RXR S*aA

(1)

RXR S*aA

.2pQB` R@ *#H2*K /2 >vKiQK

/Tiû /m bmD2i 1j kyy3 *Q``B;û T;2 Ry

S`ûb2MiiBQM

G bQ+Bûiû >vKiQK +QMÏQBi 2i 7#`B[m2 /2b bvbiĕK2b /2 pB/ûQ bm`p2BHHM+2X G2 bvbiĕK2 +#H2+K U};m`2 RV 2bi +QKTQbû /ǶmM +?`BQi KQ#BH2 bm` [mi`2 `Qm2b TQbû bm` /2mt +#H2b TQ`i2m`b /ǶmM2 HQM;m2m` /2 Ryy KX *2b +#H2b b2`p2Mi û;H2K2Mi ¨ HBK2Mi2` H +Kû` 2i b2b KQi2m`b /ǶQ`B2MiiBQMb [mB bQMi HBûb m +?`BQiX lM +#H2 i`+i2m`

/QMi H2b /2mt 2ti`ûKBiûb bQMi ii+?û2b m +?`BQi 2bi +iBQMMû T` mM KQi2m` ¨ +Qm`Mi +QMiBMm }tû m #iBX .2mt +QMi`2TQB/b pB mM KQm~2 UpQB` HǶ;`M/Bbb2K2Mi bm` H };m`2 RV KBMiB2MM2Mi H2b +#H2b TQ`i2m`b 2M i2MbBQMX

6B;m`2 R Ĝ a+?ûK /m bvbiĕK2 +#H2+K

G2 +?`BQi i`MbTQ`i2 mM2 +Kû` U};m`2 kV- /QMi H2b t2b- HǶmM p2`iB+H 2i HǶmi`2 ?Q`BxQMiH T2mp2Mi āi`2 TBHQiûb

¨ /BbiM+2 T` H2 iûHû@bm`p2BHH2m` Qm H2 HQ;B+B2H /2 iûHûbm`p2BHHM+2X .2 THmb- H2 +?`BQi 2K#`[m2 H2 bvbiĕK2 /2 +QKKmMB+iBQM bMb }HX

lM T`QiQivT2 ûiû `ûHBbû 2i i2biû- +2 [mB T2`KBb /ǶKûHBQ`2` +2`iBM2b T`iB2b 2i /2 +QMi`ƬH2` [m2 H2 +?B2` /2b +?`;2b 7QM+iBQMM2H TQmpBi āi`2 `2bT2+iû c HQ`b /2 +2b i2bib /2b KQmp2K2Mib T`bBi2b QMi ûiû Q#b2`pûbX lM T?ûMQ@

KĕM2 /2 TQKT;2 U/ûTH+2K2Mi p2`iB+HV- /2b Qb+BHHiBQMb /2 iM;;2 UpMif``Bĕ`2V 2i /2 `QmHBb Ui`B#Q`/f##Q`/V bm`pB2MM2Mi /ĕb [m2 HǶQM K2i H2 +?`BQi 2M KQmp2K2MiX *2b KQmp2K2Mib HBKBi2Mi HǶmiBHBbiBQM /2 H +Kû` /Mb b2b ;`QbbBbb2K2Mib H2b THmb 7Q`ibX 1M 2z2i- H2 xQQK /2 H +Kû` T2mi `û/mB`2 HǶM;H2 /2 +?KT UQm M;H2 /2 pm2V

(2)

6B;m`2 k Ĝ *K2` KQ#BH2 /m bvbiĕK2 +#H2+K

Dmb[mǶ¨ 1,8êX S` BHH2m`b- H2 bi#BHBbi2m` /ǶBK;2 BM+Q`TQ`û M2 T2`K2i /2 +Q``B;2` /2b i`2K#H2K2Mib [m2 bm` mM iB2`b /2 H H`;2m` Qm /2 H ?mi2m` /2b BK;2bX

GǶûim/2 [mB 2bi T`QTQbû2 /Mb +2 bmD2i TQ`i2 bm` H2 +QKTQ`i2K2Mi /m +?`BQi HQ`b /ǶmM /ûTH+2K2Mi 2i THmb T`û+BbûK2Mi bm` H2b HBKBi2b /2 bi#BHBiûX

.2b+`BTiBQM T`iB2HH2 /2b 2tB;2M+2b [m2 /QBi `2KTHB` H2 bvbiĕK2 ,

ě B/R , Q#i2MB` /2b BK;2b /2b xQM2b ¨ bm`p2BHH2` 2tTHQBi#H2b T` H2 HQ;B+B2HX ě B/k , āi`2 HBK2Miû2 2M ûM2`;B2 ûH2+i`B[m2 `û;H2K2Miû2X

ě B/j , ûpQHm2` bMb ;āM2 MB /M;2` /Mb H2 HB2m /Ƕ2tTHQBiiBQMX ě B/9 , āi`2 /Tiû2 mt MQ`K2b 2i mt `û;H2K2MiiBQMb 2M pB;m2m`X

G2 HQ;B+B2H T2mi TBHQi2` H +Kû` 2M H /ûTHÏMi 2i 2M HǶQ`B2MiMi bm` H2b xQM2b ¨ +Qmp`B`- T` 2t2KTH2- H2b HHû2b i`Mbp2`bH2b /ǶmM ;`M/ 2Mi`2TƬiX .2b ûpûM2K2Mib BM?#Bim2Hb T2mp2Mi āi`2 /ûi2+iûb 2i MHvbûb T` H2 HQ;B+B2HX lM Q#D2i KQ#BH2 T2mi āi`2 bmBpB /Mb H2b xQM2b bm`p2BHHû2bX hQmi +2+B Mû+2bbBi2 [m2 H2b BK;2b +[mBb2b 2i H2m`

i`MbKBbbBQM bQB2Mi /2 #QMM2 [mHBiûX .QM+- H2b /ûTH+2K2Mib /2 H +Kû` /QBp2Mi āi`2 bm{bKK2Mi bi#H2bX G2b /2mt /B;`KK2b U};m`2b j 2i 9 T`û+Bb2Mi +2b 2tB;2M+2bX

II `2[mB`2K2Mi ==

oB/ûQ bm`p2BHHM+2 B/4ǴyyRǴ

i2ti4ǴH2 bvbiĕK2 /QBi āi`2 +T#H2 /Ƕbbm`2` H pB/ûQ bm`p2BHHM+2 /ǶmM HQ+HǴ

II `2[mB`2K2Mi ==

S`Bb2 /2 pm2 B/4ǴyykǴ

i2ti4ǴQ#i2MB` /2b BK;2b /2b xQM2b ¨ bm`p2BHH2` 2tTHQBi#H2bǴ

II `2[mB`2K2Mi ==

HBK2MiiBQM B/4ǴyyjǴ

i2ti4Ǵāi`2 HBK2Miû2 2M ûM2`;B2 ûH2+i`B[m2 `û;H2K2Miû2XǴ

II `2[mB`2K2Mi ==

AMbiHHiBQM B/4Ǵyy9Ǵ

i2ti4ǴûpQHm2` bMb ;āM2 MB /M@

;2` /Mb H2 HB2m 2tTHQBiiBQMXǴ II `2[mB`2K2Mi ==

_ĕ;H2K2MiiBQM B/4Ǵyy8Ǵ

i2ti4Ǵāi`2 /Tiû2 mt MQ`K2b 2i mt `û;H2K2MiiBQMb 2M pB@

;m2m`XǴ

`2[ , *#H2*K (1tB;2M+2b bvbiĕK2b)

Ŀ /2`Bp2_2[i ŀ

Ŀ /2`Bp2_2[i ŀ Ŀ /2`Bp2_2[i ŀ

6B;m`2 j Ĝ .B;`KK2 /Ƕ2tB;2M+2b 7QM+iBQMM2HH2b /2 H +Kû` *#H2*K

ZRX *QKTHûi2` H2 i#H2m /m /Q+mK2Mi `ûTQMb2 ._@R 2M T`û+BbMi H2b /Bzû`2Mib +`Biĕ`2b 2i MBp2mt /2 +?[m2 +QMi`BMi2 7QM+iBQMM2HH2X

(3)

II `2[mB`2K2Mi ==

S`Bb2 /2 pm2 B/4ǴyykǴ

i2ti4ǴQ#i2MB` /2b BK;2b /2b xQM2b ¨ bm`p2BHH2`

2tTHQBi#H2bXǴ

II `2[mB`2K2Mi ==

+[mBbBiBQM B/4ǴykRǴ

i2ti4ǴH2 bvbiĕK2 /QBi āi`2 +@

T#H2 /Ƕ+[mû`B` mM ~mt pB/ûQXǴ

II `2[mB`2K2Mi ==

h`MbKBbbBQM B/4ǴykkǴ

i2ti4ǴH2 bvbiĕK2 /QBi āi`2 +@

T#H2 /2 i`MbK2ii`2 mM ~mt pB/ûQXǴ

II `2[mB`2K2Mi ==

.ûTH+2K2Mi B/4ǴykjǴ

i2ti4ǴG2 bvbiĕK2 /QBi āi`2 +T#H2 /2 b2 /ûTH+2` bMb +QmTb- 2M bbm`Mi mM2 pBi2bb2 2i mM2 TQbBiBQM T`û+Bb2XǴ

II `2[mB`2K2Mi ==

SQbBiBQMM2K2Mi B/4ǴkjRǴ

i2ti4ǴG T`û+BbBQM /m /ûTH@

+2K2Mi /QBi āi`2 /2±5 cm- H pBi2bb2 KtB /QBi āi`2 /22 m s⁻¹ p2+ mM2 T`û+BbBQM /2±1%X G2 /ûTH+2K2Mi /QBi b2 7B`2 bMb Qb+BHHiBQMbX Ǵ

II `2[mB`2K2Mi ==

hM;;2 B/4ǴkjkǴ

i2ti4ǴHǶKTHBim/2 /2b Qb+BHH@

iBQMb M2 /QBi Tb /ûTbb2`3êXǴ II `2[mB`2K2Mi ==

_QmHBb B/4ǴkjjǴ

i2ti4ǴHǶKTHBim/2 /2b Qb+BHH@

iBQMb M2 /QBi Tb /ûTbb2`3êXǴ II `2[mB`2K2Mi ==

SQKT;2 B/4ǴkjjǴ

i2ti4Ǵ- H2b Qb+BHHiBQMb p2`iB+H2 /2 TQKT;2 M2 /QBp2Mi Tb /û@

Tbb2`2 cmXǴ

`2[ , *#H2*K (2tB;2M+2b /2 T`Bb2 /2 pm2)

Ŀ `2}M2 ŀ Ŀ `2}M2 ŀ Ŀ `2}M2 ŀ Ŀ `2}M2 ŀ

6B;m`2 9 Ĝ .B;`KK2 /Ƕ2tB;2M+2b i2+?MB[m2b /2 H T`Bb2 /2 pm2

X *QKKM/2` H2 /ûTH+2K2Mi

P#D2+iB7 /2 HǶûim/2 , oû`B}2` H2 `2bT2+i /2 H T`û+BbBQM BKTQbû2 T` H2 *?B2` /2b *?`;2b 6QM+iBQMM2H U*/*6V 2M TQbBiBQMM2K2Mi 2i 2M pBi2bb2 bMb i2MB` +QKTi2 /2b KQmp2K2Mib T`bBi2bX

G2 b+?ûK #HQ+ T?vbB[m2 /2 H +QKKM/2 /m /ûTH+2K2Mi /m +?`BQi 2bi T`ûb2Miû };m`2 3 bm` H2 /Q+mK2Mi

`ûTQMb2 ._@k ,

G2 +QKTQ`i2K2Mi HBMû`Bbû /m KQiQ`û/m+i2m` miQm` /2 bQM TQBMi /Ƕû[mBHB#`2 2bi KQ/ûHBbû T` H2b [mi`2 û[m@

iBQMb bmBpMi2b ,

ě ú[miBQM Kû+MB[m2 , c_s(t) +c_r(t) = J_eq·d²θ_s(t)

dt²

ě ú[miBQM /2 +QmTH;2 i2MbBQM Ĝ pBi2bb2 , e(t) =k_e·ω_s(t)

ě ú[miBQM ûH2+i`B[m2 , u(t) = R.i(t) +e(t) + L.di(t)

dt

ě ú[miBQM /2 +QmTH;2 +QmTH2 Ĝ BMi2MbBiû , c_s(t) =k_t·i(t)

PM MQi2 ,

ě x_c(t) , +QMbB;M2 /2 TQbBiBQM ¨ ii2BM/`2 ě x_s(t) ,TQbBiBQM `û2HH2 /m +?`BQi

ě u(t) ,i2MbBQM /ǶHBK2MiiBQM /m KQi2m`

ě c_s(t) ,+QmTH2 2M bQ`iB2 /m KQiQ`û/m+i2m`

ě c_r(t) ,+QmTH2 `ûbBbiMi TTHB[mû ¨ HǶ`#`2 /2 bQ`iB2 /m KQiQ`û/m+i2m` 2M LXKX

ě i(t) , BMi2MbBiû /Mb HǶBM/mBi /m KQi2m` 2M X

ě e(t) , 7Q`+2 +QMi`2 ûH2+i`QKQi`B+2 /m #Q#BM;2 /m KQi2m` 2M oX

ě θ_s(t),TQbBiBQM M;mHB`2 /2 HǶ`#`2 /2 bQ`iB2 /m KQ@

iQ`û/m+i2m`

ě ω_s(t) = dθ_s(t)

dt , pBi2bb2 /2 `QiiBQM /2 HǶ`#`2 /2 bQ`iB2 /m KQiQ`û/m+i2m`

ě H_C(p), i`MbKBiiM+2 /m +Q``2+i2m`

(4)

.QMMû2b ,

ě M = 4,3 kg, Kbb2 /m +?`BQiX ě L = 0,04 mH , BM/m+iM+2 /2 HǶBM/mBiX ě R = 0,103 ,`ûbBbiM+2 /2 HǶBM/mBiX

ě J_eq = 2,5×10⁻²kgm² , KQK2Mi /ǶBM2`iB2 û[mBp@

H2Mi2 /2 HǶ2Mb2K#H2 KQ#BH2 `TTQ`iû2 ¨ HǶ`#`2 /2 bQ`iB2 /m KQiQ`û/m+i2m`X

ě k_t= 0,41 N m A⁻¹ , +QMbiMi2 /2 +QmTH2X

ě k_e= 0,41 V s rad⁻¹ , +QMbiMi2 /2 7Q`+2 +QMi`2 ûH2+@

i`QKQi`B+2X

ě G = 400 V m⁻¹ ,;BM /2 HǶKTHB}+i2m` X ě R_m= 50 mm, `vQM /2 H TQmHB2 KQi`B+2X

ě r= 7,_TTQ`i /2 `û/m+iBQM +BMûKiB[m2 /m `û/m+@

i2m` U2Mi`û2fbQ`iB2VX

ě L_T= 200 m , HQM;m2m` iQiH2 /m +#H2 i`+i2m`X ě U_max = 24 V ,i2MbBQM KtBKH2 /ǶHBK2MiiBQM /m

KQi2m`X

ě I_n= 7,8 A,+Qm`Mi MQKBMH2 /2 HǶBM/mBi

G2b i`MbKBiiM+2b /2b /Bzû`2Mib #HQ+b b2`QMi /ûi2`KBMû2b /Mb H bmBi2 /m bmD2i TQm` TQmpQB` ûim/B2` H2 +QK@

TQ`i2K2Mi ;HQ#H /m bvbiĕK2X

_2K`[m2 , SQm` iQmi2 HǶûim/2- H2b p`B#H2b i2KTQ`2HH2b b2`QMi û+`Bi2b 2M KBMmb+mH2 2i H2b p`B#H2b /Mb H2 /QKBM2 /2 GTH+2 2M KDmb+mH2X

XRX JQ/ûHBbiBQM /m KQiQ`û/m+i2m`

.Mb +2ii2 T`iB2 /m T`Q#HĕK2- H2 +QmTH2 `ûbBbiMi c_r(t) 2bi Mû;HB;û +` H2b +#H2b TQ`i2m`b bQMi bmTTQbûb ?Q`B@

xQMimt 2i H2b 7`Qii2K2Mib bQMi Mû;HB;ûbX

ZkX 1tT`BK2` H2b [mi`2 û[miBQMb `2HiBp2b m KQiQ`û/m+i2m` /Mb H2 /QKBM2 /2 GTH+2 2M +QMbB/û`Mi [m2 H2b +QM/BiBQMb /2 >2pBbB/2 U+QM/BiBQMb BMBiBH2b MmHH2bV bQMi `2bT2+iû2bX

ZjX .QMM2` H 7Q`K2 HBiiû`H2 /2 H 7QM+iBQM /2 i`Mb72`i Θ_s(p) Ω_s(p)X Z9X .QMM2` H 7Q`K2 HBiiû`H2 /2 H 7QM+iBQM /2 i`Mb72`i Ω_s(p)

C_s(p)X

Z8X .QMM2` H 7Q`K2 HBiiû`H2 /2 H 7QM+iBQM /2 i`Mb72`i /m KQiQ`û/m+i2m` Ω_s(p) U(p) ZeX 1M bǶB/Mi /m b+?ûK /2 H };m`2 R-DmbiB}2` H 7QM+iBQM /2 i`Mb72`i X_s(p)

Θ_s(p)X

ZdX S`û+Bb2` H2b #HQ+b - "- *- .- 1 bm` H2 b+?ûK #HQ+ KQ/ûHBbMi H2 bvbiĕK2 bm` H2 /Q+mK2Mi `ûTQMb2 ._@k X AM/B[m2` hPlh1a H2b ;`M/2m`b UpMi 2i T`ĕb +?[m2 #HQ+V

XkX úim/2 /2 H `ûTQMb2 i2KTQ`2HH2

>vTQi?ĕb2b +QKTHûK2MiB`2b ,

ě G i`MbKBiiM+2 /m +Q``2+i2m`H_C(p) 2bi û;H2 ¨ R TQm` +2ii2 T`iB2 2i Dmb[mǶ¨ H [m2biBQM \\ +QKT`Bb2X Z3X 1tT`BK2` M(p) =Ω_s(p)

U(p) H 7QM+iBQM /2 i`Mb72`i /m KQi2m` 2M 7QM+iBQM /2 - "- *- . UM2 Tb /ûp2HQTT2` -

"- *- .VX

ZNX 1tT`BK2` H 7QM+iBQM /2 i`Mb72`i 2M #Qm+H2 Qmp2`i2 H_O(p) =X_s(p)

ε(p) /m bvbiĕK2 2M 7QM+iBQM /2 - "- *- .- 1 2i /2b mi`2b #HQ+bX

ZRyX 1tT`BK2` H 7QM+iBQM /2 i`Mb72`i 2M #Qm+H2 72`Kû2 H_F(p) = X_s(p)

X_c(p) V /m bvbiĕK2 2M 7QM+iBQM /2 - "- *- .- 1 2i /2b mi`2b #HQ+bX

Zm2H[m2 bQBi +2 [m2 pQmb p2x i`Qmpû m T`ûH#H2- QM T`2M/ TQm` Θ_s(p)

U(p) = K_t

p·

K_e·K_t+ R·J_eq·p+ J_eq·L·p² ZRRX 1tT`BK2` H 7QM+iBQM /2 i`Mb72`i 2M #Qm+H2 72`Kû2 H_F(p) = X_s(p)

X_c(p) V /m bvbiĕK2 bQmb H 7Q`K2 +MQMB[m2X S`û+Bb2` HǶQ`/`2 2i H +Hbb2 /2 H 7QM+iBQM /2 i`Mb72`iX

SQm` H bmBi2 QM /K2ii` [m2 H2 bvbiĕK2 T2mi b2 K2ii`2 bQmb H 7Q`K2 /2 H };m`2 8- ûi#HB 2M bmTTQbMi [m2 HǶBM~m2M+2 /2 HǶBM/m+iM+2 T` `TTQ`i mt mi`2b ;`M/2m`b +`+iû`BbiB[m2b bm` H `ûTQMb2 /m bvbiĕK2 2bi 7B#H2- 2HH2 b2` Mû;HB;û2 /Mb H bmBi2 /m bmD2i UL = 0VX

ZRkX .ûi2`KBM2` H 7QM+iBQM /2 i`Mb72`i 2M #Qm+H2 72`Kû2 /m bvbiĕK2 bBKTHB}2H_F_s(p) = X_s(p)

X_c(p) 2M 7QM+iBQM /2 GX ZRkX J2ii`2 bQmb 7Q`K2 +MQMB[m2

(5)

+− X_c(p)

H_c(p)

ε(p) G 40

(5·p+ 326)·p

U(p) X_s(p)

6B;m`2 8 Ĝ JQ/ĕH2 bBKTHB}û

ZRk#X .ûi2`KBM2`- H2 +Q2{+B2Mi /ǶKQ`iBbb2K2Mi z- H TmHbiBQM T`QT`2 MQM KQ`iB2ω0 2i H2 ;BM biiB[m2 /m bvbiĕK2KX

ZRjX .ûi2`KBM2` H pH2m` }MH2 TQm` mM2 +QMbB;M2 /2 /ûTH+2K2Mi 2M û+?2HQM ,x_c(t) = X₀H(t) TmBb H iM;2Mi2 ¨ HǶQ`B;BM2X

PM T`2M/ G = 400 V m⁻¹X

ZR9X S`û+Bb2` H2b pH2m`b MmKû`B[m2b UbMb Qm#HB2` H2b mMBiûbV /2K-z 2iω0X

ZR8X 1M pQmb B/Mi /2b #[m2b 7Qm`MB2b 2M MM2t2- i`+2` bm` H2 /Q+mK2Mi `ûTQMb2 ._@j HǶHHm`2 /2 H `ûTQMb2 i2KTQ`2HH2 /2 +2 bvbiĕK2 2M 7BbMi TT`ŗi`2 H2 bB;MH /2 +QMbB;M2 TQm` mM2 +QKKM/2 2M û+?2HQMx_c(t) = X_C0·H(t) /2 p2+X_C0= 2m 2i H(t) 7QM+iBQM /2 >2pBbB/2X AM/B[m2` bm` H2 ;`T?2 HǶKTHBim/2 /m T`2KB2` /ûTbb2K2Mi D₁ 2i H2 i2KTb /2 `ûTQMb2 ¨ 8WX UoQmb BM/B[m2`2x iQmi2b H2b BM7Q`KiBQMb Mû+2bbB`2b m i`+û /2 +2ii2 +Qm`#2VX ZReX G `ûTQMb2 Q#i2Mm2 2bi@2HH2 +QM7Q`K2 m +?B2` /2b +?`;2bX

"X *Q``2+iBQM /m bvbiĕK2

"XRX *Q``2+iBQM T`QTQ`iBQMM2HH2

PM b2 T`QTQb2 /2 /ûi2`KBM2` KBMi2MMi /2 /ûi2`KBM2` H pH2m` /2 G[mB T2`K2i /2 `2bT2+i2` H +QM/BiBQM /m +?B2` /2b +?`;2b bm` H2 /ûTbb2K2MiX

ZRdX Zm2HH2 /QBi āi`2 H pH2m` /m +Q2{+B2Mi /ǶKQ`iBbb2K2Mi }M /2 `2bT2+i2` H2 +?B2` /2b +?`;2b TQm` H2 +`Biĕ`2 /2 /ûTbb2K2MiX 1M /û/mB`2 H pH2m`GX

ZR3X *QM+Hm`2 pBb ¨ pBb /m +?B2` /2b +?`;2bX

"XkX *Q``2+iBQM pM+û2

PM T`2M/ /2 MQmp2mG = 400 V m⁻¹X

}M /2 HBKBi2` H2b Qb+BHHiBQMb- QM BMbiHH2 mM +Q``2+i2m` H_c(p) =1 +a·τ·p

1 +τ·p p2+ a= 2,9 2iτ= 0,01 sX ZRNX .ûi2`KBM2`BO(p) =X_s(p)

ε(p) TmBb BF(p) =X_s(p) X_c(p)

BO(p) = 40·G·(1 +a·τ·p) (1 +τ·p)·(5·p+ 326)·p ZkyX J2ii`2 bQmb 7Q`K2 +MQMB[m2 BF(p) = K· N(p)

D(p) p2+ N(p) 2i D(p) /2mt TQHvMƬK2b i2H [m2 N(0) = D(0) = 1X S`û+Bb2` HǶQ`/`2 /2 N(p) 2i /2 D(p)

BF(p) = BO(p) 1 + BO(p)=

40·G·(1 +a·τ·p) (1 +τ·p)·(5·p+ 326)·p 1 + 40·G·(1 +a·τ·p)

(1 +τ·p)·(5·p+ 326)·p BF(p) = 40·G·(1 +a·τ·p)

(1 +τ·p)·(5·p+ 326)·p+ 40·G·(1 +a·τ·p) BF(p) = 40·G·(1 +a·τ·p)

5·τ·p³+ 326·τ·p²+ 5·p²+ 40·G·a·τ·p+ 326·p+ 40·G

BF(p) = 1 +a·τ·p

5·τ

40·G·p³+326·τ+ 5

40·G ·p²+40·G·a·τ+ 326 40·G ·p+ 1

(6)

ZkRX .û+`B`2 H T`Q+û/m`2 T2`K2iiMi /ǶQ#i2MB`x_s(t)TQm` mM2 +QMbB;M2 /2 /ûTH+2K2Mi 2M û+?2HQMx_c(t) = X₀·H(t)X PM +QKK2M+2 T` /û}MB` X_s(p) = Bf(p)·X₀

p

X_s(p) = 1 +a·τ·p 5·τ

40·G·p³+326·τ+ 5

40·G ·p²+40·G·a·τ+ 326 40·G ·p+ 1

·X₀ p

PM +?2`+?2 H2b `+BM2b TmBb QM /ûi2`KBM2 H /û+QKTQbBiBQM 2M 7`+iBQMb bBKTH2b TmBb QM +?2`+?2 H i`Mb7Q`KiBQM BMp2`b2X

G `ûTQMb2 `ûTQMb2 i2KTQ`2HH2 ¨ mM û+?2HQM /2 kK 2bi `2T`ûb2Miû bm` H };m`2 Ry /m /Q+mK2Mi `ûTQMb2 ._@9 X ZkkX .ûi2`KBM2` H2 i2KTb /2 `ûTQMb2 ¨ 8WX Zm2 T2mi@QM /B`2 /m bvbiĕK2 +Q``B;û pBb ¨ pBb /m +?B2` /2b +?`;2b \

(7)

*X MM2t2b

yXyR yXy8 yXR yXk yXj yX9 yX8 yXe yXd R

yXyR yXy8 yXR yXk yXj yX9 yX8 yXe yXdyX3 R

x .

D₁ D₂ D₃ D₄ D₅ D₆ D₇ D₈

R

D₁ D₂

D₃ D₄

H(p) = K

1 + 2·z_ω^p_n+_ω^p²2 n

6B;m`2 e Ĝ #[m2 /2b /ûTbb2K2Mib /ǶmM b2+QM/ Q`/`2

yXy8 yXR yXk yXj yX9 yX8 yXd R RX8 k j 9 8 Ry

j 8 Ry jy 8y 3y

z T_r·ω_n

H(p) = K

1 + 2·z_ω^p_n +_ω^p²2 n

6B;m`2 d Ĝ #[m2 /m i2KTb /2 `ûTQMb2 `û/mBi T_r·ω_n /ǶmM bvbiĕK2 /m b2+QM/ Q`/`2

(8)

.X .Q+mK2Mib `ûTQMb2b ._@RX h#H2m /Ƕ2tB;2M+2b

ZmHB}+iBQM *`Biĕ`2 pH2m`

SQbBiBQMM2K2Mi h2KTb /2 `ûTQMb2 SQbBiBQMM2K2Mi S`û+BbBQM SQbBiBQMM2K2Mi Qb+BHHiBQMb

amBpB oBi2bb2 JtB k Kfb

*QMi`ƬH2 /2 H pBi2bb2 _2bT2+i2` H pBi2bb2 RW KtB /2 H pBi2bb2 /2 +QMbB;M2 ._@kX a+?ûK #HQ+b

+− X_c(p)

H_c(p)

ε(p) G U(p) +−

" *

.

ω_s(p) 1

R_m

Θ_s(p) X_s(p)

6B;m`2 3 Ĝ a+?ûK #HQ+ /m /ûTH+2K2Mi

._@jX _ûTQMb2 i2KTQ`2HH2

0,2 0,4 0,6 0,8 1 1,2 1,4 1,6 1,8 2 2,2 2,4 2,6

0,05 0,1 0,15 0,2 0,25 0,3

t xs(t)

6B;m`2 N Ĝ :`T?2 i2KTQ`2H ¨ +QKTHûi2`

(9)

0,2 0,4 0,6 0,8 1 1,2 1,4 1,6 1,8 2

0,05 0,1 0,15 0,2 0,25 0,3

t xs(t)

6B;m`2 Ry Ĝ _ûTQMb2 i2KTQ`2HH2 /m bvbiĕK2 +Q``B;û

._@9X _ûTQMb2 i2KTQ`2HH2 /m bvbiĕK2 +Q``B;û