O’zbekiston respublikasi oliy va o‘rta maxsus ta‘lim vazirligi islom karimov nomidagi toshkent davlat texnika universiteti

3.1-rasm. Uzatish matritsasi ko‘rinishidagi boshqarish obyekti modeli.

3.2-rasm. Turli xildagi obyekt modellarini solishtirish uchun Simulink diagramma.


3.3-rasm. Turli ko‘rinishdagi modellarning o‘tkinchi jarayon grafiklari.


3.4 . Boshqarish ob'ektining boshqarilishi va kuzatilishini tahlil qilish
Tahlil jamoa tomonidan amalga oshiriladi.


MATLAB komandalar qatorida boshqaruvchanlik matritsasini quramiz.
>> mu=ctrb(sys.A,sys.B)
mu =

Columns 1 through 7

-0.3999 0.6686 0.4114 -1.0727 -0.4553 1.4782 0.5375

0 1.1908 0.0040 -1.2416 -0.0673 1.5626 0.1500
0 0 0.0052 -0.2919 0.0442 0.4774 -0.0933
0.7119 -0.0198 -0.3868 -0.2379 0.2366 0.3395 -0.1532
0 -0.1567 0.1778 0.0357 -0.2538 0.0459 0.3020

Columns 8 through 10

-1.9984 -0.6593 2.6896

-2.0447 -0.2521 2.7002
-0.6580 0.1303 0.8711
-0.4290 0.0991 0.5438
-0.1160 -0.3486 0.1958


>> r=rank(mu)
r = 5


3.5 O'zgaruvchilar aniq ko'rsatilgan blok-sxemani qurish

Boshqaruvchanlik matritsasining rangi holat o‘zgaruvchilari vektori o‘lchamiga teng bo‘lgani uchun obyekt to‘liq boshqaruvchanlik xususiyatiga ega hisoblanadi.

Xuddi shu usulda kuzatuvchanlik matritsasini aniqlaymiz:
>> mn=obsv(sys.A,sys.C)
mn =

-1.6041 -1.0565 -0.8051 0.2193 0

0.2573 1.4151 0.5287 -0.9219 -0.0592
1.9106 1.6474 0.8187 0.0152 0.1507
-0.8340 -1.1620 -0.7804 0.1782 0.1614
-2.4688 -2.2865 -0.9112 -0.2381 -0.2347
1.1893 1.4355 0.8954 0.1174 -0.1671
3.2607 3.0914 1.0832 0.4562 0.3253
-1.6115 -1.8954 -1.0271 -0.3088 0.1583
-4.3379 -4.1421 -1.3450 -0.6936 -0.4473
2.1818 2.5110 1.2128 0.4835 -0.1370