声明:本人特别菜,不研究相关的方向,差点挂科,这个作业的内容仅供交流。
题目一
讨论左图中系统对 μ e z t \mu {e^{zt}} μezt的响应是否为零(恒为零)
| 图1 系统结构示意图 |
|–|–|
理解:
对于第一个系统,可以参考老师在课堂上的讨论 v i e z t {v_i}{e^{zt}} viezt 输入对系统一来说,输出是否恒为零,与初始状态 x ( 0 ) x(0) x(0)有关。
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{G_{\rm{1}}}(s) = C{(sI - A)^{ - 1}}B
G1(s)=C(sI−A)−1B ,因为
s
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z
s = z
s=z 是
G
2
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{G_2}(s)
G2(s) 的零点,所以存在
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\begin{array}{l} u = v{e^{zt}},x(0) = {(zI - A)^{ - 1}}Bv\\ x(t) = {e^{At}}x(0) + \int_0^t {{e^{A(t - \tau )}}Bv{e^{z\tau }}} d\tau \\ y(t) = C{e^{At}}x(0) + C\int_0^t {{e^{A(t - \tau )}}Bv{e^{z\tau }}} d\tau \\ = C{e^{At}}\left[ {x(0) + \int_0^t {{e^{(zI - A)\tau }}Bv} d\tau } \right]\\ = C{e^{At}}\left[ {x(0) + \left. {{{(zI - A)}^{ - 1}}{e^{(zI - A)\tau }}Bv} \right|_0^t} \right]\\ = C{e^{At}}\left[ {x(0) + {{(zI - A)}^{ - 1}}{e^{(zI - A)t}}Bv - {{(zI - A)}^{ - 1}}Bv} \right]\\ = C{e^{At}}x(0) + C{(zI - A)^{ - 1}}{e^{zt}}Bv - C{e^{At}}{(zI - A)^{ - 1}}Bv\\ = C{e^{At}}x(0) + {e^{zt}}{G_1}(z)v - C{e^{At}}{(zI - A)^{ - 1}}Bv\\ = C{e^{At}}(x(0) - {(zI - A)^{ - 1}}Bv) \end{array}
u=vezt,x(0)=(zI−A)−1Bvx(t)=eAtx(0)+∫0teA(t−τ)Bvezτdτy(t)=CeAtx(0)+C∫0teA(t−τ)Bvezτdτ=CeAt[x(0)+∫0te(zI−A)τBvdτ]=CeAt[x(0)+(zI−A)−1e(zI−A)τBv∣∣∣0t]=CeAt[x(0)+(zI−A)−1e(zI−A)tBv−(zI−A)−1Bv]=CeAtx(0)+C(zI−A)−1eztBv−CeAt(zI−A)−1Bv=CeAtx(0)+eztG1(z)v−CeAt(zI−A)−1Bv=CeAt(x(0)−(zI−A)−1Bv)
这里的分析和课堂上的讲解有出入,我认为
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v
x(0) = {(zI - A)^{ - 1}}Bv
x(0)=(zI−A)−1Bv 的时,给出输入[u = v{e^{zt}}] ,输出
y
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t
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≡
0
y(t) \equiv 0
y(t)≡0
对第二个系统,输入
μ
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\mu {e^{zt}}
μezt
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\begin{array}{l} u = \mu {e^{zt}},x(0) = {(zI - A)^{ - 1}}B\mu \\ x(t) = {e^{At}}x(0) + \int_0^t {{e^{A(t - \tau )}}B\mu {e^{z\tau }}} d\tau \\ y(t) = w_i^TC{e^{At}}x(0) + w_i^TC\int_0^t {{e^{A(t - \tau )}}B\mu {e^{z\tau }}} d\tau \\ = w_i^TC{e^{At}}\left[ {x(0) + \int_0^t {{e^{(zI - A)\tau }}B\mu } d\tau } \right]\\ = w_i^TC{e^{At}}\left[ {x(0) + \left. {{{(zI - A)}^{ - 1}}{e^{(zI - A)\tau }}B\mu } \right|_0^t} \right]\\ = w_i^TC{e^{At}}\left[ {x(0) + {{(zI - A)}^{ - 1}}{e^{(zI - A)t}}B\mu - {{(zI - A)}^{ - 1}}B\mu } \right]\\ = w_i^TC{e^{At}}x(0) + w_i^TC{(zI - A)^{ - 1}}{e^{zt}}B\mu - w_i^TC{e^{At}}{(zI - A)^{ - 1}}B\mu \\ = w_i^TC{e^{At}}x(0) + w_i^T{e^{zt}}G(z)\mu - w_i^TC{e^{At}}{(zI - A)^{ - 1}}B\mu \\ = w_i^TC{e^{At}}(x(0) - {(zI - A)^{ - 1}}B\mu ) \end{array}
u=μezt,x(0)=(zI−A)−1Bμx(t)=eAtx(0)+∫0teA(t−τ)Bμezτdτy(t)=wiTCeAtx(0)+wiTC∫0teA(t−τ)Bμezτdτ=wiTCeAt[x(0)+∫0te(zI−A)τBμdτ]=wiTCeAt[x(0)+(zI−A)−1e(zI−A)τBμ∣∣∣0t]=wiTCeAt[x(0)+(zI−A)−1e(zI−A)tBμ−(zI−A)−1Bμ]=wiTCeAtx(0)+wiTC(zI−A)−1eztBμ−wiTCeAt(zI−A)−1Bμ=wiTCeAtx(0)+wiTeztG(z)μ−wiTCeAt(zI−A)−1Bμ=wiTCeAt(x(0)−(zI−A)−1Bμ)
对于系统二,我认为
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−
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μ
x(0) = {(zI - A)^{ - 1}}B\mu
x(0)=(zI−A)−1Bμ的时,给出输入
u
=
μ
e
z
t
u = \mu {e^{zt}}
u=μezt,输出
y
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t
)
≡
0
y(t) \equiv 0
y(t)≡0
分析
或者对于系统二,我们也可以做类似分析
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−
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{G_1}(s) = C{(sI - A)^{ - 1}}B
G1(s)=C(sI−A)−1B 因为
s
=
z
s = z
s=z是
G
2
(
s
)
{G_2}(s)
G2(s)的零点,所以存在
G
1
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=
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z
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−
1
B
=
0
{G_{\rm{1}}}(z) = C{(zI - A)^{ - 1}}B = 0
G1(z)=C(zI−A)−1B=0
仿真
线性系统
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\begin{array}{l} \dot x = \left[ {\begin{matrix}{} 2&1\\ 1&1 \end{matrix}} \right]x + \left[ {\begin{matrix}{} 1&0\\ 0&1 \end{matrix}} \right]u\\ y = \left[ {\begin{matrix}{} 1&1\\ 2&2 \end{matrix}} \right]x \end{array}
x˙=[2111]x+[1001]uy=[1212]x
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G(s) = C{(sI - A)^{ - 1}}B = \left[ {\begin{matrix}{*{20}{c}} 1&1\\ 2&2 \end{matrix}} \right]{\left[ {\begin{matrix}{*{20}{c}} {s - 2}&{ - 1}\\ { - 1}&{s - 1} \end{matrix}} \right]^{ - 1}}\left[ {\begin{matrix}{*{20}{c}} 1&0\\ 0&1 \end{matrix}} \right] = \left[ {\begin{matrix}{*{20}{c}} {\frac{s}{{(s - 1)(s - 2) - 1}}}&{\frac{{s - 1}}{{(s - 1)(s - 2) - 1}}}\\ {\frac{{2s}}{{(s - 1)(s - 2) - 1}}}&{\frac{{s - 1}}{{(s - 1)(s - 2) - 1}}} \end{matrix}} \right]
G(s)=C(sI−A)−1B=[∗20c1212][∗20cs−2−1−1s−1]−1[∗20c1001]=[∗20c(s−1)(s−2)−1s(s−1)(s−2)−12s(s−1)(s−2)−1s−1(s−1)(s−2)−1s−1]
从
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s
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G(s)
G(s)中可以看出,
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1
s = z = 1
s=z=1是
G
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G(s)
G(s) 的零点
取右方向向量
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v = \left[ {\begin{matrix}{} 0\\ 1 \end{matrix}} \right]
v=[01]
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G(z)v = C{(sI - A)^{ - 1}}Bv = \left[ {\begin{matrix}{} 1&1\\ 2&2 \end{matrix}} \right]{\left[ {\begin{matrix}{} {s - 2}&{ - 1}\\ { - 1}&{s - 1} \end{matrix}} \right]^{ - 1}}\left[ {\begin{matrix}{} 1&0\\ 0&1 \end{matrix}} \right]\left[ {\begin{matrix}{} 0\\ 1 \end{matrix}} \right] = \left[ {\begin{matrix}{} { - 1}&0\\ { - 2}&0 \end{matrix}} \right]\left[ {\begin{matrix}{} 0\\ 1 \end{matrix}} \right] = \left[ {\begin{matrix}{} 0\\ 0 \end{matrix}} \right]
G(z)v=C(sI−A)−1Bv=[1212][s−2−1−1s−1]−1[1001][01]=[−1−200][01]=[00]
符合零点的条件。
取左方向向量
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w = {\left[ {\begin{matrix}{} 2\\ { - 1} \end{matrix}} \right]^T}
w=[2−1]T
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wG(z) = wC{(sI - A)^{ - 1}}B = \left[ {\begin{matrix}{} 2&{ - 1} \end{matrix}} \right]\left[ {\begin{matrix}{} 1&1\\ 2&2 \end{matrix}} \right]{\left[ {\begin{matrix}{} {s - 2}&{ - 1}\\ { - 1}&{s - 1} \end{matrix}} \right]^{ - 1}}\left[ {\begin{matrix}{} 1&0\\ 0&1 \end{matrix}} \right] = \left[ {\begin{matrix}{} 2&{ - 1} \end{matrix}} \right]\left[ {\begin{matrix}{} { - 1}&0\\ { - 2}&0 \end{matrix}} \right] = \left[ {\begin{matrix}{} 0\\ 0 \end{matrix}} \right]
wG(z)=wC(sI−A)−1B=[2−1][1212][s−2−1−1s−1]−1[1001]=[2−1][−1−200]=[00]
符合零点的条件。
首先我们对系统一进行仿真
因此当
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u = {v_1}{e^{zt}} = \left[ {\begin{matrix}{} 0&1 \end{matrix}} \right]{e^t}
u=v1ezt=[01]et ,
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\begin{array}{l} x(0) = {(zI - A)^{ - 1}}Bv\\ = \left[ {\begin{matrix}{} 1&1\\ 2&2 \end{matrix}} \right]\left( {1 \times \left[ {\begin{matrix}{} 1&0\\ 0&1 \end{matrix}} \right] - \left[ {\begin{matrix}{} 2&1\\ 1&1 \end{matrix}} \right]} \right)\left[ {\begin{matrix}{} 1&0\\ 0&1 \end{matrix}} \right]\left[ {\begin{matrix}{} 0\\ 1 \end{matrix}} \right]\\ = \left[ {\begin{matrix}{} { - 1}&0\\ { - 2}&0 \end{matrix}} \right]\left[ {\begin{matrix}{} 0\\ 1 \end{matrix}} \right] = \left[ {\begin{matrix}{} 0\\ 0 \end{matrix}} \right] \end{array}
x(0)=(zI−A)−1Bv=[1212](1×[1001]−[2111])[1001][01]=[−1−200][01]=[00]
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y(t) = \int_0^t {g(\tau )u(t - } \tau )d\tau = \int_0^t {g(\tau )\left[ {\begin{matrix}{} 0&1 \end{matrix}} \right]{e^{(t - \tau )}}} d\tau = 0
y(t)=∫0tg(τ)u(t−τ)dτ=∫0tg(τ)[01]e(t−τ)dτ=0
| 图2 系统仿真图 |
|–|–|
我们得到了系统的输出,示波器显示如下:
| 图3 示波器显示 |
|–|–|
其中橘色的线是信号
e
t
{e^t}
et ,黑色的线表示系统的输出为 0
仿真结果和分析的结果符合,系统的输出恒为0。
然后我们对系统二进行仿真,仿真电路图如下所示:图中设计的输入
u
=
μ
e
z
t
=
[
1
1
]
e
t
u = \mu {e^{zt}} = \left[ {\begin{matrix}{} 1\\ 1 \end{matrix}} \right]{e^t}
u=μezt=[11]et,状态方程就是例子里面的状态方程,输出参数
w
T
=
[
2
−
1
]
T
=
[
2
−
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]
{w^T} = {\left[ {\begin{matrix}{} 2\\ { - 1} \end{matrix}} \right]^T} = \left[ {\begin{matrix}{} 2&{ - 1} \end{matrix}} \right]
wT=[2−1]T=[2−1] ,观察输出可以就可以验证上面的分析。
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=
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[
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\begin{array}{l} x(0) = {(zI - A)^{ - 1}}B\mu \\ = \left[ {\begin{matrix}{} 1&1\\ 2&2 \end{matrix}} \right]\left( {1 \times \left[ {\begin{matrix}{} 1&0\\ 0&1 \end{matrix}} \right] - \left[ {\begin{matrix}{} 2&1\\ 1&1 \end{matrix}} \right]} \right)\left[ {\begin{matrix}{} 1&0\\ 0&1 \end{matrix}} \right]\left[ {\begin{matrix}{} 1\\ 1 \end{matrix}} \right]\\ = \left[ {\begin{matrix}{} { - 1}&0\\ { - 2}&0 \end{matrix}} \right]\left[ {\begin{matrix}{} 1\\ 1 \end{matrix}} \right] = \left[ {\begin{matrix}{} { - 1}\\ { - 2} \end{matrix}} \right] \end{array}
x(0)=(zI−A)−1Bμ=[1212](1×[1001]−[2111])[1001][11]=[−1−200][11]=[−1−2]
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\begin{array}{l} y(t) = \int_0^t {g(\tau )u(t - } \tau )d\tau = \int_0^t {{w^T}g(\tau ){e^{(t - \tau )}}} d\tau \\ = \left[ {\begin{matrix}{} 2&{ - 1} \end{matrix}} \right]{e^t}\int_0^t {g(\tau ){e^{ - \tau }}} d\tau = 0 \end{array}
y(t)=∫0tg(τ)u(t−τ)dτ=∫0twTg(τ)e(t−τ)dτ=[2−1]et∫0tg(τ)e−τdτ=0
| 图4 零点左向量仿真示意图 |
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示波器的结果如下:
| 图5 输入的示波器显示 |
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| 图6 输出的示波器显示 |
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从图中我们可以看出,二维的输入和输出都是重合的,输入 u = μ e z t = [ 1 1 ] e t u = \mu {e^{zt}} = \left[ {\begin{matrix}{} 1\\ 1 \end{matrix}} \right]{e^t} u=μezt=[11]et ,输出 y = [ 0 0 ] y = \left[ {\begin{matrix}{} 0\\ 0 \end{matrix}} \right] y=[00] 和上面的分析完全一致,就是讲当 w T {w^T} wT 是 s = z = 1 s = z = 1 s=z=1 的左特征向量的时候。像系统二那样的系统输出为 0 0 0,恒为 0 0 0.
题目二
假设 G ( s ) G(s) G(s)是多变量系统的传递函数矩阵,对 G ( s ) G(s) G(s) 进行分解
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G(s) = \frac{1}{{s - {\lambda _1}}}{A_1} + \cdots + \frac{1}{{s - {\lambda _n}}}{A_n}
G(s)=s−λ11A1+⋯+s−λn1An
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{A_1} = {a_1}b_1^T, \cdots ,{A_n} = {a_n}b_n^T
A1=a1b1T,⋯,An=anbnT
假设
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{a_1} = \left( {\begin{matrix}{} {{a_{11}}}&{{a_{12}}} \end{matrix}} \right)
a1=(a11a12)
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{b_1} = \left( {\begin{matrix}{} {{b_{11}}}&{{b_{12}}} \end{matrix}} \right)
b1=(b11b12)
举例说明
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{a_1}b_{_1}^T = {a_1}u{u^T}b_{_1}^T
a1b1T=a1uuTb1T
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G(s) = \left[ {\begin{matrix}{} {\frac{1}{{(s + 1)(s + 2)}}}&{\frac{2}{{(s + 2)}}}\\ {\frac{3}{{(s + 2)}}}&{\frac{4}{{(s + 1)}}} \end{matrix}} \right] = \frac{1}{{s + 1}}\left[ {\begin{matrix}{} 1&0\\ 0&4 \end{matrix}} \right] + \frac{1}{{s + 2}}\left[ {\begin{matrix}{} { - 1}&2\\ 3&0 \end{matrix}} \right]
G(s)=[(s+1)(s+2)1(s+2)3(s+2)2(s+1)4]=s+11[1004]+s+21[−1320]
对于 λ = − 1 \lambda = - 1 λ=−1 来说, A 1 = [ 1 0 0 4 ] = [ 1 0 0 1 ] [ 1 0 0 4 ] {A_1} = \left[ {\begin{matrix}{} 1&0\\ 0&4 \end{matrix}} \right] = \left[ {\begin{matrix}{} 1&0\\ 0&1 \end{matrix}} \right]\left[ {\begin{matrix}{} 1&0\\ 0&4 \end{matrix}} \right] A1=[1004]=[1001][1004]
a 1 = ( a 11 a 12 ) , a 11 = [ 1 0 ] , a 12 = [ 0 1 ] {a_1} = \left( {\begin{matrix}{} {{a_{11}}}&{{a_{12}}} \end{matrix}} \right),{a_{11}} = \left[ {\begin{matrix}{} 1\\ 0 \end{matrix}} \right],{a_{12}} = \left[ {\begin{matrix}{} 0\\ 1 \end{matrix}} \right] a1=(a11a12),a11=[10],a12=[01]
这个例子里面,说明
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{a_1}b_{_1}^T = {a_1}u{u^T}b_{_1}^T
a1b1T=a1uuTb1T
对于上述系统通过列组合实现,可以得到
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{G_1} = \left[ {\begin{matrix}{} {\frac{1}{{(s + 1)(s + 2)}}}\\ {\frac{3}{{(s + 2)}}} \end{matrix}} \right],{G_2} = \left[ {\begin{matrix}{} {\frac{2}{{(s + 2)}}}\\ {\frac{4}{{(s + 1)}}} \end{matrix}} \right]
G1=[(s+1)(s+2)1(s+2)3],G2=[(s+2)2(s+1)4]
根据列组合实现我们可以得到框图如下;
| 图7 系统的框图 |
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根据上述的框图,我们可以得到状态方程如下:
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\begin{array}{l} {{\dot x}_1} = - {x_1} + {u_1}\\ {{\dot x}_2} = - 2{x_2} + {x_1}\\ {{\dot x}_3} = - 2{x_3} + 3{u_1}\\ {{\dot x}_4} = - 2{x_4} + 2{u_2}\\ {{\dot x}_5} = - {x_5} + 4{u_2}\\ {y_1} = {x_2} + {x_4}\\ {y_2} = {x_3} + {x_5} \end{array}
x˙1=−x1+u1x˙2=−2x2+x1x˙3=−2x3+3u1x˙4=−2x4+2u2x˙5=−x5+4u2y1=x2+x4y2=x3+x5
整理可以得到
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\begin{array}{l} \left[ {\begin{matrix}{} {{{\dot x}_1}}\\ {{{\dot x}_2}}\\ {{{\dot x}_3}}\\ {{{\dot x}_4}}\\ {{{\dot x}_5}} \end{matrix}} \right] = \left[ {\begin{matrix}{} { - 1}&0&0&0&0\\ 1&{ - 2}&0&0&0\\ 0&0&{ - 2}&0&0\\ 0&0&0&{ - 2}&0\\ 0&0&0&0&{ - 1} \end{matrix}} \right]\left[ {\begin{matrix}{} {{x_1}}\\ {{x_2}}\\ {{x_3}}\\ {{x_4}}\\ {{x_5}} \end{matrix}} \right] + \left[ {\begin{matrix}{} 1&0\\ 0&0\\ 3&0\\ 0&2\\ 0&4 \end{matrix}} \right]\left[ {\begin{matrix}{} {{u_1}}\\ {{u_2}}\\ {{u_3}}\\ {{u_4}}\\ {{u_5}} \end{matrix}} \right]\\ \left[ {\begin{matrix}{} {{y_1}}\\ {{y_2}} \end{matrix}} \right] = \left[ {\begin{matrix}{} 0&1&0&1&0\\ 0&0&1&0&1 \end{matrix}} \right]\left[ {\begin{matrix}{} {{x_1}}\\ {{x_2}}\\ {{x_3}}\\ {{x_4}}\\ {{x_5}} \end{matrix}} \right] \end{array}
⎣⎢⎢⎢⎢⎡x˙1x˙2x˙3x˙4x˙5⎦⎥⎥⎥⎥⎤=⎣⎢⎢⎢⎢⎡−110000−200000−200000−200000−1⎦⎥⎥⎥⎥⎤⎣⎢⎢⎢⎢⎡x1x2x3x4x5⎦⎥⎥⎥⎥⎤+⎣⎢⎢⎢⎢⎡1030000024⎦⎥⎥⎥⎥⎤⎣⎢⎢⎢⎢⎡u1u2u3u4u5⎦⎥⎥⎥⎥⎤[y1y2]=[0010011001]⎣⎢⎢⎢⎢⎡x1x2x3x4x5⎦⎥⎥⎥⎥⎤
仿真,对于这个两输入两输出系统,我构造了三个仿真的系统,第一个按照框图进行仿真,第二个按照整理好的状态方程进行仿真,第三个直接按照传递函数阵进行仿真。
简化整个仿真的过程,
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u = \left[ {\begin{matrix}{} {{u_1}}\\ {{u_2}} \end{matrix}} \right],{u_1},{u_2}
u=[u1u2],u1,u2 都取单位阶跃输入。
仿真图如下:
| 图8 按照框图进行仿真 |
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| 图9 按照状态方程进行仿真 |
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| 图10 按照传递函数进行仿真 |
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其中图中的传递函数
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F = \left[ {\begin{matrix}{} {\frac{1}{{(s + 1)(s + 2)}}}&{\frac{2}{{(s + 2)}}}\\ {\frac{3}{{(s + 2)}}}&{\frac{4}{{(s + 1)}}} \end{matrix}} \right]
F=[(s+1)(s+2)1(s+2)3(s+2)2(s+1)4] ,对于仿真结果如下:
| 图11按照框图进行仿真示波器结果 |
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| 图12 按照状态方程进行仿真示波器结果 |
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| 图13 按照传递函数进行仿真示波器结果 |
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我们可以看到仿真的结果完全相同,三个系统相同输入可以产生相同的输出。