ТАУ пособие
.pdf
.
. 42. Derivative
.
Derivative
,
.
2)lntegrator
: .
:
External reset – .
,
, :
none – ( ),
rising – ( ),
falling – ( ),
either – ,
level – ( ,
);
61
, ( none),
,
,
.
Initial condition source –
, :
internal – ,
external – ,
, x0,
,
.
Initial condition – .
.
,
.
Limit output ( ) –
.
Upper saturation limit –
, ,
inf, + .
Lower saturation limit –
, ,
inf, - .
Show saturation port – ,
,
.
:
, ,
+1,
,
62
-1,
.
Show state port ( ) –
. ,
,
,
.
.
3)Absolute tolerance – .
. 43
.
.
. 43.
. 44
.
-10.
63
. 44.
. 45
. :
-
;
1 Relational Operator ,
, .
,
0 +1.
64
. 45.
( . 46)
.
IC (Initial Condition) .
, 1,
Relational Operator
, ,
,
( . -1). .
,
.
65
. 46.
4) Transport Delay
:
.
:
Time Delay – (
).
Initial input – .
Buffer size – ,
. , 8
1024).
Pade order (for linearization) – ,
.
.
Transport Delay.
66
.
,
,
Transport Delay .
,
, Simulink
.
MATLAB
.
.47 Transport Delay
0.5 .
. 47. Transport Delay
5) Variable Transport
Delay
: ,
.
:
Maximum delay –
( ).
Initial input – .
67
Buffer size – ,
. , 8
1024).
Pade order (for linearization) – ,
.
.
Variable Transport Delay
Transport Delay.
,
,
Maximum delay, Maximum delay.
. 48 Variable Transport Delay.
0.5c 1 , 5 .
. 48. Variable Transport Delay
6)Transfer Fcn
: Transfer Fcn
:
68
H s y(s) num(s) num(1)snn 1 num(2)s nn 2 num(nn) , u(s) den(s) den(1)s nd 1 den(2)s nd 2 den(nd )
nn nd –
; num –
; den – .
:
Numerator –
Denominator –
Absolute tolerance – .
.
. ,
,
( ). . 49
Transfer Fcn.
. 49.
,
Transfer Fcn ,
69
,
.
.
. 50 Transfer Fcn,
. ,
, Transfer Fcn.
. 50.
Transfer Fcn
. ,
, tf2ss
Control System Toolbox)
State-Space.
7)Zero-Pole
: Zero-Pole
:
H s K |
Z (s) |
K |
s Z 1 s Z 2 s Z m |
, |
|
s P 1 s P 2 s P n |
|||
|
P(s) |
|
||
|
|
|
70 |
|