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A
,
, .
, ,
,
.
.
.
6.1:
G ( s)
1
s 1
u (t ) = sin(10t ) :
:
L u (t ) sin(10t )
10
s 102
2
Y (s)
1
10
.
2
s 1 s 102
A
A s + A2
1
10
= 0 + 21
2
2
s + 1 s + 10
s
s + 102
121
A0 + A1 = 0
A1 + A2 = 0
A2 + 102 A0 = 10
A0 =
10
,
101
A1 = - A0 ,
A2 = A0 ,
Y (s) =
10
1
10
s
10
1
2
+
2
2
101 ( s + 1) 101 ( s + 10 ) 101 ( s + 102 )
10
1
1
10
10
s
+
2
2
2
101 ( s + 1) 101 ( s + 10 ) 101 ( s + 102 )
s
10
1
1
10
1
10
.
=
+
2
- 2
2
2
101 ( s + 1)
101 ( s + 10 ) 101 ( s + 10 ) 101
Y (s) =
10 -1 1
1 -1
10
+
L
L 2
2
101
( s + 1)
101 ( s + 10 )
10 -t
1
1
=
e +
sin(10t )
- cos(10t )
101
101
101
y (t ) =
1
s
10
- L-1 2
2
( s + 10 ) 101
101
10
.
101
1 10
+
=1
101 101
cos(b ) =
1
,
101
sin(b ) = -
10
,
101
sin(10t )
1
10
- cos(10t )
= sin(10t ) cos(b ) + cos(10t ) sin(b ) .
101
101
122
y (t ) =
10 -t
1
e +
sin(10t + b ) .
101
101
b = tg -1 (-10) -84, 20
,
y (t ) = y1 (t ) + y2 (t )
10 -t
e
101
1
y2 (t ) =
sin(10t + b ).
101
y1 (t ) =
y1 (t )
, y2 (t ) .
y2 (t ) u (t )
,
b.
6.1
.
6.1().
.
0.25
1
0.8
0.15
0.4
0.2
0.1
Izlaz
0.2
0.6
0.05
-0.2
0
-0.4
-0.6
-0.05
-0.8
-1
-0.1
5
Vreme [s]
10
5
Vreme [s]
10
()
()
. 6.1 6.1: )
, ) .
6.1()
. 6.1()
123
.
y1 (t ) .
,
G ( s) u (t )
, w0 :
u (t ) = A sin(w0t ) .
(6.1)
L u (t ) A sin(0t )
A0
s 0 2
(6.2)
, ,
Y (s) G(s)
A0
.
s 0 2
(6.3)
, 6.1,
.
y (t ) = AM sin(w0t + b )
(6.4)
M , b .
M = G ( j w0 ) = G ( s ) s = j w =
0
Im [G ( jw0 ) ]
= G ( jw ).
b = tan -1
0
Re
(
)
G
j
w
[
]
0
+ {Im [G ( jw0 ) ]} ,
2
(6.5)
(6.6)
G ( jw )
s = jw G ( s ) .
,
.
.
.
, ,
124
,
.
Y ( jw0 ) = AY e j ( w0t +b ) ,
U ( jw0 ) = AU e j ( w0t )
(6.7)
w0
G ( j w0 ) =
AY e j ( w0t +b )
= Me jb .
AU e j ( w0t )
(6.8)
M (w0 ) =
AY
.
AU
(6.9)
,
.
. M (w )
b G ( jw ) .
M (w ) b (w ) ,
,
w. ,
w , ,
log(w ).
G ( jw ) db = 20 log10 G ( jw ) .
(6.10)
,
.
. ,
,
G ( jw ) = G1 ( jw )G2 ( jw ),
(6.11)
125
G ( jw ) e jb ( w ) = G1 ( jw ) e jb1 ( w ) G2 ( jw ) e jb2 ( w ) .
(6.12)
log G ( jw ) + jb (w ) log e = log G1 ( jw ) + log G2 ( jw ) + j (b1 (w ) + b2 (w )) log e .
, M (w ) b (w )
M (w ) = log G1 ( jw ) + log G2 ( jw )
(6.13)
b (w ) = b1 (w ) + b2 (w ) .
(6.14)
20
.
, ,
.
decibel.
Bel
P
1[ Bel ] = log10 2
.
P1
P =10 P
2
(6.15)
100 2 Bel-, 1000 3 Bel- .
decibel Bel
AP decibel
P
AP [dB] = 10 log10 2 .
P1
(6.16)
AP decibel
+3dB . +3dB
4 8 AP decibel
+6dB +9dB. 10, 100 1000
126
, M (w )
( , , , , )
10 100 , 2 Bel- 20
decibel-.
decibel- (6.10)
G ( jw ) dB = 20 log10 G ( jw ) .
2 10
+6dB +20dB, a
, , -6dB -20dB.
(Hendrik Wade Bode (1905-1982))
, ,
.
6.1
G ( s )
, .
G ( s) =
K
1
1
2 2
= r
(T1s + 1)(T2 s + 1) p .
s (Ta s + 1) (Tb s + 2xTb s + 1)
(6.17)
. , (6.17),
:
1. Ks n ,
(6.18)
2. (Ts + 1)1 ,
(6.19)
3. (T 2 s 2 + 2xTs + 1)1.
(6.20)
, ,
.
127
, ,
. n
. ,
,
. n=-1,
G(s) =
K
.
s
G ( jw ) dB = 20 log10 K - 20 log10 w
(6.21)
K
Im {G ( jw )}
= w .
b (w ) = tan -1
Re {G ( jw )}
0
(6.22)
, ,
b (w ) = -900. (6.21)
G ( jw ) dB .
w = 1
G ( jw ) dB = 20 log10 K .
(6.23)
G ( jw ) dB = 20 log10 K - 20,
(6.24)
20 . ,
-20 ( -20dB / dec ).
K = 1 G ( jw ) dB 0dB,
w = 1.
K > 1 G ( jw ) dB
20 log10 K . ,
K < 1 .
6.2.
n- b (w ) = n 900.
G ( jw ) dB n 20dB / dec . 6.2
128
K = 1.
Bode Diagram
20
Magnitude (dB)
10
-10
-20
0
Phase (deg)
-45
-90
-135
-180
-1
10
10
10
Frequency (rad/sec)
. 6.2 s-1.
(Ts + 1)1
G(s) =
1
.
Ts + 1
(6.25)
G ( jw ) dB = -20 log10 1 + w 2T 2
b (w ) = tan -1
Im {G ( jw )}
Re {G ( jw )}
-wT
.
1
(6.26)
(6.27)
, wT 1 , (6.26)
G ( jw ) dB = -20 log10 1 = 0,
(6.28)
129
G ( jw ) dB = 0dB
G ( jw ) dB . wT 1 . (6.26)
(6.29)
w = 1/ T
G ( jw ) dB = 0dB.
(6.30)
G ( jw ) dB = 20 log10 (1/ T ) - 20 log10 (10 / T ) = -20dB.
(6.31)
20 .
G ( jw ) dB
w = 1/ T -20dB / dec.
, (6.26), w = 1/ T
G ( jw ) dB = -20 log10 2 = -3dB.
(6.32)
.
(6.27)
b (w ) = 00 wT 1
b (w ) = -900 wT 1 .
w = 1/ T b (w ) = -450.
6.3.
G ( s ) = (Ts + 1)
(6.33)
, 6.4,
6.3.
130
. 6.3
(Ts + 1)-1 .
. 6.4
(Ts + 1) .
131
(T 2 s 2 + 2xTs + 1)1
G ( s) =
1
.
T s + 2Ts + 1
(6.34)
2 2
x = 1
p1,2 = -1/ T ,
G ( s) =
1
.
(Ts + 1) 2
, G ( s)
(6.25).
(6.32)
(6.25). b (w )
00 -1800. G ( jw ) dB ,
w = 1/ T -40dB / dec.
G ( jw ) dB = 0dB,
G ( jw ) dB = -40 log10 2 = -6dB.
(6.32),
0 < x < 1 ,
G ( jw ) dB = -20 log10 [(1- w 2T 2 ) 2 + 4x 2 w 2T 2 ]1/ 2
b (w ) = tan -1
Im {G ( jw )}
Re {G ( jw )}
-2xwT
.
1- w 2T 2
(6.35)
(6.36)
, 0 < x < 1,
w = 1/ T .
, 6.5,
.
.
(T 2 s 2 + 2xTs + 1) 6.5
-1.
132
.2
.5
.8
.8 .5
.2
. 6.5
(T 2 s 2 + 2xTs + 1)-1.
6.2:
G ( s)
2000( s 0,5)
.
s ( s 10)( s 50)
: G ( s)
s
1)
0,5
,
G ( s)
s
s
10 50 s( 1)( 1)
10
50
2000 0,5(
G ( s)
2(2 s 1)
.
s (0,1s 1)(0, 02s 1)
(6.17)
G ( s) =
K (T1s + 1)
.
s(T2 s +1)(T3 s +1)
133
K = 2
T1 = 2 ,
T2 = 0,1
T3 = 0, 02 .
6.6.
Bode Diagram
Magnitude (dB)
50
-50
-100
0
Phase (deg)
-45
-90
-135
-180
-2
-1
10
10
10
10
10
10
10
Frequency (rad/sec)
6.6 6.2
p2 1/ T2 , p3 1/ T3
134
+20dB / dec
, , .
2 10 , -20dB / dec
3 50 .
, -20dB / dec ,
-40dB / dec.
log 20 log10 2dB
K = 2 .
,
.
-900 . ,
, -1800.
,
.
,
.
, .
1- Tjw 1 + Tjw.
1- Tjw 0 -900. ,
1 + Tjw 0 900. .
.
.
.
135
6.2
. ,
, . ,
.
e,
s 3 3s 2 4s ( K 2) 0 2 K 10
.
,
, , , .
.
(Harry Nyquist) 1932.
. , 1938. ,
. .
.
.
(
).
.
W ( s)
s 1
.
s 0,5
(6.37)
, ,
p 0,5 .
136
, , (
3.2, . 3.19)
F (s)
W ( s)
.
1 W ( s)
(6.38)
W ( s )
F ( s)
s 1
.
2 s 1,5
(6.39)
p 0, 75.
K , 6.7.
U(s)
W(s)
Y(s)
. 6.7
K
F (s)
K ( s 1)
.
( K 1) s ( K 0,5)
(6.40)
1 K 0,5.
( ).
W ( s )
.
(Cauchy)
.
W ( s ) .
6.8() (6.37).
s0 C.
137
, s j , W ( s )
. C
W ( s)
W ( s ).
, ,
WN ( s ) s 1,
(6.41)
n 1.
s0
(a)
()
A
B
()
()
. 6.8 s- W(s)
C
A (0, j1), B (3, j1), C (3, j1), D (0, j1).
WN ( s )
6.8().
138
. WN ( s)
,
.
, ,
p 0,5 ,
WP ( s )
1
.
s 0,5
(6.42)
C
WP ( s)
6.8(). ( A ', B ', C ', D ' )
.
WP ( s) ,
,
.
(6.37) W ( s)
6.8().
W ( s) .
K , s
C , W ( s) ,
, W ( s)
N P , N , P
W ( s) C. 6.9
. ,
W ( s) C
arg C W ( s ) ( N P)2 .
(6.43)
139
W ( s )
Im{W ( s )}
W (s)
Re{W ( s )}
()
()
. 6.9 s- W(s)
W (s)
N ( s)
D( s)
(6.44)
1 W ( s) 0.
(6.45)
(6.44) (6.45),
F (s) 1 W (s) 1
N ( s ) D( s) N ( s) P( s )
D( s)
D( s)
D( s)
(6.46)
P(s)
(6.45). D(s) F(s)
W(s). , D(s)
.
F(s) s-.
D(s)
, , N(s)
F(s) .
140
, (. 6.10),
s-.
F(s) .
,
. W(s)
s- ( ).
P. W(s)
F(s) , , F(s)
. , ,
F(s) (N=0).
j
s-ravan
R
. 6.10
, (.
6.10), F(s).
arg C F ( s ) P 2 .
(6.47)
W(s)
s-. ,
F(s)
.
F(s)
, . 6.10
F(s) ,
. ,
arg F ( j ) P 2 ,
- .
(6.48)
141
F(s) ,
F(j)
s-, (6.48)
arg F ( j ) P ,
0 ,
arg[1 W ( j )] P ,
0 .
(6.49)
W(j) (. 6.11). 0
W(j) W(j)
, .
W(j). , W(j)
.
W(s)+1
W ( s)
. 6.11
. 6.11.
. 1+W(j) (-1, j0) W(j) ,
0 .
1+W(j) (-1,j0) P.
1+W(j) (-1, j0)
.
142
: ,
, 0 , ,
(-1,
j0),
W(j) ,
( ) P.
P W(s)
. ,
W(j) (-1, j0) P/2 .
,
P = 0 [1 + W(j)] (-1,j0)
. :
, ,
, (-1, j0)
.
. ,
,
, . . .
W(j)
(-1, j0), (- , -1), ,
, , .
:
(- , -1) 0
, P/2, P
.
143
(- , -1), =0 = ,
.
W(s) W(s)=KW 1 (s), K
. W(j),
, W 1 (j)=W(j)/K,
(-1/K, j0)
W(j)/K. , K, (-1/K, j0)
W(j)/K,
W(j)/K.
K, .
= .
W(s) m n, m n. n-m=l. l
, = W(j)
K
=0 l 2 .
( j )l
W ( j ) lim
(6.50)
W(j) ,
-l/2 rad .
l
. l=0,
.
s.
( 3.3, (3.16))
W (s) =
144
(6.51)
W ( jw ) =
K r N ( jw )
,
( jw ) r D0 ( jw )
(6.52)
W(j) = 0 .
0 W(j)
(-1, j0) " " " ".
W(s)
s-,
(. 6.12), .
,
s-.
,
W(j),
0 , s
, W(s) ,
s (. 6.12).
j
s-ravan
R 0 B
. 6.12 s-
s = Re jJ , R , J [0, p 2]
W (Re jJ ) =
K r N (Re jJ )
.
(Re jJ ) r D0 (Re jJ )
(6.53)
W ( s ) AB = lim
(6.54)
145
=0 , (6.54) W(s)
. =/2 , W(s)
-r/2 .
, W(s) , ,
s-,
W(j) .
r/2,
W(j) ,
.
6.3:
W (s) =
K
.
(2s + 2s + 1)( s -1/ 4)
2
(6.55)
: W ( jw ) / K .
(m-n= -3)
-3 p 2 w
+ . w = 0
(-4, j 0).
, (1 4, j 0) .
2 s 2 + 2s + 1 = T 2 s 2 + 2xTs + 1
(6.56)
T = 2 , x = 2 2 .
T 2 s 2 + 2xTs + 1 = 0 ,
p1,2 = - x T j 1- x 2 T
p1,2 = -1 2 j 1 2 . x = 2 2
,
.
146
(-1 K , j 0) ,
w 0 + .
6.13.
.6.13
(6.55)
W(j) . w
.
F (s)
W ( s)
K
,
1 W ( s ) 2s 3 3 s 2 1 s3 ( K 1 )
2
2
4
: 4 (1 K ) 1, 6. K
147
1 4 K 5 8.
(-1,6; j0).
6.4:
W (s) = K
( s + 2)( s + 10)
.
( s -1)( s - 2)( s + 5)
(6.57)
:
,
w 0 + , (-1 K , j 0)
, .
(m-n =1) ,
, - p 2
w + . . 6.14
w 0 -.
. 6.14
(6.57)
6.5:
W ( s) = K
148
1
.
s + 10 s + 20
2
(6.58)
:
p1 = -7, 24; p2 = -2, 76
(-1 K , j 0)
.
-p w +
(m-n = -2). 6.15
. ,
K = 20 K = 300.
K = 20 (1, j 0).
. 6.15
(6.58)
:
, , .
149
6.5 .
K . ,
. K
(-1 K , j 0)
.
,
.
(
).
K 6.4 (. 6.14)
, . 6.3 (. 6.13)
.
K
, , ,
.
.
.
.
(-1, j0) .
.
180 arg W ( j1 ),
150
W ( j1 ) 1.
(6.59)
1, j 0
W ( j )
arg W ( j1 )
. 6.16
1
W(j) . ,
. 0
. 30
60 .
-1800,
d
1
,
W ( j )
arg W ( j ) 1800.
(6.60)
d 1, d 1. d 1
.
d [2, 6].
.
.
151
6.3
.
,
. ,
,
.
.
.
,
, ,
.
, ,
.
, , ,
, , .
: , ,
.
.
,
G .
log 0,707 -3dB.
G
, 0dB.
152
.
.
.
.
,
,
.
1.3
1.2
1.1
Amplituda
Mr
0.9
0.8
0.7
0.6
0.5
r
0
0.5
1.5
frekvencija rad/s
2.5
. 6.17
( r ):
.
.
( r ): ,
.
:
153
.
G .
: , ,
.
.
TK
d ( )
.
d
(6.61)
6.4
K r
W ( s ). ,
.
.
W (s) =
, r = 0, K r
K p .
(. 6.18)
, W ( jw ) dB = 20 log10 K p .
K r
r = 1,
K v .
, ,
154
W ( jw ) dB = 20 log10 K - 20 log10 w ,
(6.62)
W ( jw) dB
20 log K P
log(w)
100
KP >1
. 6.18
-20dB / dec. 6.19.
. (6.62) w = 1,
W ( j1) dB = 20 log10 K = 20 log10 K v = ( K v ) dB ,
-20dB / dec w = 1 log w . (6.62)
W ( jw ) dB = 0, 20 log10 K = 20 log10 w , K = K v = w
log w .
1rad / sec
log w 6.19().
W ( jw) dB
W ( jw) dB
-20dB / dec
-20dB / dec
20 log KV
w = KV
100
log(w)
20 log KV
KV < 1
log(w)
100
KV > 1
w = KV
(a)
( )
. 6.19
155
K a r = 2.
, ,
W ( jw ) dB 20 log10 ( K / w 2 ) = 20 log10 K - 40 log10 w ,
(6.63)
20 log10 K = 20 log10 w 2 ,
K = K a = w 2 . K a , ,
log w
-40dB / dec.
W ( jw) dB
W ( jw) dB
-40
40dB / dec
-40
-40dB / dec
w = Ka
w = Ka
100
log(w)
log(w)
10
20 log K a
20 log K a
(a)
( )
. 6.20
6.5
.
156
.
W ( j ) .
arg W ( j ) , ,
.
20 log10 W ( jw ) = 0
log w
W ( j ) .
.
6.21
W ( s)
1
.
s 11s 2 10s
3
(6.64)
. 6.21
W ( s ).
.
157
log w .
.
.
, log w .
.
.
.
.
158