, 2014.

1................................................................................................. 3
1. ............................................................................................................... 3
1.1. ..........................................................................3
1.2. .........................................................5
1.3. ...........................................................................6
1.4. ............................................................................................. 7
1.5. ........................................................................................ 8
2................................................................................................. 9
2. ................................................................................................ 9
2.1. ................................................................................ 9
3. Z ................................................................................... 10
3.1. Z .........................................................................10
3.2. Z ........................................................................11
3.3. Z .................................................................11
3.4. ........................................................................12
3............................................................................................... 14
4. .................................14
4.1. .......................................14
4.2. ..............................................16
4.3. ...............................................16
4............................................................................................... 17
5. ......................................17
5.1. ...............................................17
5.2. ...................................................................18
5.3. ........................................................18

 1
1.
:

.

1.1.
1.1.

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

; , .
,
, (
).


( 1.1.).

1.2.

. ,

.
0
0
, ,
, .
,
( / ).

.

.
/
,
u .

 1.3.
,
:

( ),
( )
( ).

,
:

( ).

,
PLC
( ).
, , .
1.2.
,
,
,
.

 1.4.

,

D/A .
.
,
.
,
, .
(

T1

1).
T2

.

Tc

T 1 , T 2 T c

). ,

T D =T c +T 1+T 2
T D
1.3.

 1.5.
u i
.
.
f h( t) :

f h ( t )= f ( kT ) { [ h ( t kT )h ( t (k +1)T ) ] }

h (t)

Z ,
, ,
.

i ( t )= ( tkT )
k=

f ( t )=f ( t ) i ( t )= f (kT ) ( t kT )

k=

1.4.
,

i ( t )= ( t kT )
k=

f ( t ) .

f ( t )

f ( t )= f ( kT ) , t=nt
0, t nt
:
7

L [ f ( t ) ]=F ( s )= ( kT ) ekTs

k=0

.
t s
, , .
s t
.
1.5.
,
,
. ,

.
. ,
. ,

. (
).
:
f ( t )

T=

1 2
2 0

( ).

 2
2.

. ,
.
, .

u ( 0 ) ,u ( t ) ,u ( 2 t ) , , u ( kt )
m(t)

kt t ( k +1 ) t . ,
.
.
2.1.
,

m ( kt ) =u(kt )

u ( kt)

.
,
A/D .
.

2.1.

3. Z
Z
. ,
. Z

(Z ) f (t) f (t)
F ( s )=Z [ f (t ) ] =F (s)

F ( s )=F

s=

1
ln Z
T

1
ln Z = f ( kT ) Zk ; Z=esT
T
k=0

Z , s
, Z
. Z .
L Z , L

F(s) . Z

f (t) .

f (t )

f (t)

F( Z ) ,

f (t) :

1
f ( t )=Z [ F (Z ) ]

s
,
Z .
s Z
Z =es t
s (Y ) , .
.
s ( )
Z .
3.1. Z
1) :

10

1.1) :

F1 ( Z )=Z [f 1 (t )]
F2 ( Z )=Z [f 2 (t )]

Z [ f 1 ( t )+ f 2 ( t ) ] =F1 ( Z ) + F 2 ( Z )
1.2) :

F ( Z ) =Z [ f ( t ) ]

Z [ af ( t ) ]=a F ( Z )
2) :
Z [ f ( tn ) ] =Z F ( Z)
n

3)

f ( t ) t=0 :

4) , .

f ( 0 )=lim f ( kT )= lim F (Z )
k0

5) :
1

lim f ( kT )=lim ( 1Z ) F ( Z)

Z 1

6)
7)

11

3.2. Z

f (t)

f ( kT ) ; k =0,1,

F( Z )

1
f ( t )=Z [ F (Z ) ]

Z :
1)

F( Z ) Z 1 ,

2)

F( Z ) ,

3) .
3.3. Z
Z
. ,
Z
.
c (t )
, ,
,

T d=T

Td

c d ( t )=c ( tT ) ; (0,1)

c (t )

cd ( t )

.
m=1 , Z

c (t )

Z Z
.
c (tT )=c ( t(1m)T ) ; 0 m 1
Z

c (t )

. Z

.
Z .
12

3.4.

r ( s)

. ( )
( ).
D/A , ( 3.1.).

3.1.
Gs=G h0 ( s ) G p ( s ) ( p)

c ( s )=G ( s ) R (s)

c ( s )=G ( s ) R (s)

c ( s ) ,

Gp (s ) .

c ( s )=G ( s ) R (s)

R (s)

L -

c (s )

c (t )
13

c ( s )=G ( s ) R (s)

s=

1
ln Z
T

c ( Z )=G ( Z ) R (Z )

,
, c ( Z ) , Z
c ( t ) .
c ( s ) c ( Z )

R (s) R (Z )

.
,
:
1) ,
2) ,
3) DFT (Discret Fourier Transformation)

14

 3
4.
A/D

. , ,
.
,

.
td
.

, A/D
.
.

4.1.
4.1.

:
L

,

.

( ) :
1) ,
2)
,
3)
, ,
4) / ,

15

5) (
) ( )
,
6)
.

.
, , ,
.
x ( t )= Ax ( t )+ Bm ( t )
c (t )=Dx ( t ) + Hm(t)

x ( t )
c (t )
m(t)
A ,B, D,H

4.2.
,
kT t ( k +1 ) T .
(
).
16

m1 ( t ) , , mr ( t )

x ( ( k +1 ) T )=E ( T ) x ( kT ) + F(T )m(kT )

. x ( kT )
m ( kT ) , m ( kT +T ) .


c ( kT )=Dx ( kT )+ Hm(kT )
, Z
.
x ( t )
,
.
( ):

HOPPE ,
EULER ,
TUSTIN ,
RUNGE KUT ( ).

Z
, x (Z ) ,

x ( 0 )=0 ,
c ( Z )=( ) m(Z )

c ( Z )=G ( Z ) R (Z )

G( Z )

.
4.2.
,
,

17

m(kT )

x ( 0 )

x ( nT ) ( n ).

4.3.

t=kT
.

x ( kT )

E ( T ) , F ( T ) , D H ,

18

 4
5.

.
:
1) ,
2) ,
3) , .
,

.

( ,
).
:
x ( t k+ 1) =f (x (t k ))
x (t 0 ) .

,
. x e (t k )

f ( x e ( t k ) )=0 ,

:
x ( t k+ 1) = Ax(t k )

x e (t k )

n n .

( det A 0 )

x e ( t k )=0

.
.
5.1.
x e (t k )

x (t 0 )

>0

( )> 0 ,

19

x ( t0 ) x e

( )

x (t k )

, .
:

xe

( )

x e (t k ) , ,

( )

x e (t k )

. ,

tk

x e (t k )

5.2.


|Z|=1 Z , s .
,
.
:

Schur Cohn
Jury .

5.3.
f ( Z ) . Z

f (Z)

f ( Z ) ,

c ,

N P .

arg f ( Z )=2 n

20

( f ( Z ) ).

Z =e jT

, :

f ( Z )=0

f ( e jT ) , 0

, n f ( Z ) .

f ( Z ) ,
1.

21