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

: 1, 2, 3, 4, 5, 6, 7, 8, 9, 10