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Рисунок 4.3 –«характеристика запасів стійкості»
Запас стійкості по модулю Н показує, на скільки можна збільшити мо-дуль АФХ розімкнутої системи при φразм (ω) = - π, щоб замкнута система ви-йшла на кордон стійкості. З рис.4.3 Н = 0,5.
Запас стійкості по фазі γ показує, на скільки можна збільшити зсув по фазі розімкнутої системи, щоб замкнута система вийшла на кордон стійкості. З рис.4.3 γ = (43,35 °).
5 АналІЗ ПЕРЕХІДНИХ ПРОЦЕСІВ В АСУ.
5.1 Розрахунок і побудова графіків керуючих впливів і процесів регулювання за завданням і за навантаженням з ідеальним регулятором.
При астатичному ОУ керомий вплив шукється:
(5.1)
Y- пропроційна
y(1)=Kpх(n) (5.2)
Y-інтегруюча
(5.3)
(5.4)
Y- диференційна
(5.5)
Таблиця 5.1 –«данні для робудови графіків»
Kоб=
| 2,55
| ш=
| 0,2025
| τоб=
| 8,1
| ΔZ=
| 24
| Δτ=
| 36,9
| Тд=
| 2,26
| Tоб=
| 0,17
| Кр=
| 0,043
|
t
| z
| xтек
| Δxзад
| Δxзад-xтек
| Yпроп
| Yинт
| Yдиф
| Y
| 0
| 0
| 0
| 0
| 0
| 0
| 0
| 0
| 0
| 0,2025
| 24
| 0
| 0
| 0
| 0
| 0
| 0
| 0
| 0,405
| 24
| 0
| 0
| 0
| 0
| 0
| 0
| 0
| 0,6075
| 24
| 0
| 0
| 0
| 0
| 0
| 0
| 0
| 0,81
| 24
| 0
| 0
| 0
| 0
| 0
| 0
| 0
| 1,0125
| 24
| 0
| 0
| 0
| 0
| 0
| 0
| 0
| 1,215
| 24
| 0
| 0
| 0
| 0
| 0
| 0
| 0
| 1,4175
| 24
| 0
| 0
| 0
| 0
| 0
| 0
| 0
| 1,62
| 24
| 0
| 0
| 0
| 0
| 0
| 0
| 0
| 1,8225
| 24
| 0
| 0
| 0
| 0
| 0
| 0
| 0
| 2,025
| 24
| 0
| 0
| 0
| 0
| 0
| 0
| 0
| 2,2275
| 24
| 0
| 0
| 0
| 0
| 0
| 0
| 0
| 2,43
| 24
| 0
| 0
| 0
| 0
| 0
| 0
| 0
| 2,6325
| 24
| 0
| 0
| 0
| 0
| 0
| 0
| 0
| 2,835
| 24
| 0
| 0
| 0
| 0
| 0
| 0
| 0
| 3,0375
| 24
| 0
| 0
| 0
| 0
| 0
| 0
| 0
| 3,24
| 24
| 0
| 0
| 0
| 0
| 0
| 0
| 0
| 3,4425
| 24
| 0
| 0
| 0
| 0
| 0
| 0
| 0
| 3,645
| 24
| 0
| 0
| 0
| 0
| 0
| 0
| 0
| 3,8475
| 24
| 0
| 0
| 0
| 0
| 0
| 0
| 0
| 4,05
| 24
| 0
| 0
| 0
| 0
| 0
| 0
| 0
| 4,2525
| 24
| 0
| 0
| 0
| 0
| 0
| 0
| 0
| 4,455
| 24
| 0
| 0
| 0
| 0
| 0
| 0
| 0
| 4,6575
| 24
| 0
| 0
| 0
| 0
| 0
| 0
| 0
| 4,86
| 24
| 0
| 0
| 0
| 0
| 0
| 0
| 0
| 5,0625
| 24
| 0
| 0
| 0
| 0
| 0
| 0
| 0
| 5,265
| 24
| 0
| 0
| 0
| 0
| 0
| 0
| 0
| 5,4675
| 24
| 0
| 0
| 0
| 0
| 0
| 0
| 0
| 5,67
| 24
| 0
| 0
| 0
| 0
| 0
| 0
| 0
| 5,8725
| 24
| 0
| 0
| 0
| 0
| 0
| 0
| 0
| 6,075
| 24
| 0
| 0
| 0
| 0
| 0
| 0
| 0
| 6,2775
| 24
| 0
| 0
| 0
| 0
| 0
| 0
| 0
| 6,48
| 24
| 0
| 0
| 0
| 0
| 0
| 0
| 0
| 6,6825
| 24
| 0
| 0
| 0
| 0
| 0
| 0
| 0
| 6,885
| 24
| 0
| 0
| 0
| 0
| 0
| 0
| 0
| 7,0875
| 24
| 0
| 0
| 0
| 0
| 0
| 0
| 0
| 7,29
| 24
| 0
| 0
| 0
| 0
| 0
| 0
| 0
| 7,4925
| 24
| 0
| 0
| 0
| 0
| 0
| 0
| 0
| 7,695
| 24
| 0
| 0
| 0
| 0
| 0
| 0
| 0
| 7,8975
| 24
| 0
| 0
| 0
| 0
| 0
| 0
| 0
| 8,1
| 24
| 0
| 0
| 0
| 0
| 0
| 0
| 0
| 8,3025
| 24
| 12,393
| 0
| -12,393
| -0,5329
| 0
| -5,94742
| -6,48032
| 8,505
| 24
| 24,786
| 0
| -24,786
| -1,0658
| 0
| -5,94742
| -7,01321
| 8,7075
| 24
| 37,179
| 0
| -37,179
| -1,5987
| 0
| -5,94742
| -7,54611
| 8,91
| 24
| 49,572
| 0
| -49,572
| -2,1316
| 0
| -5,94742
| -8,07901
| 9,1125
| 24
| 61,965
| 0
| -61,965
| -2,6645
| 0
| -5,94742
| -8,61191
| 9,315
| 24
| 74,358
| 0
| -74,358
| -3,19739
| 0
| -5,94742
| -9,14481
| 9,5175
| 24
| 86,751
| 0
| -86,751
| -3,73029
| 0
| -5,94742
| -9,67771
| 9,72
| 24
| 99,144
| 0
| -99,144
| -4,26319
| 0
| -5,94742
| -10,2106
| 9,9225
| 24
| 111,537
| 0
| -111,537
| -4,79609
| 0
| -5,94742
| -10,7435
| 10,125
| 24
| 123,93
| 0
| -123,93
| -5,32899
| 0
| -5,94742
| -11,2764
| 10,3275
| 24
| 136,323
| 0
| -136,323
| -5,86189
| 0
| -5,94742
| -11,8093
| 10,53
| 24
| 148,716
| 0
| -148,716
| -6,39479
| 0
| -5,94742
| -12,3422
| 10,7325
| 24
| 161,109
| 0
| -161,109
| -6,92769
| 0
| -5,94742
| -12,8751
| 10,935
| 24
| 173,502
| 0
| -173,502
| -7,46059
| 0
| -5,94742
| -13,408
| 11,1375
| 24
| 185,895
| 0
| -185,895
| -7,99349
| 0
| -5,94742
| -13,9409
| 11,34
| 24
| 198,288
| 0
| -198,288
| -8,52638
| 0
| -5,94742
| -14,4738
| 11,5425
| 24
| 210,681
| 0
| -210,681
| -9,05928
| 0
| -5,94742
| -15,0067
| 11,745
| 24
| 223,074
| 0
| -223,074
| -9,59218
| 0
| -5,94742
| -15,5396
| 11,9475
| 24
| 235,467
| 0
| -235,467
| -10,1251
| 0
| -5,94742
| -16,0725
| 12,15
| 24
| 247,86
| 0
| -247,86
| -10,658
| 0
| -5,94742
| -16,6054
| 12,3525
| 24
| 260,253
| 0
| -260,253
| -11,1909
| 0
| -5,94742
| -17,1383
| 12,555
| 24
| 272,646
| 0
| -272,646
| -11,7238
| 0
| -5,94742
| -17,6712
| 12,7575
| 24
| 285,039
| 0
| -285,039
| -12,2567
| 0
| -5,94742
| -18,2041
| 12,96
| 24
| 297,432
| 0
| -297,432
| -12,7896
| 0
| -5,94742
| -18,737
| 13,1625
| 24
| 309,825
| 0
| -309,825
| -13,3225
| 0
| -5,94742
| -19,2699
| 13,365
| 24
| 322,218
| 0
| -322,218
| -13,8554
| 0
| -5,94742
| -19,8028
| 13,5675
| 24
| 334,611
| 0
| -334,611
| -14,3883
| 0
| -5,94742
| -20,3357
| 13,77
| 24
| 347,004
| 0
| -347,004
| -14,9212
| 0
| -5,94742
| -20,8686
| 13,9725
| 24
| 359,397
| 0
| -359,397
| -15,4541
| 0
| -5,94742
| -21,4015
| 14,175
| 24
| 371,79
| 0
| -371,79
| -15,987
| 0
| -5,94742
| -21,9344
| 14,3775
| 24
| 384,183
| 0
| -384,183
| -16,5199
| 0
| -5,94742
| -22,4673
| 14,58
| 24
| 396,576
| 0
| -396,576
| -17,0528
| 0
| -5,94742
| -23,0002
| 14,7825
| 24
| 408,969
| 0
| -408,969
| -17,5857
| 0
| -5,94742
| -23,5331
| 14,985
| 24
| 421,362
| 0
| -421,362
| -18,1186
| 0
| -5,94742
| -24,066
| 15,1875
| 24
| 433,755
| 0
| -433,755
| -18,6515
| 0
| -5,94742
| -24,5989
| 15,39
| 24
| 446,148
| 0
| -446,148
| -19,1844
| 0
| -5,94742
| -25,1318
| 15,5925
| 24
| 458,541
| 0
| -458,541
| -19,7173
| 0
| -5,94742
| -25,6647
| 15,795
| 24
| 470,934
| 0
| -470,934
| -20,2502
| 0
| -5,94742
| -26,1976
| 15,9975
| 24
| 483,327
| 0
| -483,327
| -20,7831
| 0
| -5,94742
| -26,7305
| 16,2
| 24
| 495,72
| 0
| -495,72
| -21,316
| 0
| -5,94742
| -27,2634
| 16,4025
| 24
| 504,7667
| 0
| -504,767
| -21,705
| 0
| -4,34154
| -26,0465
| 16,605
| 24
| 513,5383
| 0
| -513,538
| -22,0821
| 0
| -4,20948
| -26,2916
| 16,8075
| 24
| 522,0347
| 0
| -522,035
| -22,4475
| 0
| -4,07742
| -26,5249
| 17,01
| 24
| 530,2559
| 0
| -530,256
| -22,801
| 0
| -3,94536
| -26,7464
| 17,2125
| 24
| 538,2019
| 0
| -538,202
| -23,1427
| 0
| -3,81331
| -26,956
| 17,415
| 24
| 545,8727
| 0
| -545,873
| -23,4725
| 0
| -3,68125
| -27,1538
| 17,6175
| 24
| 553,2684
| 0
| -553,268
| -23,7905
| 0
| -3,54919
| -27,3397
| 17,82
| 24
| 560,3889
| 0
| -560,389
| -24,0967
| 0
| -3,41714
| -27,5139
| 18,0225
| 24
| 567,2342
| 0
| -567,234
| -24,3911
| 0
| -3,28508
| -27,6761
| 18,225
| 24
| 573,8044
| 0
| -573,804
| -24,6736
| 0
| -3,15302
| -27,8266
| 18,4275
| 24
| 580,0993
| 0
| -580,099
| -24,9443
| 0
| -3,02096
| -27,9652
| 18,63
| 24
| 586,1191
| 0
| -586,119
| -25,2031
| 0
| -2,88891
| -28,092
| 18,8325
| 24
| 591,8637
| 0
| -591,864
| -25,4501
| 0
| -2,75685
| -28,207
| 19,035
| 24
| 597,3332
| 0
| -597,333
| -25,6853
| 0
| -2,62479
| -28,3101
| 19,2375
| 24
| 602,5275
| 0
| -602,527
| -25,9087
| 0
| -2,49274
| -28,4014
| 19,44
| 24
| 607,4466
| 0
| -607,447
| -26,1202
| 0
| -2,36068
| -28,4809
| 19,6425
| 24
| 612,0905
| 0
| -612,09
| -26,3199
| 0
| -2,22862
| -28,5485
| 19,845
| 24
| 616,4592
| 0
| -616,459
| -26,5077
| 0
| -2,09656
| -28,6043
| 20,0475
| 24
| 620,5528
| 0
| -620,553
| -26,6838
| 0
| -1,96451
| -28,6483
| 20,25
| 24
| 624,3712
| 0
| -624,371
| -26,848
| 0
| -1,83245
| -28,6804
| 20,4525
| 24
| 627,9144
| 0
| -627,914
| -27,0003
| 0
| -1,70039
| -28,7007
| 20,655
| 24
| 631,1824
| 0
| -631,182
| -27,1408
| 0
| -1,56834
| -28,7092
| 20,8575
| 24
| 634,1753
| 0
| -634,175
| -27,2695
| 0
| -1,43628
| -28,7058
| 21,06
| 24
| 636,893
| 0
| -636,893
| -27,3864
| 0
| -1,30422
| -28,6906
| 21,2625
| 24
| 639,3355
| 0
| -639,335
| -27,4914
| 0
| -1,17216
| -28,6636
| 21,465
| 24
| 641,5028
| 0
| -641,503
| -27,5846
| 0
| -1,04011
| -28,6247
| 21,6675
| 24
| 643,395
| 0
| -643,395
| -27,666
| 0
| -0,90805
| -28,574
| 21,87
| 24
| 645,0119
| 0
| -645,012
| -27,7355
| 0
| -0,77599
| -28,5115
| 22,0725
| 24
| 646,3538
| 0
| -646,354
| -27,7932
| 0
| -0,64393
| -28,4371
| 22,275
| 24
| 647,4204
| 0
| -647,42
| -27,8391
| 0
| -0,51188
| -28,351
| 22,4775
| 24
| 648,2118
| 0
| -648,212
| -27,8731
| 0
| -0,37982
| -28,2529
| 22,68
| 24
| 648,7281
| 0
| -648,728
| -27,8953
| 0
| -0,24776
| -28,1431
| 22,8825
| 24
| 648,9692
| 0
| -648,969
| -27,9057
| 0
| -0,11571
| -28,0214
| 23,085
| 24
| 648,9352
| 0
| -648,935
| -27,9042
| 0
| 0,016351
| -27,8879
| 23,2875
| 24
| 648,6259
| 0
| -648,626
| -27,8909
| 0
| 0,148408
| -27,7425
| 23,49
| 24
| 648,0415
| 0
| -648,041
| -27,8658
| 0
| 0,280465
| -27,5853
| 23,6925
| 24
| 647,1819
| 0
| -647,182
| -27,8288
| 0
| 0,412522
| -27,4163
| 23,895
| 24
| 646,0471
| 0
| -646,047
| -27,78
| 0
| 0,54458
| -27,2354
| 24,0975
| 24
| 644,6372
| 0
| -644,637
| -27,7194
| 0
| 0,676637
| -27,0428
| 24,3
| 24
| 642,952
| 0
| -642,952
| -27,6469
| 0
| 0,808694
| -26,8382
| 24,5025
| 24
| 641,8953
| 0
| -641,895
| -27,6015
| 0
| 0,507142
| -27,0944
|
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скачати
|