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Координаты и график кривой разгона по возмущению.

|1 |0,0000 |30,0000|
|2 |1,0000 |30,2000|
|3 |2,0000 |31,5000|
|4 |3,0000 |32,6000|
|5 |4,0000 |33,7000|
|6 |5,0000 |35,2500|
|7 |6,0000 |36,1000|
|8 |7,0000 |36,8500|
|9 |8,0000 |37,4500|
|10 |9,0000 |38,2000|
|11 |10,0000|38,5500|
|12 |11,0000|38,8500|
|13 |12,0000|39,2000|
|14 |13,0000|39,4000|
|15 |14,0000|39,5500|
|16 |15,0000|39,6500|
|17 |16,0000|39,7500|
|18 |17,0000|39,8000|
|19 |18,0000|39,8500|
|20 |19,0000|39,9000|
|21 |20,0000|39,9500|
|22 |21,0000|39,9500|
|23 |22,0000|39,9500|
|24 |23,0000|40,0000|

Координаты и график кривой разгона по заданию.

|1 |0,0000 |50,0000|
|2 |1,0000 |50,1500|
|3 |2,0000 |51,0000|
|4 |3,0000 |51,8000|
|5 |4,0000 |52,6500|
|6 |5,0000 |53,5000|
|7 |6,0000 |54,7000|
|8 |7,0000 |55,4000|
|9 |8,0000 |56,1000|
|10 |9,0000 |56,9000|
|11 |10,0000|57,4000|
|12 |11,0000|57,8000|
|13 |12,0000|58,1500|
|14 |13,0000|58,6000|
|15 |14,0000|58,8500|
|16 |15,0000|59,0500|
|17 |16,0000|59,2500|
|18 |17,0000|59,4000|
|19 |18,0000|59,5000|
|20 |19,0000|59,6500|
|21 |20,0000|59,7000|
|22 |21,0000|59,7500|
|23 |22,0000|59,8000|
|24 |23,0000|59,8500|
|25 |24,0000|59,9000|
|26 |25,0000|59,9000|
|27 |26,0000|59,9500|
|28 |27,0000|59,9500|
|29 |28,0000|59,9500|
|30 |29,0000|59,9500|
|31 |30,0000|60,0000|

Координаты и график кривой разгона по управлению.

|1 |0,0000 |40,0000|21 |20,000|47,400|
| | | | |0 |0 |
|2 |1,0000 |40,0000|22 |21,000|48,000|
| | | | |0 |0 |
|3 |2,0000 |40,0000|23 |22,000|48,450|
| | | | |0 |0 |
|4 |3,0000 |40,0000|24 |23,000|48,800|
| | | | |0 |0 |
|5 |4,0000 |40,0000|25 |24,000|48,800|
| | | | |0 |0 |
|6 |5,0000 |40,0000|26 |25,000|49,100|
| | | | |0 |0 |
|7 |6,0000 |40,0000|27 |26,000|49,350|
| | | | |0 |0 |
|8 |7,0000 |40,0000|28 |27,000|49,500|
| | | | |0 |0 |
|9 |8,0000 |40,0000|29 |28,000|49,500|
| | | | |0 |0 |
|10 |9,0000 |40,2500|30 |29,000|49,500|
| | | | |0 |0 |
|11 |10,0000|40,9000|31 |30,000|49,700|
| | | | |0 |0 |
|12 |11,0000|40,9000|32 |31,000|49,800|
| | | | |0 |0 |
|13 |12,0000|41,8000|33 |32,000|49,800|
| | | | |0 |0 |
|14 |13,0000|42,8500|34 |33,000|49,850|
| | | | |0 |0 |
|15 |14,0000|43,9500|35 |34,000|49,900|
| | | | |0 |0 |
|16 |15,0000|44,9500|36 |35,000|49,950|
| | | | |0 |0 |
|17 |16,0000|44,9500|37 |36,000|49,950|
| | | | |0 |0 |
|18 |17,0000|45,9000|38 |37,000|49,950|
| | | | |0 |0 |
|19 |18,0000|46,7500|39 |38,000|49,950|
| | | | |0 |0 |
|20 |19,0000|47,4000|40 |39,000|50,000|
| | | | |0 |0 |

Интерполяция по трем точкам.

В программе ASR, пользуясь пунктом “интерполировать по 3-м” поочередно считаем кривые разгона и строим соответствующий график.
Линейное сглаживание и график кривой разгона по возмущению.

|1 |0,0000 |29,8167|
|2 |1,0000 |30,5667|
|3 |2,0000 |31,4333|
|4 |3,0000 |32,6000|
|5 |4,0000 |33,8500|
|6 |5,0000 |35,0167|
|7 |6,0000 |36,0667|
|8 |7,0000 |36,8000|
|9 |8,0000 |36,5000|
|10 |9,0000 |38,0667|
|11 |10,0000|38,5333|
|12 |11,0000|38,8667|
|13 |12,0000|39,1500|
|14 |13,0000|39,3833|
|15 |14,0000|39,5333|
|16 |15,0000|39,6500|
|17 |16,0000|39,7333|
|18 |17,0000|39,8000|
|19 |18,0000|39,8500|
|20 |19,0000|39,9000|
|21 |20,0000|39,9333|
|22 |21,0000|39,9500|
|23 |22,0000|39,9667|
|24 |23,0000|39,9917|

Линейное сглаживание и график кривой разгона по заданию.

|1 |0,0000 |49,8833|
|2 |1,0000 |50,3833|
|3 |2,0000 |50,9833|
|4 |3,0000 |51,8167|
|5 |4,0000 |52,6500|
|6 |5,0000 |53,6167|
|7 |6,0000 |54,5333|
|8 |7,0000 |55,4000|
|9 |8,0000 |56,1333|
|10 |9,0000 |56,8000|
|11 |10,0000|57,3667|
|12 |11,0000|57,7833|
|13 |12,0000|58,1833|
|14 |13,0000|58,5333|
|15 |14,0000|58,8333|
|16 |15,0000|59,0500|
|17 |16,0000|59,2333|
|18 |17,0000|59,3833|
|19 |18,0000|59,5167|
|20 |19,0000|59,6167|
|21 |20,0000|59,7000|
|22 |21,0000|59,7500|
|23 |22,0000|59,8000|
|24 |23,0000|59,8500|
|25 |24,0000|59,8833|
|26 |25,0000|59,9167|
|27 |26,0000|59,9333|
|28 |27,0000|59,9500|
|29 |28,0000|59,9667|
|30 |29,0000|59,9833|
|31 |30,0000|59,9833|

Линейное сглаживание и график кривой разгона по управлению.

|1 |0,0000 |40,0000|21 |20,000|48,416|
| | | | |0 |7 |
|2 |1,0000 |40,0000|22 |21,000|48,683|
| | | | |0 |3 |
|3 |2,0000 |40,0000|23 |22,000|48,900|
| | | | |0 |0 |
|4 |3,0000 |40,0000|24 |23,000|49,083|
| | | | |0 |3 |
|5 |4,0000 |40,0000|25 |24,000|49,316|
| | | | |0 |7 |
|6 |5,0000 |40,0000|26 |25,000|49,450|
| | | | |0 |0 |
|7 |6,0000 |40,0000|27 |26,000|49,533|
| | | | |0 |3 |
|8 |7,0000 |40,0000|28 |27,000|49,600|
| | | | |0 |0 |
|9 |8,0000 |40,0833|29 |28,000|49,700|
| | | | |0 |0 |
|10 |9,0000 |40,6833|30 |29,000|49,766|
| | | | |0 |7 |
|11 |10,0000|41,2000|31 |30,000|49,816|
| | | | |0 |7 |
|12 |11,0000|41,8500|32 |31,000|49,850|
| | | | |0 |0 |
|13 |12,0000|42,8667|33 |32,000|49,900|
| | | | |0 |0 |
|14 |13,0000|43,9167|34 |33,000|49,933|
| | | | |0 |3 |
|15 |14,0000|44,6167|35 |34,000|49,950|
| | | | |0 |0 |
|16 |15,0000|45,2667|36 |35,000|49,950|
| | | | |0 |0 |
|17 |16,0000|45,8667|37 |36,000|49,966|
| | | | |0 |7 |
|18 |17,0000|47,1833|38 |37,000|49,991|
| | | | |0 |7 |
|19 |18,0000|47,6000|39 |38,000|49,991|
| | | | |0 |7 |
|20 |19,0000|47,9500|40 |39,000|50,000|
| | | | |0 |0 |

Нормирование кривых разгона.

С помощью программы ASR в пункте нормировать последовательно производим нормирование сглаженных кривых и упорядочиваем время начиная с 0,0000, с шагом 1.0

Нормированная кривая разгона по возмущению.

|1 |0,0000 |0,0000 |
|2 |1,0000 |0,0737 |
|3 |2,0000 |0,1589 |
|4 |3,0000 |0,2735 |
|5 |4,0000 |0,3964 |
|6 |5,0000 |0,5111 |
|7 |6,0000 |0,6143 |
|8 |7,0000 |0,6863 |
|9 |8,0000 |0,7551 |
|10 |9,0000 |0,8108 |
|11 |10,0000|0,8567 |
|12 |11,0000|0,8894 |
|13 |12,0000|0,9173 |
|14 |13,0000|0,9402 |
|15 |14,0000|0,9550 |
|16 |15,0000|0,9664 |
|17 |16,0000|0,9746 |
|18 |17,0000|0,9812 |
|19 |18,0000|0,9861 |
|20 |19,0000|0,9910 |
|21 |20,0000|0,9943 |
|22 |21,0000|0,9959 |
|23 |22,0000|0,9975 |
|24 |23,0000|1,0000 |

Нормированная кривая разгона по заданию.

|1 |0,0000 |0,0000 |
|2 |1,0000 |0,0494 |
|3 |2,0000 |0,1086 |
|4 |3,0000 |0,1909 |
|5 |4,0000 |0,2733 |
|6 |5,0000 |0,3687 |
|7 |6,0000 |0,4593 |
|8 |7,0000 |0,5449 |
|9 |8,0000 |0,6173 |
|10 |9,0000 |0,6831 |
|11 |10,0000|0,7391 |
|12 |11,0000|0,7802 |
|13 |12,0000|0,8198 |
|14 |13,0000|0,8543 |
|15 |14,0000|0,8840 |
|16 |15,0000|0,9053 |
|17 |16,0000|0,9235 |
|18 |17,0000|0,9383 |
|19 |18,0000|0,9514 |
|20 |19,0000|0,9613 |
|21 |20,0000|0,9745 |
|22 |21,0000|0,9794 |
|23 |22,0000|0,9909 |
|24 |23,0000|0,9926 |
|25 |24,0000|0,9942 |
|26 |25,0000|0,9942 |
|27 |26,0000|0,9975 |
|28 |27,0000|1,0000 |

Нормированная кривая разгона по управлению.

|1 |0,0000 |0,0000 |21 |20,000|0,7606|
| | | | |0 | |
|2 |1,0000 |0,0000 |22 |21,000|0,7957|
| | | | |0 | |
|3 |2,0000 |0,0000 |23 |22,000|0,8424|
| | | | |0 | |
|4 |3,0000 |0,0000 |24 |23,000|0,8691|
| | | | |0 | |
|5 |4,0000 |0,0000 |25 |24,000|0,8907|
| | | | |0 | |
|6 |5,0000 |0,0000 |26 |25,000|0,9091|
| | | | |0 | |
|7 |6,0000 |0,0000 |27 |26,000|0,9324|
| | | | |0 | |
|8 |7,0000 |0,0000 |28 |27,000|0,9458|
| | | | |0 | |
|9 |8,0000 |0,0083 |29 |28,000|0,9541|
| | | | |0 | |
|10 |9,0000 |0,0384 |30 |29,000|0,9608|
| | | | |0 | |
|11 |10,0000|0,0684 |31 |30,000|0,9708|
| | | | |0 | |
|12 |11,0000|0,1201 |32 |31,000|0,9775|
| | | | |0 | |
|13 |12,0000|0,1852 |33 |32,000|0,9825|
| | | | |0 | |
|14 |13,0000|0,2869 |34 |33,000|0,9858|
| | | | |0 | |
|15 |14,0000|0,3920 |35 |34,000|0,9908|
| | | | |0 | |
|16 |15,0000|0,4621 |36 |35,000|0,9942|
| | | | |0 | |
|17 |16,0000|0,5271 |37 |36,000|0,9958|
| | | | |0 | |
|18 |17,0000|0,5872 |38 |37,000|0,9958|
| | | | |0 | |
|19 |18,0000|0,6689 |39 |38,000|0,9975|
| | | | |0 | |
|20 |19,0000|0,7189 |40 |39,000|1,0000|
| | | | |0 | |

Аппроксимация методом Симою.

С помощью программы ASR в пункту аппроксимации последовательно считаем площади каждой из кривой разгона для последующего получения уравнения передаточной функции.

Для кривой разгона по возмущению для объекта второго порядка получаем следующие данные:

Значения коэффициентов:
F1= 6.5614
F2= 11.4658
F3= -4.5969
F4= -1.1636
F5= 44.0285
F6= -120.0300

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