Upload
giwrgosmth
View
221
Download
4
Tags:
Embed Size (px)
DESCRIPTION
rrrr
Citation preview
:2012 142
M:""
2012
1
1:
(),,().
() , .
1
():
1 2
4 3
R1Is v1 C1
C2
R2
R3
R4 R5gv1
11 22
44 33
R1Is v1 C1
C2
R2
R3
R4 R5gv1
:v1,():gv1
()4,:
R1R2R3R4R5C1C2v1gv1Is
1
2
3
1 1 0 0 0 1 1 1 0 1
0 1 0 1 1 0 1 0 1 0
0 0 1 1 1 0 0 0 1 0
=
A
:n=4b=10,:(n1)xb=3x10.
/ & /
gv1C1R1
R4+
+
v1 v2
R2
C2
R5s
R3
gv1C1R1
R4+
+
v1 v2
R2
C2
R5s
R3
:2012 242
()(,t=0):
1 2 1 2 2 2 1
2 2 2 4 5 2 4 5 2
4 5 3 4 5 3
1
2
3
0
0
0
s
n
G G sC sC G sC e I
G sC g G G G sC G G e
g G G G G G e
+ + + + + + + = + +
Y
(Gi:Gi=1/Ri).
()()():{C1,C2,R3}.
(...):[vc1,vc2,vR3].
1 2
4 3
R1Is v1
C1
C2
R2
R3
R4 R5gv1 C1
C2
R3
11 22
44 33
R1Is v1
C1
C2
R2
R3
R4 R5gv1 C1
C2
R3
,,(...)...,(,):
1 1 1 1 4 5
2 2 2 1 4 5
3 3 1 4 5
: 0: 0: 0
c R R R S
c R R R
R R R
C
C
R
i i gv i i Ii i gv i ii gv i i
+ + + + = + = =
( )
( )1 1 1 1 1 4 4 5 5
2 2 2 2 1 4 4 5 5
3 3 1 4 4 5 5
00
c R R R S
c R R R
R R R
sC v Gv gv G v G v IsC v G v gv G v G v
G v gv G v G v
+ + + + = + = =
...,:
( ) ( )( )
( ) ( )( )
( )( )
1 1 1 4 5 2 1 3
1 2 2 2 4 5 2 1 3
1 3 3 4 5 2 1 3
00
c c c R S
c c c c R
c R c c R
sC G g v G G v v v Igv sC G v G G v v vgv G v G G v v v
+ + + + + = + + + + = + + + =
:
( ) ( )
( )
( )
1 1 4 5 4 5 4 5 1
4 5 2 2 4 5 4 5 2
4 5 4 5 3 4 5 3
0
0
c s
c
R
sC G G G g G G G G v I
g G G sC G G G G G v
g G G G G G G G v
+ + + + + + + + + + + = + + + +
____________________
:2012 342
2
2:
(),,.
() , .
2
():
1 2
0
3
R1
i1 L1
L2
R2
vs
R4
R5
4 5
r.i1
6 7R3
i1 i3i2
11 22
00
33
R1
i1 L1
L2
R2
vs
R4
R5
44 55
r.i1
66 77R3
i1 i3i2
:i1,():ri1:
R1R2R3R4R5L1L2i1ri1vs
1
2
3
4
5
6
7
1 0 0 0 0 0 0 1 0 0
0 0 0 0 0 1 0 1 0 0
0 0 1 0 0 1 1 0 1 0
0 0 0 1 0 0 0 0 1 0
0 0 0 1 1 0 0 0 0 0
1 0 0 0 0 0 0 0 0 1
0 1 0 0 0 0 1 0 0 0
=
A
(t=0):
ri1L1 L2
R3
+
i1
v2R2
R5
R4
+vs
R1+ ri1
L1 L2R3
+
i1
v2R2
R5
R4
+vs
R1+
:2012 442
( ) ( )( )
( ) ( )( )
( ) ( )
1 1 1 2 2 1 2
3 2 3 2 2 1 2
1 4 5 3 3 2 3
000
sL s R i L s R i i vR i i L s R i ir i R R i R i i
+ + + = + = + + =
:
( )
( )
1 2 1 2 2 2 1
2 2 2 2 3 3 2
3 3 4 5 3
0
0
0
sL s L s R R L s R i v
L s R L s R R R i
r R R R R i
+ + + + + + + = + +
()()():
{R1,i1,vs,R2,R3,ri1,R4},.
1 2
0
3
R1
i1 L1
L2
R2vs
R4
R5
4 5
r.i1
6 7R3
-L1 -R5
-L2
11 22
00
33
R1
i1 L1
L2
R2vs
R4
R5
44 55
r.i1
66 77R3
-L1 -R5
-L2
(..):[iL1,iL2,iR5].,,(...)..,(,):
1 1 3 1
2 2 2 3
5 5 3 1 4
: 0: 0: 0
L R R S
L R R
R R R
L
L
R
v v v vv v vv v ri v
+ = + = + =
( )
( )1 1 3 3 1 1
2 2 2 2 3 3
5 5 3 3 1 4 4
00
L R R S
L R R
R R R
sL i R i Ri vsL i R i R i
R i R i ri R i
+ = + = + =
...,:
( ) ( ) ( )
( ) ( )
( )
1 1 3 1 2 5 1 1
2 2 2 2 3 1 2 5
5 5 3 1 2 5 1 4 5
00
L L L R L S
L L L L R
R L L R L R
sL i R i i i R i vsL i R i R i i i
R i R i i i ri R i
+ = + = + + =
:
1 1 3 3 3 1
3 2 2 3 3 2
3 3 3 4 5 5
0
0
L s
L
R
L s R R R R i v
R L s R R R i
r R R R R R i
+ + + + = + +
_____________________
:2012 542
1
1:
1
().
():
1 2 5R R R 1500= = =
2 7C C 106nF= =
6R 1.1k=
4R 11.3k=
3R 17.6k=
8R 1000=
9R 10908=
41
V (s)H (s)E(s)
=
62
V (s)H (s)E(s)
=
() Bode.
() 1kHz,3kHz.
R6
R1
+
R4
R5
+
C7
C2
R3
+E
0
1
65
43
2
R6
R1
+
R4
R5
+
C7C7
C2
R3
+E
+E
00
11
6655
4433
22
:2012 642
1
(),,V
15 5 2 2
21 3 3 1
37 4 6 7 4
4
eG G C s 0 C s 0e0 G G G G 0eC s G G C s G 0 0e1 0 0 0 E
+ + = + +
():
0 0 1
R5
C2
R3
I-
2 3
R1
1 2 3 5
C7
R4
4 6
R6
0 0 10 1
R5
C2
R3
I-
2 32 3
R1
1 2 3 5
C7
R4
4 64 6
R6
0 0
4 6C1
V-
1 1
3 4R6
C2
R1
E
R5
C7
2 2 5 3
R3
R4
0 00 0
4 64 6C1
V-
1 11 1
3 43 4R6
C2
R1
E
R5
C7
2 2 5 32 2 2 5 5 3 3
R3
R4
:2012 742
5 5 2 2
1 3 1
7 4 6 7
31
5 5 2 2
1 3 3 1
7 4 6 7 4
5 1 4 6 7 7 1 5 2 1 3 2
4 6 7 3 2 1 4 5 2 4 1 3 2
3 2
G G C s 0 C s0 G G 0 GC s G G C s 0 01 0 1 0e (s)H (s)
G G C s 0 C sE(s)0 G G G GC s G G C s G 01 0 0 0
G G (G G C s) C s[ G (G C s) (G G )C s](G G C s)G C s G G (G C s) G (G G )C s
G C C
+ +
+ +
= = = +
+ + +
+ + + + + += =
+ + + + +
=2 2 2 2
7 1 5 4 6 z2 2
p2 23 2 7 6 3 2 1 4 5p
p
s G G (G G ) s s 694480609G C C s G G C s G G G s 8576.4s 61608000s s
Q
+ + + += =
+ + + ++ +
2 3p
1 4 5 2 7
RR R R C C
=
p p 6 7Q R C=
4z p
6
R1R
= +
H2(s)
5 5 2
1 3 3
7 4 6 7 4
42
5 5 2 2
1 3 3 1
7 4 6 7 4
2 2 2 23 2 7 1 5 4 3 5 6 z
2 2p2 23 2 7 6 3 2 1 4 5
pp
G G C s 0 00 G G G 0C s G G C s G 01 0 0 1e (s)H (s)
G G C s 0 C sE(s)0 G G G GC s G G C s G 01 0 0 0
G C C s G G G G G G ) s s 7669000G C C s G G C s G G G s 8576.4s 616080s s
Q
++
+ +
= = = +
+ + +
+ + += = =
+ + + ++ + 00
p,Qp,
1 4z p
3 6
R R1R R
=
()BodeH1(s)()H2(s)().
:2012 842
-400
-300
-200
-100
0
100
Magnitude (dB)
102
103
104
105
106
180
270
360
450
540
Phase (deg)
Bode Diagram
Frequency (rad/sec)
(),H1(s).
________________________
:2012 942
2
2(2()2()):
2() 2()
()Ai=, i=1,2
1 3 5in
2 4
Z (s)Z (s)Z (s)Z (s)Z (s)Z (s)
=
() .
()
0i ii
A aA (s)s
=
1 3 4 5Z (s) Z (s) Z (s) Z (s) R= = = =
21Z (s)
Cs=
Zin(s) .() QL
LLQ
R
=
L R ,().
() ,.
+
-A1
A2
1
2
5
3
4
0
Z1
Zin
Z5
Z4
Z3
Z2
+
-
+
-A1
+
-A1A1
A2
1
2
5
3
4
0
Z1Z1
Zin
Z5Z5
Z4Z4
Z3Z3
Z2Z2
+
-
+
-A2
+
-A1
Z1
1
25
3
4
0
Z3
Zin Z2 Z4
Z5
+
-A2
+
-A1
Z1
1
25
3
4
0
Z3
Zin Z2 Z4
Z5
:2012 1042
2
()()J.,V.
ii
1Y i 1,2,3,4,5.Z
= =
i,i=1,2ei,i=1,2,3,4,5V,:
0 0
3 3
4 4
5 52 2 Y3
Y5
Y1T12 T22
Y2
T11 Y4
T21
V-
0 00 0
3 33 3
4 44 4
5 55 52 22 2 Y3
Y5
Y1T12 T22
Y2
T11 Y4
T21
V-
0 0 3 5
1 1
2 3 2 4
J
4
2 1
3
I-
5
00 0 3 5
1 1 1
2 2 3 3 2 4
J
4
2 1
3
I-
5
:2012 1142
15 5
21 2 2
33 3 4 4
41 1
52 2
eY 0 0 0 Y Je0 Y Y Y 0 0 0e0 0 Y Y Y Y 0eA A 1 0 0 0eA 0 0 A 1 0
+ = +
5
1 2 2
3 3 4 4
1
21in
5 5
1 2 2
3 3 4 4
1 1
2 2
1 2 3 4 2 4 1 2 3 4 2 4
5 1 5 2 5 1 2 3 4 2 4
1 0 0 0 Y0 Y Y Y 0 00 0 Y Y Y Y0 A 1 0 00 0 0 A 1eZ
J Y 0 0 0 Y0 Y Y Y 0 00 0 Y Y Y YA A 1 0 0A 0 0 A 1
(Y Y )(Y Y A Y ) A Y (Y Y A Y )( Y Y Y Y Y A Y )(Y Y A Y )
+ + = = =
+ +
+ + + + + + + 1 2 3 5 1 2 2 5 3 4 1 2 1 2A A Y Y (Y Y ) A Y (Y Y )(Y Y A Y ) + + + + +
1 2A A= = 121,2,
1 2
1 3 52 4 2 4in in 1 2A ,A
5 2 4 3 5 1 2 2 5 3 4 3 5 1 2 4
Z (s)Z (s)Z (s)Y Y Y YZ lim Z (A , A )Y Y Y Y Y (Y Y ) Y Y (Y Y ) Y Y Y Z (s)Z (s)
= = = =
+ + +
()V.
0 0 2 4
1 1
2 3 3 5
J5
2 3
4
I-
1
00 0 2 4
1 1 1
2 2 3 3 3 5
J5
2 3
4
I-
1
:2012 1242
11 1
22 2 3 3
34 4 5
41 1
52 2
eY Y 0 0 0 Je0 Y Y Y Y 0 0e0 0 0 Y Y Y 0eA 0 A 1 0 0e0 1 A 0 A 0
+ = +
1
2 2 3 3
4 4 5
1
2 21in
1 1
2 2 3 3
4 4 5
1 1
2 2
1 2 2 4 2 2 4 2 2 5 2 4 2 5 3 4 1 3 5 1
2 1 2 4 2
1 Y 0 0 00 Y Y Y Y 00 0 0 Y Y Y0 0 A 1 00 1 A 0 AeZ
J Y Y 0 0 00 Y Y Y Y 00 0 0 Y Y YA 0 A 1 00 1 A 0 A
A A Y Y A Y Y A Y Y Y Y Y Y Y Y (1 A ) Y Y (1 A )A Y Y Y A Y
+ + = = =
+ +
+ + + + + + + ++ 1 2 5 1 2 4 1 2 5 1 3 4 1 1 3 5 1 1 2 1 3 5Y Y Y Y Y Y Y Y Y Y Y (1 A ) Y Y Y (1 A ) A A Y Y Y+ + + + + + +
1 2A A= = 121,2,
1 2
1 3 52 4in in 1 2A ,A
3 5 1 2 4
Z (s)Z (s)Z (s)Y YZ lim Z (A , A )Y Y Y Z (s)Z (s)
= = =
1 1
0 0
3 34 4 5 52 2 Y3
21
12T22 5
Y2
1 Y4
T11
V-
1 1
0 0
3 34 4 5 52 2 Y3
21
12T22 5
Y2
1 Y4
T11
V-
:2012 1342
()
1 3 5Z (s) Z (s) Z (s) R= = =
22
44
1Z (s) R Z (s)Cs1Z (s) Z (s) RCs
= = = =
2L R C=
()
1 3 4 5Z (s) Z (s) Z (s) Z (s) R= = = =
21Z (s)
Cs=
ii
AA (s)s
=
()2 2
2 1 2 1 2
in 32 3 2 2 32
1 2 1 2 2
3 2 2 22 1 2 1 2
2 3 3 2 2 2 3 31 2 2 1 2
12GCs (2G A GC 2A GC) (A G A A GC)sZ (s)
A G 12G Cs (2G 2A G C A G C) A A Gs s
2GCs (2G A GC 2A GC)s (A G A A GC)s2G Cs (2G 2A G C A G C)s A G s A A G
+ + + + += =
+ + +
+ + + + +=
+ + +
Stodola.
1
:2012 1442
1G R AC L
= >
.
22G 2R AC L
= >
.LR.()
2 22 1 1 2
in 32 3 2 31
2 1 2 2
3 2 2 22 1 1 2
2 3 3 2 2 3 32 1 1 2
12GCs (2G 2A GC) (2A G A A GC)sZ (s)
2A G 12G Cs (2G 2A G C) A A Gs s
2GCs (2G 2A GC)s (2A G A A GC)s2G Cs (2G 2A G C)s 2A G s A A G
+ + + += =
+ + + +
+ + + +=
+ + + +
Stodola.
1>02>0
+..Routh
s3 22G C 312A G s2 3 2
22G 2A G C+ 3
1 2A A G s 6 5
1 1 23 2
2
4A G 2A A G C2G 2A G C
++
0
1 31 2A A G
1,2,.
Real Axis
Imaginary Axis
Nyquist Diagrams
-2 0 2 4 6 8 100
0.5
1
1.5
2
2.5
3
3.5
From: U(1)
To: Y(1)
ReZ in
ImZ in
Z ina
Real Axis
Imaginary Axis
Nyquist Diagrams
0 5 10 15 200
50
100
150
200
250
300
350
From: U(1)
To: Y(1)
ReZ in
ImZ in
Z inb
().
().
:2012 1542
()L=1mH,Gainbandwidth106(),
G=1031C=109F
12 3 6 2
ina 15 3 9 2 3 3
2*10 s 10 sZ2*10 s 10 s 10 s 10
=
+ + +
12 3 6 2
inb 15 3 9 2 3 3
2*10 s 4*10 s 3sZ2*10 s 4*10 s 2*10 s 10
+ +=
+ + +
{ }{ }
6 2 3 15 3 3 9 2 15 3ina
La 6 2 3 9 2 3 15 3 15 3ina
Im Z 10 (10 2*10 ) (10 10 )( 2*10 )QRe Z 10 (10 10 ) (10 2*10 )( 2*10 )
+ = =
+
{ }{ }
6 2 3 15 3 3 9 2 15 3inb
Lb 6 2 3 9 2 3 15 3 15 3inb
Im Z 4*10 (2*10 2*10 ) (10 4*10 )(3 2*10 )QRe Z 4*10 (10 4*10 ) (2*10 2*10 )(3 2*10 )
+ = =
+
0 2 4 6 8 10
x 107
-2
-1.5
-1
-0.5
0
0.5
1
Q La
0 2 4 6 8 10
x 104
0
500
1000
1500
2000
2500
3000
Q Lb
QL() QL()
G=1041C=1011F
(),
:2012 1642
0 2 4 6 8 10
x 107
-5
-4
-3
-2
-1
0
1
2Q
La
w
() ,().
.()(0,107),
0 2 4 6 8 10
x 107
-0.4
-0.2
0
0.2
0.4
0.6
0.8
1
Q Lb
().
___________________________
:2012 1742
1
1:
1
Vo, () N.()
oV (s)G(s)=I(s)
() Lyapunov.I(t)
0I(t)=I (t) . t.
(),
oV 3L
1L
2L
3C1C
4C2C
I
+
_
oV 3L
1L
2L
3C1C
4C2C
II
+
_
oV 3L
1L
2L
3C1C
4C2C
I
+
_
1
2
3
4
0
oV 3L
1L
2L
3C1C
4C2C
II
+
_
11
22
33
44
00
:2012 1842
3L1L
2L
3C1C
4C2C
I
0
4
3
2
1
3L1L
2L
3C1C
4C2C
I
00
44
33
22
11
,
1 2 3 4 1 2 3
T
C C C C L L Lx= v v v v i i i
Kirchhoff1
1
1
C1 L
dvC =I-i
dt
15
1 1
dx 1 1= I- xdt C C
KirchhoffI,C2,L1,L2
2
1 2
C2 L L
dvC =I-i -i
dt
25 6
2 2 2
dx 1 1 1= I- x - xdt C C C
Kirchhoff1
3
1 3
C3 L L
dvC =i -i
dt
35 7
3 3
dx 1 1= x - xdt C C
KirchhoffC4,L1,L2,L3
4
1 1 3
C4 L L L
dvC =i i -i
dt+
:2012 1942
45 6 7
4 4 4
dx 1 1 1= x + x - xdt C C C
KirchhoffL1,C1,C2,C3,C4
1
1 2 3 4
L1 C C C C
diL =v v -v v
dt+
51 2 3 4
1 1 1 1
dx 1 1 1 1= x + x - x xdt L L L L
KirchhoffL2,C2,C4
2
2 4
L2 C C
diL =v -v
dt
62 4
2 2
dx 1 1= x - xdt L L
KirchhoffL3,C3,C4
3
3 4
L3 C C
diL =v +v
dt
73 4
3 3
dx 1 1= x + xdt L L
1 2o C C 1 2V =v +v =x +x
1
2 21 1
2 23 3
3 3
4 44 4 4
5 5
6 61 1 1 1
7 7
2 2
3 3
-10 0 0 0 0 0C-1 -10 0 0 0 0C C
x x1 -10 0 0 0 0x x
C Cx x
1 1 -1d 0 0 0 0x = xC C Cdt
x x1 1 -1 -1 0 0 0x xL L L L
x x1 -10 0 0 0 0
L L1 10 0 0 0 0L L
1
2
1C1
C0+ I0000
:2012 2042
[ ]oV 1 1 0 0 0 0 0 x= ()
1
2
3
4
1 -1s+ -s 0s s
e (s) 11 -1-s 2s+ 0 e (s) 0s s + I(s)e (s)-1 2 00 s+ -s
s s e (s) 0-1 10 -s 2s+s s
1,Cramer,
o 1
-1I(s) -s 0s
1 -10 2s+ 0s s
20 0 s+ -ss
-1 10 -s 2s+V (s) e (s) 1 s sG(s)= = =1 -1I(s) I(s) I(s) s+ -s 0s s
1 -1-s 2s+ 0s s
-1 20 s+ -ss s
-1 10 -s 2s+s s
1 -12s+ 0 -ss s
20 s+ -ss
-1 1-s 2s+s s
1 -1 1 -1s+ -s s+ 0s s s s
1 1 1 -12s+ 2s+ 0 - -s 0s s s s
-1 2 -1 20 s+ s+s s s
s
=
=
1s+ -s 0s
1 -1s -s 2s+s s
-1-s 0 -ss s
+
4 2
6 4 2
s(2s +11s +8)s +8s +11s +4
=
:2012 2142
().,G(s).,
n
o i i i i ii=1
V (t)= A G(j ) [ t+Arg(G(j ))+ ]
iG(j ) 0=
iG(j ) 0=
s=ji.
s=0
1,2,3,4
j2.153511 121 4*2*8s
16j0.9287
= =
s=js=j
( )
1 1 2 2
1 1 1 1 2 2 2 2
1 1 2 2 1 1 2 2
2 2 21 2 1 2 1
A (t+ )+A (-t+ )==A (t)( )+A (t)( )-A (t)( ) A (t)( )==(t)[A ( )-A ( )]+(t)[A ( ) A ( )]=
=(t) +(t) (t)+(t)
++
= + = + 22 *(t+)
12 21 2
22 21 2
K= +K=
+
n=3
1=0
2=2.1535
3=0.9287
:2012 2242
2
2:
(), vs(t),vout(t) : x(t) = [vc, iL1, iL2]T.
() R1=R2=1, C=2F, L1=L2=1H, : G(s)=Vout(s)/Vs(s). () ,=0,
, vc(0)=2V, iL1(0)=iL2(0)=0.
2
(),:
1 2R1
-C
3L1 4
0
vs
5
L2
C
ica.i c
R2
11 22R1
-C
33L1 44
00
vs
55
L2
C
ica.i c
R2
......C.....L1L2:
1 2
11 1 1
22 2 2
0
0
0
cL L
Lc s R
LR c
dvC i idtdiL v v RidtdiL R i vdt
+ = + + = + =
iR1 iR2 (R1R2):
R1
vs
L1iL1
y = voutvc R2C
L2iL2+
-
+
.ic
ic+-
R1
vs
L1iL1
y = voutvc R2C
L2iL2+
-
+
.ic
ic+-
:2012 2342
( )
( )( )
( )( )
1 2
11 1
1
22 2 1 2
2
1
1
1
cL L
Lc L s
Lc L L L
dv i idt Cdi v R i vdt L
di v R i ai aidt L
= = +
= +
,:
( )
11 1
1 1 1
2 22 2 ( )( )
2 2 2
1 10 0
1 10
01 1
c c
L L s
L L
tt
C Cv vRd i i v
dt L L Li iR Ra a
L L L
= + +
xxB
A
:
( ) ( )( )2 2 2 2 2 2 2 1 2out R R L c L L Ly v v R i R i ai R i a i i= = = = = :
( )[ ] [ ]2 2 1
2
0 1 0c
L s
L
v
y aR a R i v
i
= + +
DC
():
( )
0 0.5 0.5 0
1 1 0 1
1 1 0sv
a a
= + +
BA
x x
( )[ ] [ ]1
2
0 1 0c
L s
L
v
y a a i v
i
= + +
DC
,:
( ) 1( )H s s = +C I A B D
( )[ ]
( )
10.5 0.5 0
( ) 0 1 1 1 0 1
1 1 0
s
H s a a s
a s a
= + + + +
( )[ ] ( )11 21 31
12 22 32
13 23 33
01( ) 0 1 1
0
H s a as
= +
I A
:2012 2442
( ) ( )[ ] ( ) ( )( )21
22 22 23
23
1 1( ) 0 1 1H s a a a as s
= + = + +
I A I A
( )
( )( ) ( ) ( )
0.5 0.5
1 1 0 1 1 0.5 1 0.5 1
1 1
s
s s s s s a s a s a
a s a
= + = + + + + + + + +
+ +
I A
( ) ( )( ) ( ) ( )2 3 22 1 1 2 2 1s s s a s a s s a s a s = + + + + + + = + + + + +I A
( )( ) ( ) ( )2 2 2220.5
1 1 0.5 1 0.51 1
ss s a s a s
s a+ = = + + + = + + +
+ +
( )( )2 3230.5
1 0.51
sas
a+
= = +
:
( ) ( )( ) ( )( )
( ) ( )
222 23
3 2
1 0.5 1 0.51( )2 2 1
a s a s a asa aH ss s a s a s
+ + + + + + + + = = + + + + +I A
( ) ( )
2
3 20.5( )
2 2 1asH s
s a s a s +=
+ + + + +
()(),=0:
( ) [ ] [ ] ( )AME11 21 31
112 22 32
13 23 33
21( ) (0) 0 0 1 0
0
y t ss
= =
C I A xI A
L
( )
( )
( )( ) ( ) ( )( )
( )( ) ( )AME
1 3
132 2
1 12 1
1 02 2 1 2( )1 1 0.5 1 0.5 1 1 1 1
s
sy ts s s s s s s s s s s
++
+= = = =
+ + + + + + + + + + +I AL
:
( ) ( ) ( )
AME
1 1 22 22
1 1 4 3 3( ) 2 2 sin ( )3 21 1 3
2 2
t
y t e t u ts s
s
= = = + + + +
L L
____________________________________
:2012 2542
1
1:
1
() .()
1 2 31 C 4 C 8 Ce v , e v , e v= = = ,
1 2 3
TC C Cx v v v = .
() .()x(0)0 E(t)=0, x(t) ,
.() R5 ,()()
.
()V.
+
4
R3
0
R1
R2
R4
Vo
_
-
+
C3
-
+
-
+
C1
-
+
C2
E+
R5
R6
2
15
3
87
6
9+
44
R3
00
R1
R2
R4
Vo
_
-
+
C3
-
+
-
+
-
+
C1
-
+
C2
E+
R5
R6
22
1155
33
8877
66
99
I-
R1 R3
2 31 2
4 7
0 0 1
C1
R2R4
3 5
6 4 8 9
R6R5
C3
C2
I-
R1 R3
2 32 32 31 21 2
4 74 74 7
0 00 00 0 1 1
C1
R2R4
3 53 53 5
6 6 4 4 8 8 9 9
R6R5
C3
C2
:2012 2642
.
11 1
22 2
33 5 4
46 3
5
eG C s 0 0 0 0 0eG C s 0 0 0 0e0 G G 0 G 0e0 0 G C s 0 0e0 0 0 0 1 E(s)
=
()
dfL sF(s) f (0)dt
=
,.
1 11
1
de G edt C
= (1)
2 21
2
de G edt C
= (2)
643
3
Gde edt C
= (3)
5e E(t)= (4) 3 2 5 3 4 5G e G e G e 0+ + = (5)
11 1 Cx e v= = (6)
22 4 Cx e v= = (7)
33 8 Cx e v= = (8)
(4)(5)(3)
0 0
C1
V-
1 1 3 6
R4R1
2 4
R2
4 85 9
7 5 3 2
R6R5
R3
E C3
C2
0 00 0
C1
V-
1 11 1 3 63 6
R4R1
2 42 4
R2
4 84 85 95 9
7 7 5 5 3 3 2 2
R6R5
R3
E C3
C2
:2012 2742
[ ]
1 11 1
2 22 2
3 3 55
4 6 33 6 3
1
2
3
1 0 0R Cx x 0
d 1x 0 0 x 0 E(t)dt R C
x x RR R R C0 0
R R C
xy 0 0 1 x
x
= +
=
() =0,
e
1 11e
x x 2e2 2
3e5
3 6 3
1 0 0R C x 0
dx 1 0 0 x 0dt R C
x 0R0 0
R R C
=
= =
1e 2e
3e
x x 0x
= ==
x3.
1 1
2
2 2 1 1
5
3 6 3
1s 0 0R C1 1(s) det(sI A) det s 0 s s
R C R CR0 s
R R C
+
= = = +
() =0
11 1 1
1 1
dx 1 x x (t 0) x (0)dt R C
= = =
1 1
1 tR C
1 1x (t) e x (0)
=
x2
1 1
1 tR C2
1 12 2 2 2
dx 1 1x e x (0)dt R C R C
= =
:2012 2842
1 1 1 1
t1 1tR C R C1 1 1 1
2 22 2 2 20 0
x (0) x (0)R Cx (t) x (0) e d eR C R C
= =
1 1
1 tR C1 1
2 2 12 2
R Cx (t) x (0) x (0) 1 eR C
=
x3
3 52
3 6 3
dx R x (t)dt R R C
=
1 1
1t tR C5 5 1 1 1
3 3 2 2 1 1 1 13 6 3 3 6 3 2 20
R R x (0)R Cx (t) x (0) x ( )d tx (0) t R C e R CR R C R R C R C
= = +
1 1
1 tR C5 1 1 1
3 3 2 1 1 1 13 6 3 2 2
R x (0)R Cx (t) x (0) tx (0) t R C e R CR R C R C
= + +
x3(t),.() R5=0,
[ ]
1 11 1
2 22 2
3 3 5
4 6 3
1
2
3
1 0 0R Cx x 0
d 1x 0 0 x 0 E(t)dt R C
x x R0 0 0 R R C
xy 0 0 1 x
x
= +
=
1 1
2
2 2 1 1
1s 0 0R C1 1 (s) det(sI A) det s 0 s s
R C R C0 0 s
+
= = = +
:2012 2942
1 11e
2e2 2
3e
1 0 0R C x 0
1 0 0 x 0R C
x 00 0 0
=
1e
3e 2e
x 0x , x
=
x2,x3.x1(t),x2(t)(4)x3(t)
33 3
dx 0 x (t 0) x (0)dt
= = =
3 3x (t) x (0)=
Lyapunov.
_______________________
:2012 3042
1
1. . 2.
2V (s)G(s)=
F(s)
3. Bode G(s) i=i N/m, Mi=i kg Bi=i Ns/m.
1. . .
M2M1
B3B1K2
F(t)
K1
x2,v2B2
x1,v1
M2M1
B3B1K2
F(t)
K1
x2,v2B2
x1,v1
0
1
M1
2
B1
K1
B3M2
B2
F
K2
00
11
M1
22
B1
K1
B3M2
B2
F
K2
21
0
1 1C =M I=F2 2C =M
22
1L =K
3 3G =B1 1G =B
11
1L =K
2 2G =B
2211
00
1 1C =M I=F2 2C =M
22
1L =K
3 3G =B1 1G =B
11
1L =K
2 2G =B
:2012 3142
2.
1 2 21 2 1 2
1
22 22 2 3 2
K K KB +B +M s+ + -B - V (s) 0s s s =V (s)K K F(s)-B - B +B +M s+
s s
Cramer,
22
2 22 3 2 2
1
1 2 21 2 1 2
2 22 2 3 2
K0 -B -s
K KF(s) B +B +M s+ B +V (s) 1 s sG(s)=K K KF(s) F(s) D(s)B +B +M s+ + -B -s s s
K K-B - B +B +M s+s s
= =
( ) ( )
( )( ) ( ) ( )( ) ( )
( )
21 2 1 2 3 2 1 2
1 2 2 3 1 2 2 1 2 1 2 2 3 2 1 2
2 21 2 2 2 2 2 22 2
D(s)=M M s + M B +B +M B +B s+
1+ M K + B +B B +B +M K +K + K +K B +B +K B +B +s
1 1 1+ K +K K -B -2B K -Ks s s
3.
2 1 2 1 2 4 3 2
22+ s(s+1)sG(s)=2s +s(6+5)+2+15+6+(6+15)s +6s -4-8s -4s s +5.5s +9.5s +6.5s+1
=
Bode
2
2
s(s+1)G(s)=(s+3.0469)(s+0.2116)(s +2.2416s+1.5515)
s(s+1)s s 2.2416 s1+ 1+ 1+ s+
3.0469 0.2116 1.5515 1.5515
=
=
=1 rad/sec G(s)
=0.2116 rad/sec, =3.0469 rad/sec = 1.5515 1.2456= rad/sec G(s).
Bode G(s) Bode .
:2012 3242
Frequency (rad/sec)
Phase (deg); Magnitude (dB)
Bode Diagrams
-50
-40
-30
-20
-10From: U(1)
10-2 10-1 100 101-200
-150
-100
-50
0
50
100
To: Y(1)
___________________________
2
F1(t) 2. 1. x1, x2. 2. . 3. x2(t)
2
1
X (s)G(s)F (s)
=
4. .
F2
K
F1
x2
B1
B2
M1
M2
x1
F2
K
F1
x2
B1
B2
M1
M2
x1
:2012 3342
( -2) 1. 1 x1
(x2-x1) -1dx1/dt -F1(t) .
,
21 1
1 2 2 1 1 12
d x dxM K (x x ) B F (t)dt dt
= (1)
2 x2
-(x2-x1) -2dx2/dt F2(t)=2g 2.
,
21 2
2 2 2 1 2 22
d x dxM K (x x ) B F (t)dt dt
= + (2)
(1) (2) . 2. 1 2x , x ,
21
0
1 1C =M2 2 2I =F =M g1 1I =F
2 2C =M1L=K
2 2G =B1 1G =B
2211
00
1 1C =M2 2 2I =F =M g1 1I =F
2 2C =M1L=K
2 2G =B1 1G =B
3. Laplace ( ), (1) (2)
( )( )
21 1 1 2 1
21 2 2 2 2
M s B s K X (s) KX (s) F (s)
KX (s) M s B s K X (s) F (s)
+ + =
+ + + = (3)
x2, X2(s)
21 1 1
22 2
1 12
2 2
M s B s K F (s)K F (s)
X (s)M s B s K K
K M s B s K
+ +
= =+ + + +
:2012 3442
( )21 1 1 24 3 2
1 2 2 1 1 2 2 1 1 2 1 2
KF (s) M s B s K F (s)M M s (M B M B )s (M K M K B B )s (B K B K)s
+ + += =
+ + + + + + +
211 1
2
F (s)K M s B s KF (s)D(s) D(s)
+ +=
24 3 2
1 1 2 2 1 1 2 2 1 1 2 1 2
X (s) KG(s)F (s) M M s (M B M B )s (M K M K B B )s (B K B K)s
= =
+ + + + + + +
4.
21 1
22 2
M s B s K K(s)
K M s B s K+ +
= = + +
4 3 21 2 2 1 1 2 2 1 1 2 1 2M M s (M B M B )s (M K M K B B )s (B K B K)s= + + + + + + +
_____________________________
:2012 3542
1
2
Y(s) 1 sG(s)U(s) s s 1
= =
+ +
1. .2.
{ }t 0 t
dylim lim y(t)dt
.3.
G(s).4. .1. Laplace
2 2
1 s 1 1 1 sY(s) G(s)*U(s) *s s 1 s s s s 1
+= = =
+ + + +
1 1t t2 21 3 1 3y(t) u(t) e t ( 3) u(t) u(t) e t u(t)
2 2 33 34 4
= =
u(t).
0 2 4 6 8 10 12-0.4
-0.2
0
0.2
0.4
0.6
0.8
1
1.2
1.4Step Response
Time (sec)
Amplitude
:2012 3642
2.
{ } { } 2 2t s 0 s 0 s 01 s 1 1 slim y(t) lim sY(s) lim s* * lim 1
s s 1 s s s 1 = = = = + + + +
Laplacedy/dtsY(s)y(0)=sY(s),
{ } 2t 0 s s sdy dy 1 slim lim s*L lim s*s*Y(s) lim s* 1dt dt s s 1
= = = = + +
3. n
n n 11 nD(s) s a s ... a
= + + +
{ } { }t s 0 s 0 s 0
n
1 s 1 1 s 1lim y(t) lim sY(s) lim s* * limD(s) s D(s) a
= = = =
{ }t 0 s s s
dy dy 1 slim lim s*L lim s*s*Y(s) lim s* 0dt dt D(s)
= = = =
{ }k k
k kk k 2t 0 s s s
d y d y 1 slim lim s*L lim s*s *Y(s) lim s * 0 k n 1dt dt s s 1
= = = = < + +
{ }n 1 n 1
n 1 n 1n 1 n 1t 0 s s s
d y d y 1 slim lim s*L lim s*s *Y(s) lim s * 1dt dt D(s)
= = = =
,an.yTaylory(t).4. .
_________________________
:2012 3742
2
J1=J2=J3=1,B1=B2=3=1,K1=K2=1.2,3J1,J2J2,J3
1.
1 1 2 2 3 3x=[ ]
3.2. .3. .
1. J1
11
d =dt
1 1 1 21 2 1 1 1
1 1 1 1
d K B B 1=- ( - )- - + Tdt J J 2J J
J2
22
d =dt
32 1 2 21 2 2 3 2 2 2
2 2 2 2 2
Bd K K B 1= ( - )- ( - )- - + Tdt J J 2J 2J J
J3
33
d =dt
3 322 3 3
3 3
d BK= ( - )- dt J 2J
,
3B2
3,3T2,2,2T1,1,1
1 21J2J1 J3
2B2
2B2
3B2
3B2
3,3T2,2,2T1,1,1
1 21J2J1 J3
2B2
2B2
3B2
:2012 3842
[ ]
1
2
3
0 1 0 0 0 0 0 0-1 -1.5 1 0 0 0 1 0
T0 0 0 1 0 0 0 0x= x+
T1 0 -2 -1 1 0 0 10 0 0 0 0 1 0 00 0 1 0 -1 -0.5 0 0
y= = 0 0 0 0 0 1 x
2.
2 3 4 5cP = B AB A B A B A B A B =
0 0 1 0 1.5 0 11 0 1.5 0 1.25 1 2.50 0 0 1 0 1 1
=0 1 0 1 1 1 30 0 0 0 0 0 10 0 0 0 0 1 1.5
1,2,3,4,686.
2
o 3
4
5
C 0 0 0 0 0 1CA 0 0 1 0 1 -0.5CA 0 0 -0.5 1 0.5 -0.75
P = =CA 1 0 -2.75 -1.5 1.75 0.875CA -1.5 1 3.875 -1.25 2.375 1.3125CA -2.25 -3 4.8125 5.125 2.5625 3.0313
0,.3.
[ ]
-1
-1
3 2
6 5 4 3 2 6 5 4 3 2
s -1 0 0 0 0 0 01 s+1.5 -1 0 0 0 1 00 0 s -1 0 0 0 0
G(s)=C[sI-A] B= 0 0 0 0 0 1-1 0 2 s+1 -1 0 0 10 0 0 0 s -1 0 00 0 -1 0 1 s+0.5 0 0
s s +1.5s +ss +3s +6.75s +8.75s +6.5s +3s s +3s +6.75s +8.75s +6.5s +3
=
=s
______________________________
:2012 3942
312S1S2.Qi,i=1,2
ii
xQ =R
xix21. .2. R=1sec/m2,S1=4m
2,S2=10m2Q21m
3/sec,u0,x10x20.
3. x1=x10+x1,x2=x20+x2,u=u0+u,y=x2,.
4. .
1. 1.
11 1
dxu-Q =Sdt
11
xQ =R
11
1 1
dx 1 1=- x + udt RS S
Q2
u
Q1
h1
h2
Q2
u
Q1
h1
h2
:2012 4042
2
21 2
2 2
dx 1 1= x - xdt RS RS
11 11
2 2
2 2
1- 0 1RSx x
S ux x1 1- 0
RS RS
= +
2.
32 1Q =Q =u=1m /s
ii
xQ =R
10 20x =x =1m
3. .
1 21 2 33
1 1 1
1 2 11
2 2 2
x =x =1mx =x =1m1 2 2 2 u=1m /su=1m /s
f f 1 f- 0 1x x RS u S= =f f 1 1 f- 0x x RS RS u
11 11
2 2
2 2
1- 0 1RSx xd S u
x x1 1dt - 0RS RS
= +
[ ] 122
xy x 0 1
x = =
___________________
:2012 4142
4
0 -1 0 0 01 0 0
x= 0 0 -1 x+ 1 0 u y= x0 1 0
0 0 0 0 1
1. .2. G(s).3. .1.
2c
0 0 -1P = B AB A B = 1 0 0
0 1 0
3,,.
o2
1 0 00 1 0
C0 -1 0
P = CA =0 0 -1
CA
3, ,.2.
-1
-1
2 3
2 3
2
2
s 1 0 0 01 0 0
G(s)=C[sI-A] B= 0 s 1 1 00 1 0
0 0 s 0 1
1 -1 1-1 1s s s 0 0
1 0 0 1 -1 s s0 1 00 1 0 1 -1s s
0 11 s s0 0s
=
= =
:2012 4242
2 3
2
-1 1s sdet[G(s)] det 01 -1s s
= =
3. .
3o
s 1 0 (s)=det(sI-A)=det 0 s 1 =s
0 0 s
., s=0 , .
s=0
0 -1 0rank(sI-A) =rank 0 0 -1 =2
0 0 0
0.
__________________________________________________________________________