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p align="left"> 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Columns 13 through 24 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.9827 0 0 0 0 0 0 0 0 0 0 0 0 0.9985 0 0 0 0 0 0 0 0 0 0 0 0.0164 0.9918 0 0 0 0 0 0 0 0 0 0 0 0 0.9985 0 0 0 0 0 0 0 0 0 0 0 0.0155 0.9923 0 0 0 0 0 0 0 0 0 0 0 0 0.9984 0 0 0 0 0 0 0 0 0 0 0 0.0278 0.9861 0 0 0 0 0 0 0 0 0 0 0 0 0.9992 0 0 0 0 0 0 0 0 0 0 0 0.0278 0.9861 0 0 0 0 0 0 0 0 0 0 0 0 0.9991 0 0 0 0 0 0 0 0 0 0 0 0.0112 0.9944 0 0 0 0 0 0 0 0 0 0 0 0 0.9988 0 0 0 0 0 0 0 0 0 0 0 0.0093 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Columns 25 through 33 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.9953 0 0 0 0 0 0 0 0 0 0.9984 0 0 0 0 0 0 0 0 0.0186 0.9907 0 0 0 0 0 0 0 0 0 0.9989 0 0 0 0 0 0 0 0 0.0127 0.9937 0 0 0 0 0 0 0 0 0 0.9987 0 0 0 0 0 0 0 0 0.0093 0.9953 0 0 0 0 0 0 0 0 0 0.9993 0 0 0 0 0 0 0 0 0.0058 0.9971 Bd = 0.0384 0 0 0 0.0005 0 0 0 0.0000 0 0 0 0 -0.0033 0 0 0 -0.0001 0 0 0 0 0.0384 0 0 0 0.0005 0 0 0 -0.0000 0 0 0 0 0.0384 0 0 0 0.0005 0 0 0 0.0000 0 0.0007 0 0 0 0.0000 0 0 0 0 0.0004 0 0 0 0.0000 0 0 0 0 0.0013 0 0 0 0.0000 -0.0011 0 0 0 -0.0000 0 0 0 0 0.0002 0 0 0 0.0000 0 0 0 0 0.0008 0 0 0 0.0000 0 0 0 0 0.0006 0 0 0 0.0000 -0.0002 0 0 0 -0.0000 0 0 0 0 0.0001 0 0 0 0.0000 0 0 0 0 0.0001 0 0 0 0.0000 0 0 0 0 0.0001 0 0 0 0.0000 Рисунок. Кривые разгона передаточных функций Если сравнить матрицу передаточных функций и полученные разгонные характеристики(рисунок ), видно, что Кр из матрицы передаточных функций совпадают с Кр на графиках, можно сделать вывод: построение модели и преобразование выполнены верно. 4. Синтез многомерного ПИ-регулятора Для синтеза ПИ-регулятора полученные матрицы должны быть расширены в матрицы A1, B1, C1: A1=[Ad zeros(8,2); C eye(2)]; B1=[Bd;zeros(10)]; C1=[C eye(2)]; Матрицы параметров регулятора должны быть рассчитаны с помощью функции dlqr. K=dlqr(A1,B1,Q,R) L=dlqr(A1',C1',Q1,R1)' Расширены матрицы имеют вид: A1 = Columns 1 through 12 0.9941 0 0 0 0 0 0 0 0 0 0 0 0.0258 0.9741 0 0 0 0 0 0 0 0 0 0 0.0025 0.1878 0.9048 0 0 0 0 0 0 0 0 0 0 0 0 0.9995 0 0 0 0 0 0 0 0 0 0 0 0.0347 0.9827 0 0 0 0 0 0 0 0 0 0 0 0 0.9941 0 0 0 0 0 0 0 0 0 0 0 0.0258 0.9741 0 0 0 0 0 0 0 0 0 0 -0.0025 -0.1878 0.9048 0 0 0 0 0 0 0 0 0 0 0 0 0.9941 0 0 0 0 0 0 0 0 0 0 0 0.0258 0.9741 0 0 0 0 0 0 0 0 0 0 0.0025 0.1878 0.9048 0 0 0 0 0 0 0 0 0 0 0 0 0.9984 0 0 0 0 0 0 0 0 0 0 0 0.0347 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 -1.0000 1.0000 -1.0000 1.0000 0 -1.0000 -1.0000 0 -1.0000 1.0000 0 0 0 0 0 0 0 0 0 0 0 0 -1.0000 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Columns 13 through 24 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.9827 0 0 0 0 0 0 0 0 0 0 0 0 0.9985 0 0 0 0 0 0 0 0 0 0 0 0.0164 0.9918 0 0 0 0 0 0 0 0 0 0 0 0 0.9985 0 0 0 0 0 0 0 0 0 0 0 0.0155 0.9923 0 0 0 0 0 0 0 0 0 0 0 0 0.9984 0 0 0 0 0 0 0 0 0 0 0 0.0278 0.9861 0 0 0 0 0 0 0 0 0 0 0 0 0.9992 0 0 0 0 0 0 0 0 0 0 0 0.0278 0.9861 0 0 0 0 0 0 0 0 0 0 0 0 0.9991 0 0 0 0 0 0 0 0 0 0 0 0.0112 0.9944 0 0 0 0 0 0 0 0 0 0 0 0 0.9988 0 0 0 0 0 0 0 0 0 0 0 0.0093 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1.0000 -1.0000 1.0000 -1.0000 1.0000 0 0 0 0 0 0 0 0 0 0 0 0 -1.0000 1.0000 -1.0000 1.0000 -1.0000 1.0000 -1.0000 0 0 0 0 0 0 0 0 0 0 0 0 Columns 25 through 36 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.9953 0 0 0 0 0 0 0 0 0 0 0 0 0.9984 0 0 0 0 0 0 0 0 0 0 0 0.0186 0.9907 0 0 0 0 0 0 0 0 0 0 0 0 0.9989 0 0 0 0 0 0 0 0 0 0 0 0.0127 0.9937 0 0 0 0 0 0 0 0 0 0 0 0 0.9987 0 0 0 0 0 0 0 0 0 0 0 0.0093 0.9953 0 0 0 0 0 0 0 0 0 0 0 0 0.9993 0 0 0 0 0 0 0 0 0 0 0 0.0058 0.9971 0 0 0 0 0 0 0 0 0 0 0 0 1.0000 0 0 0 0 0 0 0 0 0 0 0 0 1.0000 0 1.0000 0 0 0 0 0 0 0 0 0 0 1.0000 0 -1.0000 1.0000 -1.0000 1.0000 -1.0000 1.0000 -1.0000 1.0000 0 0 0 Column 37 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1.0000 B1 = 0.0384 0 0 0 0.0005 0 0 0 0.0000 0 0 0 0 -0.0033 0 0 0 -0.0001 0 0 0 0 0.0384 0 0 0 0.0005 0 0 0 -0.0000 0 0 0 0 0.0384 0 0 0 0.0005 0 0 0 0.0000 0 0.0007 0 0 0 0.0000 0 0 0 0 0.0004 0 0 0 0.0000 0 0 0 0 0.0013 0 0 0 0.0000 -0.0011 0 0 0 -0.0000 0 0 0 0 0.0002 0 0 0 0.0000 0 0 0 0 0.0008 0 0 0 0.0000 0 0 0 0 0.0006 0 0 0 0.0000 -0.0002 0 0 0 -0.0000 0 0 0 0 0.0001 0 0 0 0.0000 0 0 0 0 0.0001 0 0 0 0.0000 0 0 0 0 0.0001 0 0 0 0.0000 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 C1 = Columns 1 through 20 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Columns 21 through 37 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 K = 1.0e+003 * Columns 1 through 12 0.0004 0.0064 0.0046 -0.0111 0.0123 0.0006 0.0060 -0.0045 0.0004 0.0060 0.0045 0.0046 0.0006 0.0021 0.0055 -0.0062 0.0107 0.0005 0.0020 -0.0055 0.0007 0.0020 0.0055 0.0148 0.0021 0.0062 0.0043 -0.0115 0.0122 0.0021 0.0068 -0.0043 0.0016 0.0061 0.0043 0.0395 0.0023 0.0057 0.0037 -0.0011 0.0110 0.0021 0.0056 -0.0037 0.0027 0.0064 0.0038 -0.0981 Columns 13 through 24 -0.0165 0.0305 -0.0271 0.0328 -0.0278 -0.0629 -0.0589 -0.0539 -0.0589 0.0373 -0.1078 0.0462 0.0382 -0.0327 0.0614 -0.0367 0.0630 -0.0073 0.0034 -0.0202 0.0034 -0.0268 0.0053 -0.0211 -0.0126 0.0753 -0.0215 0.0795 -0.0221 0.1055 0.0455 0.1545 0.0455 0.0897 0.0883 0.0549
Страницы: 1, 2, 3, 4
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