k1=(5,3sin4ŵ-9,5sin3ŵ+4,2sin2ŵ)/sinŵ
k2= -5,3cosŵ+9,5cos3ŵ-4,2cos2ŵ-k1cosŵ
∆ŵ = π/20
Полученные значения заносим в таблицу №1
|
w |
k1 |
k2 |
|
0.157 |
0.599854 |
1.023585 |
|
0.134 |
0.719997 |
1.032079 |
|
0.471 |
-2.07958 |
0.595543 |
|
0.628 |
-3.25117 |
0.001554 |
|
0.785 |
-3.51996 |
-0.94399 |
|
0.942 |
-2.49799 |
-2.20858 |
|
1.1 |
-0.12321 |
-3.63561 |
|
1.257 |
3.202431 |
-4.89978 |
|
1.414 |
6.737494 |
-5.59483 |
|
1.571 |
9.476255 |
-5.26187 |
|
1.728 |
10.36088 |
-3.48735 |
|
1.885 |
8.515003 |
0.00124 |
|
2.042 |
3.459594 |
5.253458 |
|
2.199 |
-4.73747 |
12.04686 |
|
2.356 |
-15.4139 |
19.88413 |
|
2.513 |
-27.3835 |
28.04121 |
|
2.67 |
-39.1146 |
35.66079 |
|
2.827 |
-48.9864 |
41.87646 |
|
2.985 |
-55.6009 |
45.96361 |
|
3.142 |
-57.8947 |
47.36841 |
3. Выбор оптимальных параметров управления.
(методом расширенных А.Ф.Ч.Х.)
В нашем случае:
где:
где:
Полученные значения заносим в таблицу №2
|
w |
u1 |
u2 |
v2 |
d2 |
d3 |
d1 |
k1 |
k2 |
|
0.157 |
-0.22 |
-0.040 |
0.134 |
-1.144 |
0.946 |
0.018 |
0.764 |
0.722 |
|
0.134 |
-0.22 |
0.001 |
0.122 |
-1.262 |
0.947 |
0.011 |
0.695 |
0.658 |
|
0.471 |
-0.319 |
-0.619 |
0.119 |
-0.691 |
0.922 |
1.146 |
2.252 |
2.076 |
|
0.628 |
-0.379 |
-0.802 |
0.006 |
-0.501 |
0.993 |
1.968 |
2.136 |
2.121 |
|
0.785 |
-0.45 |
-0.864 |
-0.144 |
-0.276 |
1.371 |
2.195 |
1.331 |
1.824 |
|
0.942 |
-0.535 |
-0.808 |
-0.309 |
0.024 |
-11.87 |
1.848 |
0.112 |
-1.335 |
|
1.1 |
-0.637 |
-0.657 |
-0.472 |
0.527 |
-0.369 |
1.319 |
2.014 |
-0.743 |
|
1.257 |
-0.757 |
-0.449 |
-0.613 |
1.708 |
-0.062 |
0.916 |
3.462 |
-0.215 |
|
1.414 |
-0.900 |
-0.220 |
-0.725 |
10.542 |
0.013 |
0.693 |
3.977 |
0.052 |
|
1.571 |
-1.069 |
0.0003 |
-0.800 |
-5.619 |
0.031 |
0.577 |
4.210 |
0.132 |
|
1.728 |
-1.271 |
0.193 |
-0.836 |
-2.754 |
0.030 |
0.487 |
4.445 |
0.134 |
|
1.885 |
-1.511 |
0.348 |
-0.834 |
-1.965 |
0.022 |
0.392 |
4.666 |
0.102 |
|
2.042 |
-1.795 |
0.467 |
-0.798 |
-1.557 |
0.012 |
0.293 |
4.839 |
0.060 |
|
2.199 |
-2.134 |
0.554 |
-0.731 |
-1.272 |
0.004 |
0.206 |
4.955 |
0.021 |
|
2.356 |
-2.536 |
0.618 |
-0.641 |
-1.032 |
-0.002 |
0.136 |
5.018 |
-0.008 |
|
2.513 |
-3.014 |
0.666 |
-0.53 |
-0.808 |
-0.005 |
0.088 |
5.040 |
-0.025 |
|
2.67 |
-3.583 |
0.704 |
-0.406 |
-0.592 |
-0.006 |
0.056 |
5.027 |
-0.032 |
|
2.827 |
-4.258 |
0.734 |
-0.273 |
-0.384 |
-0.006 |
0.036 |
4.984 |
-0.032 |
|
2.985 |
-5.067 |
0.756 |
-0.136 |
-0.185 |
-0.005 |
0.024 |
4.910 |
-0.027 |
|
3.142 |
-6.022 |
0.768 |
0.0003 |
0.0005 |
-0.004 |
0.017 |
4.813 |
-0.02 |
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