0,9353

17

8,0000

0,3947

46

22,5000

0,9420

18

8,5000

0,4312

47

23,0000

0,9486

19

9,0000

0,4594

48

23,5000

0,9552

20

9,5000

0,4942

49

24,0000

0,9602

21

10,0000

0,5290

50

24,5000

0,9652

22

10,5000

0,5622

51

25,5000

0,9701

23

11,0000

0,5857

52

25,5000

0,9751

24

11,5000

0,6153

53

26,0000

0,9801

25

12,0000

0,6434

54

26,5000

0,9851

26

12,5000

0,6716

55

27,0000

0,9900

27

13,0000

0,6899

56

27,5000

0,9950

28

13,5000

0,7131

57

28,0000

1,0000

29

14,0000

0,7347





 

 

5. .


ASR .


:

:

F1= 6.5614

F2= 11.4658

F3= -4.5969

F4= -1.1636

F5= 44.0285

F6= -120.0300


. F1<F2, F3 . :

a1 = F1 + b1

a2 = F2 + b2 + b1 F2

a3 = F3 + b3 + b2 F1 + b1 F2

a1 = 6.5614 + b1

a2 = 11.4658 + b1 6.5614

0 = - 4.5969 + b1 11.4658


: b1 = 0.4

a1 = 6.9614

a2 = 14.0904

:

0.4 s

W(s)=-----------------------------

2

14.0904 s + 6.9614 s + 1








:

:

F1= 9.5539

F2= 24.2986

F3= -16.7348

F4= -14.7318

F5= 329.7583

F6= -1179.3989

, F3<0.

a1 = 9.5539 + b1

a2 = 24.2986 + 9.5539 b2

0 = -16.7348 + b1 24.2986


: b1 = 0.6887

a1 = 10.2426

a2 = 30.8783

:

0.6887 s + 1

W(s) = -----------------------------

2

30.8783s + 10.2426 s + 1


:

:

F1= 10.6679

F2= 38.1160

F3= 30.4228

F4= -46.5445

F5= 168.8606

F6= -33.3020


F3<F2 , :

1

W(s) =-------------------------------

2

38.1160 s + 10.6679 s + 1




6. - .


ASR . ( ).

6.1


- 27c, 0,5.


 

6.2


39, 0,5.


6.3


0,08.

32, 0,5.



, , .

6.4 :

 


򠠠

 


ࠠ 1 0.6887 s

W(s)= ------------------ W(s)= -----------------------------

2 2

36 s + 12 s + 1 30,8783 s + 10.2426 s + 1

 


ࠠ 1 0.4 s

W(s)= ------------------------------ W(s)= -------------------------------

2 2

16,1604 s + 8,04 s + 1 14.0904 s + 6.9614 s + 1

 


ࠠ 1 1

젠 W(s)= ------------------------------------- W(s)= -------------------------------

3 2 2

91.125 s + 60.75 s + 13.5 s + 1 38.1160 s + 10.6679 s + 1

, , .

6.5 .


ASR, ( ) :

-

-


-


, .


.


Linreg . - . :


) .

Linreg . - .

kp = 1.0796

Tu = 8.0434

SIAM

, :


, :


)

Linreg . - .

kp = 0.8743

Tu = 8.3924

SIAM

- :

 

.

 

) .


W1(s).

0.4s + 1

W1(s) = --------------------------

2

14.0904s + 6.9614s +1

ASR u(m,w), v(m,w), a(m,w), w.


v(m,w)

u(m,u)

a(m,w)

w

kp

Tu

1,0000

0,0000

0,0000

0,0000

0,0000

0,0000

1,0211

-0,0678

1,0234

0,0100

15,0783

0,0109

1,0360

-0,1398

1,0454

0,0200

7,4774

0,0211

1,0439

-0,2151

1,0659

0,0300

4,9709

0,0307

1,0442

-0,2931

1,0845

0,0400

3,7336

0,0395

1,0361

-0,3728

1,1012

0,0500

3,0067

0,0475

1,0194

-0,4531

1,1156

0,0600

2,5367

0,0547

0,9936

-0,5329

1,1275

0,0700

2,2147

0,0609

0,9587

-0,6108

1,1368

0,0800

1,9877

0,0660

0,9147

-0,6857

1,1431

0,0900

1,1826

0,0701

0,8619

-0,7559

1,1464

0,1000

1,1713

4,4754

0,8008

-0,8203

1,1464

0,1100

1,6386

4,5739

0,7323

-0,8775

1,1429

0,1200

1,1584

0,0749

0,6576

-0,9263

1,1360

0,1300

1,5905

0,0737

0,5778

-0,9658

1,1254

0,1400

1,6169

0,0711

0,4945

-0,9953

1,1114

0,1500

1,6842

0,0668

0,4095

-1,0143

1,0938

0,1600

1,8064

0,0609

0,3243

-1,0229

1,0731

0,1700

2,0137

0,0533

0,2407

-1,0214

1,0493

0,1800

2,3750

0,0438

0,1601

-1,0103

1,0229

0,1900

3,0885

0,0324

0,0840

-0,9906

0,9942

0,2000

5,0095

0,0000

0,0134

-0,9635

0,9635

0,2100

26,1125

0,0034

3 . BASIC - :

A^2(m,w) m 1

Tu = ------------------------ , kp = ---------- - ----------

w(m^2+1)* v(m,w) v(m,w) u(m,w)

kp/Tu .

kp = 1.712763

Tu = 4.47537

SIAM :




, , :

W(s) * Wp1(s)

W(s) = --------------------------- =

1 + W1(s) * Wp1(s)


1 1

--------------------------------- * (1,7128 + ---------- )

2 4,4754s

38,1160s + 10,6679s + 1

-------------------------------------------------------------- =

0,4s + 1 1

1 + --------------------------- * (1,7128 + ----------)

2 4,4754s

14,0904s + 6,9614s + 1


3 2

107.9987s + 67.4444s + 14.6247s + 1

= ---------------------------------------------------------------------------

5 4 3 2

4116.4785s + 3186.9547s + 969.316s + 138.1861s + 15.7294s + 1


. - :

kp = 0.1249

Tu = 5.4148

SIAM :





:



) .


1

W1(s) =-------------------------

2

16,1604s + 8.04s + 1

: kp = 4.3959

Tu = 6.5957

SIAM :


, , :

W(s) * Wp1(s)

W(s) = --------------------------- =

1 + W1(s) * Wp1(s)


1 1

--------------------------------- * (4.3959 + ---------- )

3 2 6.5957s

91.125s + 60.75s + 13.5s + 1

-------------------------------------------------------------- =

1 1

1 + ------------------------ * (4.3959 + ----------)

2 6.5957s

16.1604s + 8.04s + 1


3 2

468.5449s + 249.2673s + 37.0334s + 1

= --------------------------------------------------------------------------------------------

6 5 4 3 2

42696.154s + 49705.969s + 25770.6474s + 7229.3112s + 1076.6779s+71.4868s+ 1


. - :

kp = 1.2822

Tu = 6.3952

SIAM :

 

 

 

 

.

 

)

SIAM :

:

W(s)

W(s) = --------------------- ,

W(s) * W(s)

W(s) - ,

W(s) - ,

Wp(s) -

0,6887s + 1

-----------------------------

2

30.8783 s + 10.2426 s + 1

W(s) = ---------------------------------------------------------- =

1 1

------------------------------- * (1.0796 + ---------- )

2 8.0434 s

38.8783 s + 10.6679 s + 1


4 3 2

232.5099 s + 40.1406 s + 98.6173 s + 8.6837 s

= -----------------------------------------------------------

3 2

268.1379 s + 119.8220 s + 18.9263 s + 1

, .

)





 





: 1, 2, 3, 4, 5, 6






           

2009 .