7.6 ident MATLAB- System

Identification Toolbox-

Data Views
, chek box-: Time plot Data spectra
.
, , ,
, ,
.
[62]. x(t )
,
:
122
rxx ( ) = E x (t ) x(t + ) ,
(7.30)
S xx () =
xx
( )e jt d .
(7.31)
x(t )
.
x[n], 0 n N 1 . ,
, :
1
Pxx ( ) =
N
N 1
x[n]e
2
jn
n =0
( )
1
X e j
N
(7.32)
( )
X e j x[n] .
,
.
Remove trends
, .
Select range
.

7.8, 7.9, 7.10 7.11.
5
-2
Ulazni i izlazni signali eksperimenta 1
x 10
-3
y1
-4
-5
-6
-7
-8
0.05
0.1
0.15
0.2
0.25
0.3
0.35
0.4
0.05
0.1
0.15
0.2
Vreme (s)
0.25
0.3
0.35
0.4
600
400
u1
200
0
-200
-400
-600
7.8 1
123
Periodogram za eksperiment 1
10
y1
10
10
10
10
10
10
10
10
10
u1
10
10
-5
10
10
10
10
10
10
10
Frequency (rad/s)
7.8 1
5
x 10
y1
-1
-2
-3
-4
0.35
0.4
0.45
0.5
0.4
0.45
0.5
0.55
0.6
0.65
0.7
0.75
0.55
0.6
0.65
0.7
0.75
u1
500
-500
0.35
Vreme (s)
7.9 2
124
10
y1
10
10
10
10
10
10
10
10
10
u1
10
10
-5
10
10
10
10
10
10
10
Frequency (rad/s)
7.9 2
5
x 10
-0.5
y1
-1
-1.5
-2
-2.5
-3
0.1
0.15
0.2
0.25
0.3
0.35
0.4
0.45
0.5
600
400
u1
200
0
-200
-400
-600
0.1
0.15
0.2
0.25
0.3
0.35
0.4
0.45
Vreme (s)
7.10 3
125
10
y1
10
10
10
10
10
10
10
10
10
u1
10
10
-5
10
10
10
10
10
10
10
Frequency (rad/s)
7.10 3
5
x 10
y1
2
1
0
-1
-2
0.8
0.85
0.9
0.95
1.05
1.1
1.15
1.2
1.25
1.3
600
400
u1
200
0
-200
-400
-600
0.85
0.9
0.95
1.05
Vreme (s)
1.1
1.15
1.2
1.25
7.11 4
126
10
y1
10
10
10
10
10
10
10
10
10
u1
10
10
-5
10
10
10
10
10
10
10
Frequency (rad/s)
7.11 4
7.3.3
( 3 4)
,
( )

.
MATLAB- System Identification
Toolbox-, Operations ,
Estimate ( 7.12) .
: Parametric models...
, Spectral model... Correlation model...
.
Parametric models... 7.13
: RX ( 7.9), RMAX ( 7.8), OE
(Output-Error) ( 7.10), BJ (Box-Jenkins) ( 7.7),
.
, , ,
. RX

AIC (Akaike Information Criterion) [59].
ident, Model Views
, chek box-, Model output Model resids.
Chek box Model output
()
, ()
127
() .
. Chek box Model resids
. (residuals),
a

.
chek box-,
chek box- : Transient resp
( ), Frequency resp
( ),
Zeros and poles Noise spectrum
.

7.13 Parametric models... Estimate
128
,
7.8, 7.9, 7.10 7.11. : RX
, RMAX , OE (Output-Error) BJ (Box-Jenkins) .
A( z 1 ), B( z 1 ), C ( z 1 ) D( z 1 ) ,
d , .

()
(Model output)
. (residuals),
,
, , :
deg( B) = 3, deg( A) = 4, deg( D) = 2, deg(C ) = 3, d = 1 .
(7.33)

( 7.14). , ,
,
. ,
,
()
(Model output). 3,
, 2 7.15
,
:
RX 52,9915%,
RX ( ) 51,4162%,
RMAX 49,7871%,
OE (Output-Error) 78,1835%
BJ (Box-Jenkins) 74,5174%.

129
, .
(residuals)
: OE (Output-Error) BJ (Box-Jenkins) ,
OE (Output-Error) .
5
Izmeren i simuliran izlaz nad setom validacionih podataka
x 10
Pozicija motora (dig. inc)
-1
-2
OE model fit: 78.1835
ARMAX model fit: 49.7871
ARX (IV algoritam) model fit:51.4162
ARX model fit: 52.9915
Izmeren izlaz
BJ model fit: 74.5174
-3
-4
0.2
0.4
0.6
0.8
1.2
1.4
Vreme (s)
7.15

OE (Output-Error)
.

() (Model output)
:
1 68,4513%,
2 91,8832%,
3 89,9255%
4 98,1873%.
7.16, 7.17, 7.18

7.19:
130
-3
Meren i simuliran izlaz
x 10
-3.5
-4
-4.5
-5
-5.5
-6
Meren izlaz eksperiment 1
Simuliran izlaz
-6.5
0.05
0.1
0.15
0.2
Time
0.25
0.3
0.35
0.4
7.16
4 1
5
Izmeren i simuliran izlaz
x 10
-0.5
Poloaj (inc)
-1
-1.5
-2
-2.5
-3
Izmeren izlaz eksperiment 2
Simulirani izlaz
-3.5
0.35
0.4
0.45
0.5
0.55
Vreme (s)
0.6
0.65
0.7
0.75
7.17
4 2
131
x 10
-0.5
-1
-1.5
-2

Simuliran izlaz
-2.5
0.1
0.15
0.2
0.25
0.3
Time
0.35
0.4
0.45
0.5
7.18
4 3
5
x 10
3.5
3
2.5
2
1.5
1
0.5
0
-0.5
-1
0.8

Simuliran izlaz
0.85
0.9
0.95
1.05
Time
1.1
1.15
1.2
1.25
1.3
7.19
4 4
132
y(z ) =
B (z 1 )
z 1 1.97 z 2 + 0.9701z 3
(
)
(
)
u
z
+
e
z
=
+ e( z ) ,
1 3.96 z 1 + 5.88 z 2 3.882 z 3 + 0.9605 z 4
F (z 1 )
(7.34)
:
y( z)
z 3 1.97 z 2 + 0.9701z
.
Gidentif ( z ) =
=
u ( z ) z 4 3.96 z 3 + 5.88 z 2 3.882 z + 0.9605
(7.35)
7.3.4 ( 5)
,
.
. 7.20, 7.21, 7.22 7.22
, : ( ),
( )
.
Odziv na step pobudu

1200
1000
Pozicija (dig.)
800
600
400
200
0.005
0.01
0.015
Vreme (sec)
7.20 Gidentif (z )
133
"Bodeov" dijagram
150
Amplituda (dB)
100
50
-50
Faza (deg)
-120
-150
-180
10
10
10
10
10
7.21 Gidentif (z )
Dijagram polova i nula u z ravni
0.8
0.6
0.4
I m (z )
0.2
0
-0.2
-0.4
-0.6
-0.8
-1
-1
-0.8
-0.6
-0.4
-0.2
0
Re (z )
0.2
0.4
0.6
0.8
7.22 Gidentif (z )
134
Uvecani detalj dijagrama polova i nula
0.02
0.015
Nula 0
Nula 0.975
0.01
Imaginarna osa
0.005
Nula 0.995
Par konjugovanokompleksnih polova: 0.98 +- j 0.01
Dvostruki pol u 1
-0.005
-0.01
-0.015
-0.02
0.8
0.85
0.9
0.95
1.05
1.1
Realna osa
7.22 Gidentif (z )
Gidentif (z )
,
:

,
. 7.23

- ,
7.21

.

7.24,
.
7.22
-
, .
setup-
, setup
,
(one-mass system).
setup- .
135
Odziv na jedinicnu step pobudu

100
Sistem sa elasticnom osovinom (teorijsko razmatranje)

Identifikovan sistem
80
Amplituda
60
40
20
-20
0.005
0.01
0.015
Vreme (sec)
7.23

Bodeov dijagram amplitudske i fazne frekventne karakteristike

100
Amplituda (dB)
50
-50
-100
0
Sistem sa elasticnom osovinom (teorijsko razmatranje)

Identifikovan sistem
Faza (stepen)
-90
-180
-270
-360
-450
10
10
10
7.24

136
7.4
SETUP-A
, setup

-:
y( z)
z 3 1.97 z 2 + 0.9701z
Gidentif ( z ) =
=
.
u ( z ) z 4 3.96 z 3 + 5.88 z 2 3.882 z + 0.9605
(7.35)
DBM03
,
:
Gs ( z) =
4z 4
,
z
(7.36)

, :
Gis = Gidentif ( z ) G s ( z ) =
4 z 2 7.88 z + 3.8805
.
z 3 2.96 z 2 + 2.9205 z 0.9605
(7.37)

,
. R(z ) , S (z ) T (z ) , :
R ( z ) = (1 z 1 ) (z 3 + 2.069832 z 2 2.229128 z + 0.237127 ) ,
(7.38)
S ( z ) = 0.26745 z 3 + 0.81752 z 2 0.83209 z + 0.28203 ,
(7.39)
T ( z ) = 0.571220 z 2 0.6283420 z + 0.1370928 .
(7.40)
MATLAB-
Simulink.

- (PI) ,
[26], [27]. 7.25 i 7.26
setup,
1400 /,
. , 7.27 i 7.28
setup,
5 Nm,
.

-
. , ,
setup
, (onemass system), ( PI
) .
137
Odziv brzine motora na referencu brzine od 1400 ob/min
1600
1400
PI regulator
1200
Brzina (ob/min)
1000
800
RST polinomijalni regulator
600
400
200
0.1
0.2
0.3
0.4
Vreme (s)
0.5
0.6
0.7
0.8
7.25
1400 / PI (RST).
Odziv momenta motora na zadatu referencu brzine
12
10
Elektromagnetni momenat (Nm)
PI regulator
-2
0.1
0.2
0.3
0.4
Vreme (s)
0.5
0.6
0.7
0.8
7.26
1400 / PI (RST).
138
Odziv brzine na poremecaj u vidu Mopt
1450
PI regulator
1400
1350
Brzina (ob/min)
1300
1250

1200
1150
1100
1050
1000
1.8
1.9
2.1
2.2
Vreme (s)
2.3
2.4
2.5
2.6
7.27 5 Nm
PI (RST).
Odziv momenta motora na poremecaj u vidu Mopt (5 Nm)
6
PI regulator
Elektromagnetni momenat (Nm)
-2
-4
1.8
1.9
2.1
2.2
Vreme (s)
2.3
2.4
2.5
2.6
7.28
5 Nm PI (RST).
139

,
,
. ,
,
.
:

, [1], [2], [3], [42] ;

SISO ,
,
. (Graphical
User Interface) Matlab 6.0.,

.

-
:
,

,

(
)
,

,
.

140
,

(PI ).
:

,

,
setup-

,

- (PI ).
,
,
.

,
,

.
141
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Ž. Marković - Metod Za Sintezu Digitalnog Zakona Upravljanja Servo Sistemom Sa Elastično Spregnutim Masama

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Interface) Matlab 6.0.

x(kT + T ) = x(kT ) + u (kT ) ,

(2.19) Ackermann- [2], [3].

[A(z ) R(z ) + B(z ) S (z )] y ( z ) = B( z ) T ( z ) r ( z ) .

, R(z), S(z) T(z)

deg Am deg Bm deg A deg B .

deg X < deg B ,

deg Y < deg A .

m = max deg( AR, BS ) , :

m = max deg( AR, BS ) m : m = deg AR

deg AR + 1 = deg R + deg S + 2,

deg AR = deg( Ac BS ) = max deg( Ac , BS ),

deg R = max(deg Ac deg A, deg B 1) .

deg R = max(deg Ac deg A, deg B 1).

deg S = max(deg Ac deg B, deg A 1).

deg Ac deg A + deg B 1 .

deg Am deg Bm deg A deg B .

deg Ao 2 deg A deg Am deg B + 1 .

deg B < deg A (3.4): deg S deg R , :

deg AR = deg( AR + BS ) = deg B + Ao Am .

deg R = deg Ao + deg Am + deg B + deg A .

deg T = deg Ao + deg Bm .

deg Ao + deg Am + deg B + deg A deg Ao + deg Bm .

deg Am deg Bm deg A deg B + .

deg Ao + deg Am + deg B + deg A deg A 1 .

deg R = deg S = deg T .

deg R = 1 + deg S = 1 + deg T ,

(deg N < deg )

(3.138) 3.5. 3.5.

3.10.4 - (The Dahlin-Higham algorithm)

(Graphical User Interface) Matlab 6.0,

deg R = deg S deg R = 1 + deg S ,

deg Ao = deg R + deg S + 2 deg Am deg B + 1 ,

, 1n = 1 / 2.4, 2 n = 3.4 / 5.8 , .

rdn = 12n + 22n = 0.7192 .

0.00084 s 2 + 0.004 s + 350

6.152 10 7 s 2 + 2.93 10 6 s + 0.2563

9.182 10 9 z 4 + 1.373 10 8 z 3 4.628 10 8 z 2 + 1.836 10 8 z + 6.791 10 9

0.01512 z 4 + 0.02262 z 3 0.07622 z 2 + 0.03024 z + 0.01118

Dijagram polova i nula

Nule koje se ne menjaju

Polovi koji se ne menjaju

Dijagram polova i nula

Dijagram polova i nula

Nula koja se ne menja

Dijagram polova i nula

Dijagram polova i nula

Jm=2*Jo Jm=3*Jo Jm=4*Jo

0.01512 z 4 + 0.02262 z 3 0.07622 z 2 + 0.03024 z + 0.01118

0.01515 z 4 + 0.02224 z 3 0.07813 z 2 + 0.03005 z + 0.01121

0.01454 z 4 + 0.02299 z 3 0.06705 z 2 + 0.02989 z + 0.01076

Frek vencija (rad/sec)

Dijagram polova i nula

A( z ) = z 5 3.458 z 4 + 4.502 z 3 2.591 z 2 + 0.547 z ,

B ( z ) = 0.01512 z 4 + 0.02262 z 3 0.07622 z 2 + 0.03024 z + 0.01118 ,

C ( z ) = 0.4289 z 4 + 4.006 z 3 + 1.573 z 2 1.826 z 0.1728 ,

B ( z ) = B( z ) = 0.01512 z 4 + 0.02262 z 3 0.07622 z 2 + 0.03024 z + 0.01118 .

deg R = 1 + deg S = 1 + deg T .

deg A = deg A = 5, deg B + = 0,

deg S = deg T = deg A 1 = 4, deg R = 1 + deg S = 5, ,

deg Ao = deg R + deg S + 2 deg Am deg B + 1 = 5 + 4 + 2 5 0 1 = 5 .

Bm ( z ) 0.00039 z 4 + 0.00058 z 3 0.00196 z 2 + 0.00078 z + 0.000288

Jm=2Jo Jm=3Jo Jm=4*Jo