EAAIO 6

, .


(2, 0).

,
,
s Laplace. ,


. ,
Laplace, ,
.

6.1
,
, , ,
:

d2Y dY
a2 2
+ a1 + a o Y(t) = b U(t) (6.1)
dt dt

,
Y(t) (= y(t)-ys):

198
199

U(t) (= u(t)-us):
ai: (6.1)
bo:
, (6.1) :

Y(0) = 0 , Y(0) = 0

H (6.1) :

d2Y dY
2 2
+ 2 + (t) = K p U(t) (6.2)
dt dt

a2 a1 bo
2 = , = , p = (6.3)
a 2(a a 2 )1/2 ao

,
( ) Kp ( gain)
.

Laplace, (6.2) :

2s2Y(s) + 2sY(s) + Y(s) = KpU(s)

Kp
Y(s) = U(s) = G(s)U(s) (6.4)
s + 2s + 1
2 2

,
:

Kp
G(s) = (6.5)
2s 2 + 2s + 1

,
, G(s).

2 1 2 1
s1 = + , s2 = (6.6)

 200

s1 s2, (6.4) :

( p / 2 )
Y(s) = U(s) (6.7)
(s s1 )(s s 2 )

, s1 s2 ,
. , :

>1, G(s) .

= 1, G(s) (-1/).

0<<1, G(s) .

= 0, G(s) , i/.

(0, +), s1
s2 (Im-Re) 6.1.

s1 s2 6.1,

: s1 = 0, s2 = - , = 0 : s1 = (i/), s2 = -(i/)

= 1 : s1 = s2 = -(1/) , 0<<1 : | s1 | = | s2 | = (1/)

s 2
( ) ( )

6.1: s1 s2 ( (0 < ) .
201

6.2

6.2.1 M
,

.

dY1
1 + Y1 (t) = K p1U(t) , Y1 (0) = 0 (6.8)
dt

dY2
2 + Y2 (t) = K p2 Y1 (t) , Y2 (0) = 0 (6.9)
dt

1(t)
. Laplace (6.8) (6.9),
:

K p1
(1s + 1)Y1(s) = K p1 U(s) , Y1(s) = U(s) (6.10)
1s + 1

K p2
(2s + 1)Y2(s) = K p2 Y1(s) , Y2(s) = 1(s) (6.11)
2s + 1

(6.10) (6.11),
U(s) Y2(s).

K p1K p2
Y2(s) = U(s) (6.12)
(1s + 1)( 2s + 1)

, 6.2.
6.2,
, .

:
 202

dh1
A1 = q o (t) q1 (t) (6.13)
dt

dh 2
A2 = q1 (t) q 2 (t) (6.14)
dt

q1(t) q2(t)
,

h1 (t) h 2 (t)
q1 = , q2 = (6.15)
R1 R2

R1 R2 .

, :

Qo (t) = q o (t) q os , Q1 (t) = q1 (t) q1s , Q2 (t) = q 2 (t) q 2s (6.16)

1 = R1A1 , 2 = R 2 A 2 (6.17)

Laplace
(6.13)-(6.15), :

6.2: .
203

1
Q1 (s) = Qo (s) (6.18)
1s + 1

R2
H 2 (s) = Q1 (s) (6.19)
2s + 1

(6.18) (6.19),
Qo(s) H2(s):

R2
H 2 (s) = Qo (s) (6.20)
(1s + 1)( 2s + 1)

R2 ( = K p ) .
Qo(s) Q2(s) (6.21):

1
Q2 (s) = Qo (s) (6.21)
(1s + 1)( 2s + 1)

1
Q2 (s) = 2 2
Qo (s) (6.22)
s + 2s + 1
,

1 + 2
= 1 2 , = 1 (6.23)
2 1 2

1
(.., ),

.

6.1
( 1)
1 2
. , 6.3

1, .
 204

6.1:
1.

YO EYTEPOBAMIO
YTHMATA YTHMA

1 G(s) = 1 , 1
G(s) = 2 2
(1s + 1)( 2s + 1) s + 2s + 1

1 =
1
s1 (
= + 2 1 ) = 1 2

1 1 + 2
2 = = ( 2 1) = >1
s2 2 1 2

6.3: ()
. () .

6.2.2
,

.
205

dY1
= 111 (t) + 12 2 (t) + U(t) , Y1(t) = 0 (6.24)
dt

dY2
= 211 (t) + 22 2 (t) , Y2(t) = 0 (6.25)
dt

.
:

i
Y1 = 11 12 1 (t) + 1 U(t)
i
Y = AY(t) + BU(t) (6.26)
i 21 22 2 (t) 0
Y2

Y(t) = ( Y1 (t), Y2 (t) )T U(t) /

. (2x2) (2x1)
i
. , Y = ( dY1 dt , dY2 dt )T
.

, Laplace (6.24) (6.25):

Y1 (s)(s a11 ) = a12 Y2 (s) + U(s) (6.27)

Y2 (s)(s a 22 ) = a 21Y1 (s) (6.28)

(6.27) (6.28)
6.4.
( 6.3)
Y2 (t) Y1 (t) ( (6.24)
(6.27)).

(6.24) (6.25)
. ,
(6.25) t:

d 2 Y2 dY1 dY2
= a 21 + a 22 (6.29)
dt 2 dt dt
 206

6.4: .

, (6.24) (6.29):

d 2 Y2 dY2
= a 21[a 11Y1 (t) + a 12 Y2 (t) + U(t)] + a 22 (6.30)
dt 2 dt

, Y1 (6.25) (6.30). ,
, :

d 2 Y2 dY dY
2
= 21 11 2 22 2 (t) + 12 2 (t) + U(t) + 22 2 (6.31)
dt 21 dt dt

d 2 Y2 dY
2
+ (a11 a 22 ) 2 + (11 22 2112 )2 (t) = 21U(t) (6.32)
dt dt

(6.32)
(6.1).

6.5.
6.5,
, .

q1(t) q2(t)
:
207

6.5: .

1 h 2 (t)
q1 (t) = (h1 (t) h 2 (t)) , q 2 (t) = (6.33)
R1 R2

T
(H1(t) = h1(t) h1s, H2(t) = h2(t) h2s, Qo(t) = qo(t) qos, Q1(t) = q1(t) q1s
Q2(t) = q2(t) q2s) :

dH1
A1 = Q (t) Q1 (t) , H1 (t = 0) = 0 (6.34)
dt

dH 2
A2 = Q1 (t) Q 2 (t) , H 2 (t = 0) = 0 (6.35)
dt

, Laplace (6.33) - (6.35):

R1 Q1(s) = H1(s) H2(s) , R2 Q2(s) = H2(s) (6.36)

A1 s H1(s) = Q(s) Q1(s) (6.37)

A2 s H2(s) = Q1(s) Q2(s) (6.38)

, 1 2
:

1 = R1 A1 ; 2 = R2 A2 (6.39)
 208

, (6.36)-(6.39)
Qo(s) H2(s):

R2
H 2 (s) = 2
Qo (s) (6.40)
1 2s + (1 + 2 + A1R 2 )s + 1

, ,
Qo (s) H 2 (s) (6.41) ( (6.20)):

R2
H 2 (s) = 2
Q (s) (6.41)
1 2s + (1 + 2 )s + 1

(6.40) (6.41) A1R2,

(6.40),
( 6.5). ,
,
( )
, = (1 + 2 + A1R 2 ) (2 1 2 ) ,
.

6.1:

6.2. Laplace,
, H2(t),
, Qo(t) = 1H(t). 1 = 2 = 1min,
2(t)
(H2(t)/Kp) t.

, 6.5,
H2(t) Qo(t). 1 = 2 = 1R2 = 1
min, H2(t)
(H2(t)/Kp) t. ,
.

:
, ,
H2(s) Qo(s) (6.20), K p = R 2 .
209

, (6.20) :

Kp
H 2 (s) = (6.42)
(1s + 1)( 2s + 1)s

H2(t)
Laplace (6.42). , Heaviside (
), :

1 2
2(t) = K p 1 e t / 1 e t / 2 (6.43)
(1 2 ) ( 2 1 )

1 = 2 = , (6.42) :

Kp 1
H 2 (s) = 2
(6.44)
(s + 1) s

, H2(t) :

H2(t) = Kp(1 e t/ (t/) e t/ ) (6.45)

= 1min, (6.45) :

(H2(t)/Kp) = (1 e t t e t ) (6.46)

, 1 = 2 = 1R2 = 1min,
H2(t)
Laplace
(6.40):

Kp Kp
H 2 (s) = = (6.47)
(s 2 + 3s + 1)s (2, 618s + 1)(0,382s + 1)s

, Heaviside,
(H2(t)/Kp).

(H2(t)/Kp) = (1 1,17e t / 2,618 + 0,17 e t / 0,382) (6.48)

 210

MATLAB.
211
 212

1.0
Hi(t)
Kp

0.5

(5.39)
(6.46)
(6.48)

0.0
0 1 2 3 4 5 6 7
t (min)

6.6: (5.39), (6.46) (6.48).

6.6 (6.46), (6.48),

(H1(t)/Kp) = (1 e t) (
).

6.6
.

6.2.3

, 6.7.
1(t) (Nm 2 ) 2(t) (Nm 2 ) ,
,
(0,0). 1
2,
. ,
(1,2) ( 6.7).

Newton, (m = AL, kg)

213

du
m = F1 F2 Fh Ff
dt

6.7: U.

(F1 = P1A, N F2 = P2A, N), (Fh = 2Ahg,

N), 2 ,
(Ff = APf, N), .
,
Poiseuille.

Pf = 8Lu r 2 (6.49)

(kgm 1s 1 ) . L (m) r (m)

. ,
u (ms 1 ) , = (1 2),
,
u = (dh/dt).

,
, :

du
m = F1 (t) F2 (t) Fh (t) Ff (t) (6.50)
dt
 214

(6.50) m, u, F1, F2, Fh Ff,

:

d2h 8L dh
A L 2
= A P1 (t) P2 (t) 2h(t)g 2 (6.51)
dt r dt

L d 2 h 4L dh
+
( P (t) P2 (t) )
+ h(t) = 1 (6.52)
2 2
2g dt gr dt 2g

(m 2 ) , (kgm 3 )
g (ms 2 ) . (6.52)
(6.1),
. , (s), ,
(), , Kp (kg 1m 2s 2 ) ,
:

1/ 2 1/ 2
L 4 L 1
= , = 2 , p = (6.53)
2g r 2g 2g

,
H(s) P(s)
:

Kp
H(s) = (s) (6.54)
2s 2 + 2s + 1

6.2.4

6.8.
(.., ),
.

(.., platinum/rhodium, chromel/alumel, copper/constantan, iron/constantan)
.
215

() ()
6.8: .

,
, E(t) mV, ,
.
, , 6 60
mV/C. ,
, (.., ). , (
) (.., ),
.
,
.

6.8,
, ,
.
, ho (Jm 2s 1 ) , , hi,
, (
6.8()).

, Tl(t),
, w(t), , ,
 216

dTw
m w Cpw = A o h o (Tb (t) Tw (t)) Ai h i (Tw (t) Tl (t)) (6.55)
dt

dTl
m l C pl = Ai h i (Tw (t) Tl (t)) (6.56)
dt

mw (kg), ml (kg), Cpw (Jkg 1K 1 ) Cpl (Jkg 1K 1 )

, .
(m 2 ) i (m 2 )
.

, /
, .

m w Cpw ml Cpl Ai h i
1 = , 2 = , = (6.57)
Ao h o Ai h i Ao h o

(6.55) (6.56), :

dTw
1 + Tw (t)(1 + ) = Tl (t) + Tb (t) (6.58)
dt

dTl
2 + Tl (t) = Tw (t) (6.59)
dt

(6.58) (6.59) ( 6.2.2)

,
6.8.

d 2 Tl dT
1 2 2
+ ( 1 + 2 (1 + ) ) l + Tl (t) = b (t) (6.60)
dt dt
217

6.3
,
(.., , )
.

6.3.1
U(t) = (t)
( (6.7)). .1,
Laplace :

U(t) = (t) , U(s) = (6.61)

(6.61) (6.7), :

(K p / 2 )
Y(s) = (6.62)
(s s1 )(s s 2 )

, Heaviside,
.
, s1 s2 >1,
=1,
0<<1. , Y(t)
:

1: (>1)

+ 2 1 2 1
t + t

(Kp / 2 ) e (Kp / 2 ) e
Y(t) = +
2 1 2 1 2 1 2 1
+ + + +

t
K p 1 t
Y(t) = e sinh 2 1 (6.63)
2 1
 218

sinh :

sinh = (e e ) , = (t ) 2 1 (6.64)

2: ( = 1)

K p t
Y(t) = te (6.65)
2

3: (0<<1)

t
K p 1 t
Y(t) = e sin 1 2 (6.66)
1 2

(6.63), (6.65) (6.66)

6.9.

(6.62) Y(t) t
MATLAB.
219

0.8
Y(t) = 0,3
Kp
0.6

0.4 =1

0.2
= 1,5

0.0

: +1
-0.2

-0.4
0 5 10 15 20
t/

6.9: , =1.

(Y(t)/ Kp)
(t/) t = 0, 1. , 0<<1,
Y(t) . ,
, Y(t)
, .
 220

6.3.2
,

U(t) = H(t) , U(s) = /s (6.67)

(6.67) (6.7) :

( p / 2 )
Y(s) = (6.68)
(s s1 )(s s 2 )s

H , Y(t), U(t)
Laplace (6.68).
, .

1: (>1)
>1, Y(s) s = 0.
s1 s2 (6.6) (6.68),
, Heaviside, Y(t).

(t) = K p 1 e t / cosh

( )
2 1 t + 2


1
sinh ( )
2 1 t

(6.69)

(overdamped).
(6.69) 6.10.
, .
t = 0, (Y(t)/Kp) .

2: ( = 1)
= 1, (s) , (s1 = s2 = - 1/ )
s = 0. , Laplace
(6.68), Y(t):

t
Y(t) = K p [1 (1 + )e t ] (6.70)

(critically damped).
(6.70) 6.10.
221

1.2
Y(t)
Kp 1.0

0.8

0.6

0.4

0.2

0.0
0 2 4 6 8 t 10

6.10: Y (=2 3) (=1)

( : =1).

3: (0<<1)
0<<1, Y(s) s=0.
,
:

t / 2 t 2 t
Y(t) = K p 1 e cos 1 + sin 1 (6.71)
1 2

1 t
Y(t) = K p 1 e t / sin 1 2 + (6.72)
1 2

= tan 1 ( 1 2 / )

(underdamped).
Y(t) ( (6.71) (6.72)) 6.11,
(=0,2 0,5).
, .
, Y(t)
:
 222

2.0

Y(t)
1.6
= 0,2

1.2 B
= 0,5 C +2%
Kp
-2%
0.8

A
0.4

ts
0.0
0 tr tp 5 10 15 20 25
t

6.11: (0<<1), = 1.

: (= p) (t) .
: (=Y(tp) Kp)
, Y(t).
Y(tp): (= + ) Y(t)
t p , Y(t).

C:
, Y(t).

Y(t), (6.71) (6.72) t ,
, . , :

sin(t) = 0 , = 1 2

(radians/) .
, t: (/), (3/), .,
, ... (t).

(rise time): Y(t)

Kp, , t r ,
(6.71) (6.72) Y(tr)=Kp ( 6.11).
223

tr = ( ) , = tan 1 ( 1 2 / ) (6.73)
2
1

(overshoot): (/)
(6.71) (6.72), tp = (/),
Y(t).

= exp (6.74)
2
1

(decay ratio): (C/)

(6.71) (6.72)
(/) (3/).

C 2
= exp = (Y)2 (6.75)
2
1

(settling time): ts,

, Y(t), , K p ,
(.., 2% K p ),
.

1.0

( n ) = 1 2

0.5
B
= exp
A 1 2

0.0
0.0 0.5 1.0

6.12: (/) (/n)

, .
 224

2%,
:

ts 4 = 4(/) (6.76)

= 0, .
,
, Y(t)
n = 1/.
( (6.74)) (/n)
6.12.
, (/) .

(6.68) Y(t)
MATLAB.
225

6.2: (6.71)-(6.76)

2n
(s) = U(s)
s 2 + 2n s + n2

Heaviside Y(t)
U(s) = 1/s,
(6.71) (6.72).
, tr, (6.73). ,
tp, Y(t),
tp = /(n 1 2 ), Y(tp) (tp) = 1+

exp(- / 1 2 ). , (/)
(6.74). , 2%
K p Y(t), (6.76).

, n, 1/,
. , :

2n
(s) = 2 2
U(s) = 2 2 1 U(s) (i)
s + 2n s + n s + 2s + 1

(i) (6.4) p = 1.
. 0<<1,
(i) :

(s) = 1/ 2 (ii)
s[(s + / ) 2 + ( 1 2 / ) 2 ]

, Y(s) s = 0
, / i ( 1 2 / ) . ,
Heaviside, Y(t) (iii).

(t) = Yo(t) + Y(t) (iii)

/ i 1 2 /
 226

s = 0 (iii)
Heaviside ( (.70)).

o(t) = Y(s) s =0 = 1/ 2 s =1 (iv)

s[(s + / ) 2 + ( 1 2 / ) 2 ] s =0

(iii)
(.73) .74) ( ).

t
Y i (t) = e (i cost + r sin t) (v)

= /, = 1 2 / . r i
(s) = ( 2 s) s = + i. ,

2
1 2
(s) +i = 1/ = i (vi)
s +i

(iv)-(vi) (iii),
:

1 2
(t) = 1 e t/ [cos(t) + sin(t)] , = (vii)
1 2

(5.55), (vii) :

t

e
(t) = 1 sin(t + ) , = tan 1 ( 1 2 / ) (viii)
2
1

, (viii) t r ,
Y(t), , Y(tr) = Kp = 1.

et r
(tr) = 1 = 1 sin(tr + ) sin(tr + ) = 0 (ix)
1 2
227

, (ix) Y(t)
Y(t r ) = K p = 1 ( 6.11):

(k )
tr + = k tr = , k = 1, 2, 3, (x)

, (x) k = 1, , tr:

( ) ( ) ( )
tr = = = (xi)
n 1 2 1 2

tp Y(t) ,
(vii) (viii) t
.

dY = 0 = sin(t) e t / sin(t) = 0 , = 1 2 (xii)

dt 1 2

, (xii), (k/), k=0,1,2,3,...,

( ) Y(t). , k
= 1
Y(t),

tp = = 2 = (xiii)
1 n 1 2

, tp (vii), :

1 2 1 2
(tp) = 1 e / (cos + sin ) = 1 + e / (xiv)
2
1

(/), (xiv),
Y(tp) = (1+) = (1+exp(/ 1 2 )). , A = K p = 1 .
, :

(
(B / A) = exp / 1 2 )
1 et / 1 2
 228

(.., )
Y(t) ( 6.11). ,
, ts, 2%
Y(t) (= K p = 1) , :

(ts) = 1,02 = 1 + e ts / 1 2 (xv)

,
Y(t) , =
(/) = (1/n) . , ,
(xv) ts,
. , 2%
Y(t s ) 0<<0,9, ts
. , ts 4 = 4(/).

6.3:

(s) = 1 U(s)
2
8s + 4s + 2

.
U(t) = 2H(t),
Y(t) Laplace.
;

(6.5),
:

0,5
(s) = 2
U(s) (i)
4s + 2s + 1

(i) (6.5)
.
229

2 = 4 = 2/2 = 0,5 (ii)

, =0,5.
, (i) ,
U(s)=2/s, (s).

0,5 2 0, 25
(s) = = (iii)
s(4s + 2s + 1) s((s + 0, 25) 2 + 0, 4332 )
2

/ Y(s) : s1 = 0, s2 s3 = -0,25 i0,433. ,

6.2, ,
Heaviside, Y(t).

Y(t) = 1 e0,25t (cos(0,433t) + 0,577sin(0,433t)) (iv)

, (6.74) (/).

( B A ) = exp ( )
1 2 = 0,163 (v)

Laplace (iii)
MATLAB.

6.3.3
, Ys(t),
,
 230

G(i). , Laplace s
(6.5) i.

Kp Kp
G(i) = G(s) s =i = 2 2
= (6.77)
s + 2s + 1 s =i 1 2 + 2i
2

, (6.77)
(1 22 2i). , (6.77)
:

(1 2 2 ) i(2)
G(i) = K p (6.78)
(1 22 ) 2 + (2) 2

, G(i)
( 5.3.3).

Kp
G(i) = (6.79)
(1 2 2 )2 + (2) 2

2
= tan 1 2 2
(6.80)
1

, Ys(t)
:

K p
s (t) = G(i) sin(t + ) = sin(t + ) (6.81)
(1 22 ) 2 + (2) 2

(6.81) :

1. (U(t) =
sint), ,
.

2. , , , ,
:
231

' Kp
(..) = = G(i) = (6.82)
(1 2 2 ) 2 + (2) 2

3. Ys(t) () U(t) ,
(6.80).

(6.79) (6.80)
BODE,
6.13 , . ,

10

.. = 0,1
p
0,3
1 0,5
0,8
2,0

0.1

()

0.01
0.1 1 10

o
0
=

0,

0,5
0,

1
3

-45
o
0,8
2,0

o
-90

o
-135
()

o
-180
0.1 1 10

6.13: BODE ()
(../p) , ()
.
 232

(.E/Kp) ,
. ,
(6.82).

.. 1
log = log[(1 2 2 ) 2 + (2) 2 ] (6.83)
Kp 2

(6.83) .
(6.83) 0.
>>1.

lim log .. = 0 lim log .. = 2 log() (6.84)
0
p
p

c = 1/. , (6.80),
, .

0 , tan 2 , 0
= 1 , tan = , 90
2
>1 , tan , 180


0 180, (0, ).

90.

, (.E/Kp)
. ,
, (./p)
( 6.13). ()max,
, (6.82)
:

d 1
=0 (6.85)
d() 1 + (2 2 ) 2 22 2 + 4 2 2 2

233

, (6.85) ()max:

() max = 1 2 2 , <0,707 (6.86)

, <0,707 (./Kp)
()max. (6.86) (6.82),
:

.. 1
K = (6.87)
p max 2 1 2

(./Kp)
.

(6.4) ,
Y(t) BODE
MATLAB.
 234
235
 236

6.3.4

1,

( 6.1):

Kp Kp
G(s) = = (6.88)
2s 2 + 2s + 1 (1s + 1)( 2s + 1)

1 = ( + 2 1 ) 2 = ( 2 1 ).

, (
G(i) )
:

Kp 1 1
(..)2 = G ( i ) 2 = = Kp (6.89)
(1 + 12 2 )(1 + 2 2 2 ) 1 + 12 2 1 + 2 2 2

(6.89), :

1 1
log(.E./Kp)2 = log(1 + 12 2 ) log(1 + 2 2 2 ) (6.90)
2 2

(..)
1,
. ,
(n, 0)-,
"n " . ,
:

log(../ Kp)n- = log(..)1,i (6.91)
i =1

(6.80), , ,
:

2
tan = (6.80)
(1 2 2 )
237

, (6.23),
(6.80). , .

(1 + 2 ) (1 ) ( 2 )
tan = = (6.92)
1 1 2 1 (1 )( 2 )
2

(5.60), 1 2
:

tan1 = ( 1) , tan2 = ( 2) (6.93)

(6.94),

tan(1 + 2 ) = (tan 1 + tan 2 ) (1 tan 1 tan 2 ) (6.94)

(6.92) (6.93) :

= 1 + 2 (6.95)

,
1 2 . ,
"n " , :

n- = 1 ,i (6.96)
i =1

6.4:

BODE
:

1 1/ 5 1/ 5
G(s) = = =
(s + 1)(s + 5) (s + 1)(s / 5 + 1) (1s + 1)( 2s + 1)

1 = 1 2 = 1/5. , (6.90),

:
 238

1 1
(
log(.E.)2 = log(1/ 5) log(2 + 1)1 log ( / 5) 2 + 1
2 2
)
1
(i)

O c1 c2 ,
, :

c1 = 1 1 = 1 c2 = 1 2 = 5

, (.., >>5), (i)

:

( )
log ..
1/ 5
2 log() (ii)

>>5 2.
,
1 2
.

= 1 + 2 , 1 = tan1() 2 = tan1(/5) (iii)

BODE ( (i)
(iii)), BODE
6.14.

1
..
p 1
(s/5 + 1)

1
1
0.1 (s + 1)
(s +1)(s/5 + 1)

0.01
0.01 0.1 c1=1 c1=5 10 100
239

o
0

o
-45
1 2

o
-90

o
-135
()

o
-180
0.1 1 10

6.14: (./Kp)
.

6.4

(..,
, Kp, ),

. , (..,
Harriot) ( K p , 1 , 2 ) ,
(6.97):

K p e s
G(s) = (6.97)
(1s + 1)( 2s + 1)

(6.97)
,
( ).

 240

(dead time). , ,
(6.97) :

2
1 2 d Y + (1 + 2 ) dY + (t) = K p U(t ) (6.98)
dt 2
dt

Smith K p , ,
(6.99)

K p es
G(s) = (6.99)
2s 2 + 2s + 1

, ,
(6.99) (>1)
(0< <1)
, .

, ,
(6.97) (6.99) . ,

Y(t) t, Y(t) (0 t < ) .

(
10). , (1 2) ( ),
(6.97) (6.99),
Y(t)
. , t = (t ) ,
,
, Y(t ) = Y(t ) .

6.4.1 Harriott
6.15, (Y(t) / ( Kp))
( 1) t (1 + 2 ) ,
(2 / 1) ( (6.98)
=0).
241

2 / 1=0,
. 2 / 1=1,
(=1). , 1,
(dominant).
2 / 1
. (Y(t)/Kp)
t/(1+2) 2 / 1 ( 6.15),

t/(1 + 2) 1,3. , (Y(t)/Kp)
0,73. , , t 73 ,
Y(t) 73% ((t) = Kp),
:

(1 + 2) = t73/1,3 (6.100)

6.16
(Y(t)/Kp) t = 0,5(1 + 2)
1 / (1 + 2). 0,26
0,39, Harriott .

.

, Harriott

1.0
Y(t)
Kp
0.8

0.6

0.4
2/1 = 0
0.2 2/1 = 0,2
2/1 = 1,0
0.0
0 1 2 3
t/(1 + 2 )

6.15: ( 1)
(2 / 1).
 242

0.4

Y(0,5(1+2))
Kp

0.3

0.2
0.50 0.75 1.00
1/(1 + 2 )

6.16: (Y(t)/Kp)
t/(1 + 2) = 0,5 1 / (1 + 2).

(2 / 1) . , 1 2
Kp,
(5.42).

6.4.2 Smith
Smith (6.99)
(.., = 0), (Y(t)/(Kp))

100 10

t60/
t60/

10 1

1 0.1
0.3 0.4 0.5
t20/ t60
6.17: Smith.
243

(U(t) = H(t)) .

, t20 t60 20% 60%,

, (, Y(t) = Kp) Y(t).
6.17 t60/
t20/t60.
t20 t60,
6.17.

6.5:

5.9,
.
(.., ),
, t = 0, 120
125 kg/min. ,
.

t(min) 0 2 4 6 8 10 12 14 16 18 20

T(t) (oC) 140,0 144,0 149,8 154,0 156,7 158,2 159,0 159,5 159,7 159,8 159,9

, = 0,
Harriott Smith
(Kp, 1 2) (Kp, ).

( 5.42)
, , Kp.

Y(t ) T() T(0) 160 140 C

p = = = =4
U(t ) m() m(0) 125 120 kg / min

, ,

 244

1.00
Y(t)
Kp
0.75
t73
t60
0.50

0.25
t20

0.00
0.0 2.5 5.0 7.5 10.0 12.5 15.0 17.5 20
t (min)

6.18: ().

Y(t) (K p ) = (T(t) 140) (4*5) t, ( 6.18).

Harriott, , t73,
0,73. 6.18, t73 = 6,4 min.

, (6.100),
:

t 73 6, 4
(1 + 2) = = = 4,92 (i)
1,3 1,3

, t = 0,5(1 + 2) = 2,46 min,

6.18 Y(2,46)/(Kp) = 0,27. ,
6.16
1/(1+2) = 0,61.

1 = (1 + 2) 0,61 (ii)

, (i) (ii)
1=3 min 2= 1,92 min.

Smith, 6.18,
t20 t60 20% 60% Y(t),
245

t20 = 1,9 t60 = 4,9. , t20/t60 = 0,38

6.17 t60/ = 2,05. ,
= 4,9/2,05 = 2,39 min. , 6.17
= 1,05.
(>1),
:

1 = ( + 2 1 ) = 3,27 min ; 2 = ( 2 1 ) = 1,75 min

Smith Harriott.
10,
,
, .
 246

#

.
# , ,
.
#
( 1), 1
2 .

#

.
# (6.63), (6.65) (6.66)

: >1, =1 <1.
# (6.69), (6.70) (6.71)

: >1, =1 <1.
# (6.73)-(6.76)
.
# Heaviside,

: >1, =1 <1.
# ,
, Ys (t)
,
(6.81), .
# BODE
(../)
(0, ).
# Harriott Smith

.
247

6.1: (6.2)
:
) U(t) = 1(t) .
) U(t) = 1H(t) .
) U(t) = 1sin(t) .

6.2: ,
:

d2Y dY
2
+a + 4Y(t) = U(t)
dt dt

)

.
) a 10 a 10 ,
a,
.
( )
a, .

6.3:
:

Y(s) 18
= 2
U(s) s + 3s + 9

) : U(t) = 3H(t) ,
Y(t) .
) Y(t) 10 ,
U(t)
;
 248

6.4: 6.2,
.
6.19.

6.19:
.

) (t=0)
, q os = q1s = q 2s = 0, 4 m3 min .
q 2 (t) ,
:
q o (t) = 0, 4t ; m3 min .

) q1 (t) q 2 (t) :

q1 (t) = 4h1 (t) ; q 2 (t) = 2h 2 (t)

,
t=0, 1 m3 .

6.5:
6.20:

6.20: .
249

: V1 = V2 = 5 m3

(), Q = 2,5 m3 min : (), CAo,s = 2 kmol m3 :

, CA1 (t = 0) = CA2 (t = 0) = 2 kmol m3 :
. t=0,

6.21.

) -
.
) , CA2(t),
(- );
) , CA2(t), .
) BODE .

3
, CAo(t) (kmol/m )
3

0
0.0 0.5 1.0 1.5
, t (hr)

6.21: CAo (t)

.

6.7: 1.1,
: mo = 20 kg min , M1 = 60 kg , M 2 = 40 kg ,
ms,max = 5 kg min , ms,min = 0 ,

Cp = 1 cal (g o C) . Hs = 500 kcal kg .

 250

.
( ms << mo ) .

)
, T2s = 50o C
Tos = 10o C .

) 1(t),
ms (t) (t), 2(t) 1(t).
(-) (gain) ;

) 1(t) 2(t) ms (t)

( ())
(t) ( 6.22).
) , 2(t),
, ms (t) ,
2,6 kg/min.
, Tos = 10o C .

20
, (t) ( C)

15

10

0
0 2 4 6 8 10 12
, t (min)

6.22: , To (t) , .

6.6: ( 2005)
( R)
(CSTR).
251

3
CAo (gmol/L)

0
t=0 t (min)

6.23: .

t < 0
3 gmol/L. t = 0, 1 gmol/L.
:

k = 0,2 min-1,
1 = 5 min, CSTR
2 = 10 min, CSTR
,
V1 V2 .

)
.
) CA1(t) CA2(t).
.
) CA1 CA2
.
 252

6.8: ( 2006)
-
:

dX1
= a11X1 (t) a12 X 2 (t) + bU(t) X1 (t = 0) = 0
dt
,
dX 2
= a 21X1 (t) a 22 X 2 (t) X 2 (t = 0) = 0
dt

)
:

d 2X 2 dX 2
2 + 1 + X 2 (t) = U(t)
dt 2 dt

2, 1,
, a ij b,
.
) a11 = 1, a12 = 3,5, a21 = 2, a22 = 3 b = 0,5,
.
(..,
, .);

6.9:
:

d2h dh
4 2
+ 0,8 + h(t) = P(t)
dt dt

h(t)
P(t) .

) h(t) P(t),
.
)
;
253

) , h(t),
, P(t) = 2 exp(4t) .

6.10:
15 31 psi 6.24.

6.24: .

)
,
:

Y(s) Kp
= 2 2
P(s) s + 2 + 1

Y (mm)
P (psi) .
)
, y(t) p(t).

6.11: ( 2005)
:

y(s) = 5 U(s)
s 2 + 3s + 6, 25

, t=0, :
U(t) = 4(t).
 254

) , Y(t),
Laplace (
Heaviside).
)
(overshoot) , Y(t).
.
) Y(t) t
() .
)
.
)
, U(t) = sin(t).
) BODE .

6.12: ( 1999) :

2n
Y(s) = U(s)
s 2 + 2n s + 2n

n = (1 )
.

) (0<<1) U(s) = 1/s ,

Laplace, Y(t)
:

e n t 2
n t 1 1
Y(t) = 1 e cos d t +
sin d t = 1
sin d t + tan
1 2 1 2

d = n 1 2 .

) , :

2
Y(s) = 2
U(s)
8s + 4s + 2
255

, U(t),
(t) .

) , t r ,
(t), t p , , (/), ().
.

6.13: ( 2006) ) ,
Laplace,
:

2n
Y(s) =
(
s s 2 + 2n s + 2n )
n
Y(s) (a i) ( a = n = n 1 2 ).

) Laplace :

3s
Y(s) = 2
s + 4s + 5

) Laplace :

s2 + 3
Y(s) = 3 3
s + 6s 2 + 11s + 6

6.14:
.
,
.
,
.
,
,

.
 256

)
0,4 0,5 kg/s
100o C 102o C .

( ).
) ,

102,5o C
102,1o C 1000s 3060s, .
(,
).

) , , t r ,
.

6.15:

.
3 15 psig,
.
, ,
(C). /
,
3 sec. ,
,
10 sec.

180o C 183o C , 30s.

;

6.16: ( 2004)
, :

dX1
= k1X1 (t) + U(t) , X1 (t = 0) = 0
dt
257

dX 2
= k1X1 (t) k 2 X 2 (t) , X 2 (t = 0) = 0
dt

1(t), 2(t) U(t)

, 1(t), , 2(t),
, U(t).

) ,
6.25 k1 = 5,63 min-1 k2 = 12,62 min-1,
, X2(t).
X2(t) ;
) :

0 t<0
U(t) = k 2 t
10e t0

().
) :

0 t<0
U(t) =
10sin 2t t 0

( 10 mg/min
2 rad/min) 2(t) .

15
U(t) (mg/min)

10

0
0 5 10
t (min)

6.25: .