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Frak Tali
Frak Tali
ФРАКТАЛНИ АЛГОРИТМИ И
РЕЖЕКТОРНИ РЕГУЛАТОРИ
СОФИЯ
2004
СЪДЪРЖАНИЕ
ВЪВЕДЕНИЕ. . . . . . . . . . . . . . . . . . . . . . . . . . . 7
ЛИТЕРАТУРА. . . . . . . . . . . . . . . . . . . . . . . . . . . . 208
CD-ROM; http://anp.tu-sofia.bg/Nicoloff/index.html
ВЪВЕДЕНИЕ
(1.4) ∆ ( f ( x ) )( ∆ x ) - 1 = f ′ ( x ) + ϕ ( x , ∆ x ) , ( ϕ ( x , ∆ x ) → 0 , ∆ x → 0 )
(1.5) d ( f ( x ) ) = ( f ′ ( x ) )( ∆ x ) = ( f ′ ( x ) ) d x
Производна от n –ти ред
По определение n -тата производна на функцията f ( x ) означава първата производна на
( n - 1 ) -та производна на функцията f ( x ) и се бележи с f ( n ) ( x ) (1.6):
(1.6) f ( n )
(x) = (f ( n -1 )
(x )) ′ .
Интеграл и интегриране
Ако y е функция y = f ( x ) на променливата x , а отнапред дефинирана и известна е
функцията f ′ ( x ) на x в диференциалното уравнение (1.9), то процедурата по опреде-
лянето на неизвестната f ( x ) чрез (1.9) се нарича интегриране, а намерената в резултат
на интегрирането функция y = f ( x ) се нарича интеграл (неопределен в случая) на дифе-
ренциалното уравнение (1.9) и се записва като (1.10).
(1.9) d y = f ′ ( x ) d x ; (1.10) y =
∫ f ′( x ) d x .
(1.11) y ( t ) = T dn x ( n )
( t ) = T dn D n
x( t ).
Когато в общия случай реалната част на реда на диференциране n е отрицателно число,
се дефинира динамична система, наречена “обобщен интегратор”. В този случай се
отчита, че процедурата по диференциране е трансформирана в процедура по интегрира-
не.
При валидност на хипотезата за нулеви начални условия Laplace -трансформацията на
(1.11) определя символичното уравнение на обобщения диференциатор като (1.12) с отчи-
тане на (1.13).
(1.12) Y ( p ) = T dn p X( p ); (1.13) D ( p ) = ( T d p )
n n
.
Честотната характеристика на обобщения диференциатор D ( j ω ) съответства на преоб-
разуването на D ( p ) до (1.14), където честотата ω 0 (1.15), определена с помощта на вре-
20 log D ( jω ) , d B
n 6 , d B oct
0 ω , rad s
ω0
n
⎛ ω ⎞
D( jω )= ⎜ j
⎜
⎟
⎟
(
, ω 0 =T d
-1
)
⎝ ω0 ⎠
arg ( D ( jω ) ) , rad
π
n
2
0
ω , rad s
фиг.1.1.a
фиг.1.1.b
20 log D ( jω ) , d B
n ( − 6 ) , d B oct
0 ω , rad s
ω0
− n
⎛ ω ⎞
D( jω )= ⎜ j
⎜
⎟
⎟
(
, ω 0 =T i
-1
)
⎝ ω0 ⎠
arg ( D ( jω ) ) , rad
ω , rad s
0
π
−n
2
(1.14) D ( j ω ) = ( j T d ω ) n
;
(1.15) D ( j ω ) = ( j ω ω 0− 1 ) ,(ω );
n -1
0 =T d
(1.16) D ( j ω ) (
= ωω 0
−1
) n
;
(1.17) arg ( D ( j ω )) = n ( π 2 ).
(−1)k
(1.18) R e s Γ ( z )= .
z=−k k!
фиг.1.2
( z )≡
∫
z −1 −t
(1.19) Γ t e d t;
0
∞
( z )=
∫
2
−t 2 z −1
(1.20) Γ 2 e t d t;
0
∞ ⎡ ⎛ 1 ⎞ ⎤
(1.21) Γ (z) ≡
∫ 0
⎢ l n ⎜⎜
⎢⎣ ⎝ t
⎟
⎟
⎠
⎥ d t.
⎥⎦
фиг.1.3.a
фиг.1.3.b
∫t
⎪ =(x−1) x−2
e −t
d t =(x−1) Γ (x−1)
⎪
⎩ 0
фиг.1.4
фиг.1.5.a
фиг.1.5.b
фиг.1.6.a
фиг.1.6.b
∞
⎡ z z ⎞⎤
∑
⎛
(1.24) l n Γ ( z )= −γ z−l n z+ ⎢ − l n ⎜ 1+
⎜
⎟⎥ .
⎟
k =1
⎢⎣ k ⎝ k ⎠ ⎥⎦
или с помощта на формулата на Binet (1.25) :
⎛ z ⎞
t a n ⎜⎜ ⎟
⎟
⎛ 1 ⎞ 1 ∞
∫
⎝ a ⎠
(1.25) l n Γ ( a ) = ⎜⎜ a − ⎟ ln a−a+
⎟
ln (2π )+ 2 2π z
d z
⎝ 2 ⎠ 2 0 e −1
за ℜ [ a ] > 0 .
Пълната гама-функция се определя и като безкрайно произведение (1.26), по формата на
Weierstrass:
−1
⎡ ∞ ⎤
∏
⎛ z ⎞
(1.26) Γ ( z )≡ ⎢ z e γ z
⎜
⎜
1+ ⎟e −z r ⎥ ,
⎢ ⎝ r ⎟⎠ ⎥
⎣ r =1 ⎦
1 ⎡ (−1)k s ⎤
(1.27) Γ (z) = ex p ⎢
k
z k
⎥ ,
z ⎢⎣ k ⎥⎦
като се отчете, че
(1.28) s 1 ≡ γ ; (1.29) s k ≡ ζ ( k ),
за k ≥ 2 , където ζ ( z ) е дзета-функциятата на Riemann ζ ( z ) . След логаритмуването
на двете страни на (1.26), следва (1.30):
∞
⎡ z ⎞ z ⎤
∑
⎛
(1.30) − l n [ Γ ( z )] = ln z+γ z+ ⎢ l n ⎜⎜ 1 + ⎟⎟ − ⎥ .
n=1
⎢⎣ ⎝ n ⎠ n ⎥⎦
⎡ ⎛ 1 ⎞ ⎤
⎢ ⎜ ⎟ ⎥
∞
⎜ n 1 ⎟ ⎥
∑
⎢ 1
(1.32) − Γ ′ ( z ) = Γ (z) ⎢ +γ + ⎜ − ⎟ ⎥;
⎢ z ⎜ n +z n ⎟ ⎥
⎢
n=1
⎜ ⎟ ⎥
⎜ ⎟
⎣⎢ ⎝ ⎠ ⎥⎦
(1.33) Γ ′ ( z ) ≡ Γ ( z )Ψ ( z )= Γ ( z )ψ 0 ( z ) ;
⎧ ⎧ ⎡ ⎛ 1 ⎞ ⎛ 1 1 ⎞ ⎛ 1 1 ⎞ ⎤ ⎫
⎪⎪ Γ ′ ( 1 ) = − Γ ( 1 ) ⎪⎨ 1 + γ + ⎢ ⎜ −1 ⎟+⎜ − ⎟ + . . +⎜ − ⎟ + . . ⎥ ⎪⎬ =
(1.34) ⎨ ⎪⎩ ⎢⎣ ⎜ 2 ⎟ ⎜ 3 2 ⎟⎠ ⎜ n+1 n ⎟ ⎥⎦ ⎪⎭ ;
⎝ ⎠ ⎝ ⎝ ⎠
⎪
⎪⎩ = −(1+γ −1)= −γ
⎧ ⎧ ⎡⎛ 1 ⎞ ⎛ 1 1 ⎞⎟ ⎛ 1 1 ⎞⎟ ⎤ ⎫
⎪ Γ ′ (n ) = − Γ ⎪ ⎜ ⎟ ⎜ ⎜ ⎪
⎪
(n ) ⎨ 1 + γ + ⎜
⎢ −1 +
⎟ ⎜
−
⎟
+ ..+
⎜
−
⎟
+ . .⎥ ⎬
⎪⎩ ⎢ 1+n ⎥ ⎪
(1.35) ⎪ ⎣⎝ ⎠ ⎝ 2+n 2 ⎠ ⎝ 3+n 3 ⎠ ⎦ ⎭ ,
⎨
⎪ ⎛ 1 n
1 ⎞⎟
⎪ = − ( n − 1) !
⎪
⎜
⎜
⎜ n
⎝
+ γ − ∑ ⎟
k ⎟⎠
⎩ k =1
(1.36) Γ ′ ( x 0 ) ≡ Γ ( x 0 ) ψ 0 ( x 0 ) = 0 ; (1.37) ψ 0
(x )= 0 .
0
или
1⋅ 2 ⋅3⋅⋅⋅ n
(1.39) Γ ( z ) = l i m n
z
.
n→∞ z (z + 1) (z + 2 ) ⋅ ⋅ ⋅ (z + n )
Експоненциалното определение на пълната гама-функция е показано с (1.40) :
⎡ ∞
(− 1) k ζ (k ) z k ⎤
∑
1
(1.40) = z ex p ⎢γ z − ⎥ ,
⎢ ⎥
Γ (z) ⎣ k =2 k ⎦
където γ е константата на Euler-Mascheroni, а ζ ( z ) е дзета-функцията на Riemann
ζ ( z ).
Асимптотичното определение на гама-функцията с помощта на ред за Γ − 1 ( z ) се предс-
тавя с (1.41) :
1 1 1
(1.41) ≈ z+γ z +
2
(6 γ 2
−π
2
)z 3
+ (2 γ 3
−γ π
2
+ 4 ζ (3 ) z + . . ,
4
)
Γ (z) 12 12
∞ n
∑a ∑ (− 1)
1
(1.42) = k
z k
(1.43) a n = n a 1 a n − a 2 a n − 1 + k
ζ (k ) an−k ,
Γ (z) k=2 k=2
⎛ y ⎞
(1.50) l n [ Γ ( x + i y + 1 ) ] = l n ( x 2 + y 2 ) + i t a n − 1 ⎜ ⎟ + l n [Γ ( x + i y )] ;
⎜ ⎟
⎝ x ⎠
π x
(1.51) (i x )! 2
= ;
si n h (π x )
π x n
(1.52) (n + ix )! =
si nh (π x )
∏ s =1
s +x
2 2
.
⎛ 1 ⎞ ( n − 2 ) !! π
(1.53) Γ ⎜⎜ n⎟= −
⎟
,
(n −1) 2
⎝ 2 ⎠ 2
⎛ 1 ⎞
където n ! ! е двоен факториел. Стойностите на пълната гама-функция Γ ⎜⎜ n ⎟ за
⎟
⎝ 2 ⎠
n = 1 , 3 , 5 , . . са отразени както следва :
⎛ 1 ⎞
(1.54) Γ ⎜⎜ ⎟=
⎟
π ;
⎝ 2 ⎠
⎛ 3 ⎞ 1
(1.55) Γ ⎜⎜ ⎟=
⎟
π ;
⎝ 2 ⎠ 2
⎛ 5 ⎞ 3
(1.56) Γ ⎜⎜ ⎟=
⎟
π
⎝ 2 ⎠ 4
⎛ 1 ⎞ 1⋅ 3 ⋅ 5 ⋅ ⋅⋅ (2 n − 1) (2 n − 1)! !
(1.57) Γ ⎜⎜ +n⎟ =
⎟
π = π ;
⎝ 2 ⎠ (2 n − 1) (2 n − 1)
⎛ 1 ⎞ (− 1) 2 n n
(− 1)n 2 n
(1.58) Γ ⎜⎜ − n ⎟⎟ = π = π .
⎝ 2 ⎠ 1⋅ 3 ⋅ 5 ⋅ ⋅⋅ (2 n − 1) (2 n − 1)! !
1
За ℜ [ x ] = − е валидна зависимостта :
2
2
⎛ 1 ⎞ π
(1.59) ⎜⎜ − + i y ⎟⎟ ! = .
⎝ 2 ⎠ co s h (π y )
Пълните гама-функции на аргумент 2 z се изразяват с използване на формулата за дуб-
лиране на Legendre :
⎛ 1 ⎞
(1.60) Γ ( 2 z ) = ( 2 π )−1 2
2 2 z −1 2
Γ (z) Γ ⎜ z +
⎜
⎟ .
⎟
⎝ 2 ⎠
Пълните гама-функции на аргумент 3 z се изразяват с използване на формулата за утро-
ения (1.61) :
⎛ 1 ⎞ ⎛ 2 ⎞
(1.61) Γ ( 3 z ) = ( 2 π )−1 3 3 z −1 2 Γ ( z ) Γ ⎜z+ ⎟ Γ ⎜z+ ⎟ .
⎜ ⎟ ⎜ ⎟
⎝ 3 ⎠ ⎝ 3 ⎠
Обобщен резултат се предоставя с формулата за умножение на Gauss :
⎛ 1 ⎞ ⎛ n−1 ⎞
(1.62) Γ ( z ) Γ ⎜ z + ⎟⋅⋅⋅⋅Γ ⎜z+ ⎟ = (2 π )(n −1) n
n1 2−nz
Γ ( n z ).
⎜ ⎟ ⎜ ⎟
⎝ n ⎠ ⎝ n ⎠
Пълната гама-функция е свързана с дзета-функцията на Riemann ζ ( z ) чрез (1.63) :
⎛ 1 ⎞ ⎛ s ⎞ ⎛ 1− s ⎞
(1.63) Γ ( z ) Γ ⎜ z + ⎟⋅⋅⋅⋅Γ ⎜ ⎟π
⎜ ⎟
−s 2
ζ (s )= Γ ⎜
⎜
⎟π
⎟
− (1 − s ) 2
ζ (1 − s ) .
⎜ ⎟
⎝ n ⎠ ⎝ 2 ⎠ ⎝ 2 ⎠
Предложени са редица тъждества, свързващи пълната гама-функция с квадратен корен и
с модула k n на елиптичния интеграл на собствените стойности
( )
K′ k n
(1.64) = n ,
K (k ) n
⎛ 1 ⎞
(1.65) Γ ⎜
⎜ ⎟
⎟ = 27 9
3 −1 12
π 1 3
[ K (k )] 3
1 3
;
⎝ 3 ⎠
⎛ 1 ⎞
(1.66) Γ ⎜
⎜ ⎟
⎟= 2π 1 4
[ K ( k )]1
1 2
;
⎝ 4 ⎠
2
⎛ 1 ⎞ ⎡ ⎛ 1 ⎞⎤
(1.67) Γ ⎜ ⎟ = 2 − 1 3
3 1 2
π −1 2
⎢Γ ⎜ ⎟⎥ ;
⎜ ⎟ ⎢⎣ ⎜ ⎟⎥
⎝ 6 ⎠ ⎝ 3 ⎠⎦
⎛ 1 ⎞ ⎛ 3 ⎞ 1 2
(1.68) Γ ⎜ ⎟ Γ ⎜
⎜ ⎟ ⎜
⎟=
⎟
⎛
⎜⎜
⎞
2 − 1 ⎟⎟ 2 13 4
π 1 2
K k2 ( ) ;
⎝ 8 ⎠ ⎝ 8 ⎠ ⎝ ⎠
⎛ 1 ⎞
Γ ⎜⎜ ⎟
⎟ 1 2
(1.69)
⎝ 8 ⎠ ⎛
= 2 ⎜⎜
⎞
2 − 1 ⎟⎟ π −1 4
[K (k )] 1
1 2
;
⎛ 3 ⎞ ⎝ ⎠
Γ ⎜⎜ ⎟
⎟
⎝ 8 ⎠
1 2
⎛ 1 ⎞ ⎛ ⎞ ⎛ 1 ⎞ ⎛ 1 ⎞
(1.70) Γ ⎜⎜ ⎟= 2
⎟
−1 4
3
3 8
⎜⎜ 3 + 1 ⎟⎟ π −1 2
Γ ⎜⎜ ⎟Γ ⎜ ⎟ ;
⎟ ⎜ 3 ⎟
⎝ 12 ⎠ ⎝ ⎠ ⎝ 4 ⎠ ⎝ ⎠
⎛ 1 ⎞
1 2
Γ ⎜⎜ ⎟
⎟
⎛ 5 ⎞ ⎛ ⎞ ⎝ 4 ⎠
(1.71) Γ ⎜⎜ ⎟= 2
⎟
1 4
3 −1 8
⎜⎜ 3 − 1 ⎟⎟ π 1 2
;
⎝ 12 ⎠ ⎝ ⎠ ⎛ 1 ⎞
Γ ⎜⎜ ⎟
⎟
⎝ 3 ⎠
⎛ 1 ⎞ ⎛ 11 ⎞
Γ ⎜ ⎟Γ ⎜ ⎟
⎜ ⎟ ⎜ ⎟
(1.72) ⎝ 24 ⎠ ⎝ 24 ⎠ = 3 2+ 3 ;
⎛ 5 ⎞ ⎛ 7 ⎞
Γ ⎜ ⎟Γ ⎜ ⎟
⎜ ⎟ ⎜ ⎟
⎝ 24 ⎠ ⎝ 24 ⎠
⎛ 1 ⎞ ⎛ 5 ⎞
Γ ⎜ ⎟Γ ⎜ ⎟
⎜ ⎟ ⎜ ⎟
(1.73) ⎝
⎛
24 ⎠
7 ⎞
⎝
⎛
24 ⎠ = 4 ⋅ 3
11 ⎞
1 4 ⎛
⎜⎜ 3 +
⎞
2 ⎟⎟ π
−1 2
( )
K k1 ;
⎝ ⎠
Γ ⎜ ⎟Γ ⎜ ⎟
⎜ ⎟ ⎜ ⎟
⎝ 24 ⎠ ⎝ 24 ⎠
⎛ 1 ⎞ ⎛ 7 ⎞
Γ ⎜ ⎟Γ ⎜ ⎟
⎜ ⎟ ⎜ ⎟
(1.74) ⎝
⎛
24 ⎠
5 ⎞
⎝
⎛
24 ⎠ = 2
11 ⎞
25 18
3
1 3 ⎛
⎜⎜
⎞
2 + 1 ⎟⎟ π
−1 3
[ K ( k )]3
2 3
;
⎝ ⎠
Γ ⎜ ⎟Γ ⎜ ⎟
⎜ ⎟ ⎜ ⎟
⎝ 24 ⎠ ⎝ 24 ⎠
⎧ ⎛ 1 ⎞ ⎛ 5 ⎞ ⎛ 7 ⎞ ⎛ 11 ⎞
⎪Γ ⎜ ⎟Γ ⎜ ⎟Γ ⎜ ⎟Γ ⎜ ⎟=
⎪ ⎜ ⎟ ⎜ ⎟ ⎜ ⎟ ⎜ ⎟
(1.75) ⎨ ⎝ 24 ⎠ ⎝ 24 ⎠ ⎝ 24 ⎠ ⎝ 24 ⎠ ;
⎪ ⎛
⎪ = 384 ⎜⎜ 2
⎞⎛
+ 1 ⎟⎟ ⎜⎜ 3 −
⎞⎛
2 ⎟⎟ ⎜⎜ 2 −
⎞
[ ( )]
3 ⎟⎟ π K k 6
2
⎩ ⎝ ⎠⎝ ⎠⎝ ⎠
⎛ 1 ⎞ ⎛ ⎞
1 2
⎛ 1 ⎞ ⎛ 2 ⎞
(1.76) Γ ⎜ ⎟ = 2 −7 10
5 1 4
⎜⎜ 5 + 1 ⎟⎟ π −1 2
Γ ⎜ ⎟Γ ⎜ ⎟ ;
⎜ ⎟ ⎝ ⎠ ⎜ ⎟ ⎜ ⎟
⎝ 10 ⎠ ⎝ 5 ⎠ ⎝ 5 ⎠
⎛ 1 ⎞
Γ ⎜ ⎟
⎛ 3 ⎞ ⎛ ⎞ ⎜ ⎟
(1.77) Γ ⎜ ⎟ = 2 −3 5
⎜⎜ 5 − 1 ⎟⎟ π
1 2 ⎝ 5 ⎠ ;
⎜ ⎟ ⎝ ⎠ ⎛ 2 ⎞
⎝ 10 ⎠ Γ ⎜ ⎟
⎜ ⎟
⎝ 5 ⎠
⎛ 1 ⎞ ⎛ 4 ⎞ ⎛ 7 ⎞
Γ ⎜ ⎟Γ ⎜ ⎟Γ ⎜ ⎟ 2
⎜ ⎟ ⎜ ⎟ ⎜ ⎟ ⎛ 2 ⎞ ⎡ ⎛ 1 ⎞⎤
(1.78) ⎝ 15 ⎠ ⎝ 15 ⎠ ⎝ 15 ⎠ = 2 ⋅ 3 1 2
5
1 6
si n ⎜ π ⎟ ⎢Γ ⎜ ⎟⎥ ;
⎛ 2 ⎞ ⎜ ⎟ ⎢ ⎜ ⎟⎥
Γ ⎜ ⎟ ⎝ 15 ⎠ ⎣ ⎝ 3 ⎠⎦
⎜ ⎟
⎝ 15 ⎠
⎛ 1 ⎞ ⎛ 4 ⎞ ⎛ 7 ⎞
Γ ⎜ ⎟Γ ⎜ ⎟Γ ⎜ ⎟ 2
⎜ ⎟ ⎜ ⎟ ⎜ ⎟ ⎛ 1 ⎞ ⎛ 4 ⎞ ⎡ ⎛ 1 ⎞⎤
(1.79) ⎝ 15 ⎠ ⎝ 15 ⎠ ⎝ 15 ⎠ = 2 2 ⋅ 3 2 5
sin ⎜ π ⎟ sin ⎜ π ⎟ ⎢Γ ⎜ ⎟⎥ ;
⎛ 4 ⎞ ⎜ ⎟ ⎜ ⎟ ⎢ ⎜ ⎟⎥
Γ ⎜ ⎟ ⎝ 5 ⎠ ⎝ 5 ⎠ ⎣ ⎝ 5 ⎠⎦
⎜ ⎟
⎝ 15 ⎠
2
⎛ 2 ⎞ ⎛ 4 ⎞ ⎛ 7 ⎞ ⎛ ⎞
1 2
⎡ ⎛ 2 ⎞⎤
Γ ⎜ ⎟Γ ⎜ ⎟Γ ⎜ ⎟ 2 −3 2
3 −1 5
5 1 4
⎜⎜ 5 − 1 ⎟⎟ ⎢Γ ⎜ ⎟⎥
⎜ ⎟ ⎜ ⎟ ⎜ ⎟ ⎜ ⎟⎥
⎝ 15 ⎠ ⎝ 15 ⎠ ⎝ 15 ⎠ ⎝ ⎠ ⎢⎣ ⎝ 5 ⎠⎦
(1.80) = ;
⎛ 1 ⎞ ⎛ 4 ⎞
Γ ⎜ ⎟ sin ⎜ π⎟
⎜ ⎟ ⎜ ⎟
⎝ 15 ⎠ ⎝ 15 ⎠
⎛ 1 ⎞ ⎛ 2 ⎞ ⎛ 4 ⎞
Γ ⎜ ⎟Γ ⎜ ⎟Γ ⎜ ⎟
⎜ ⎟ ⎜ ⎟ ⎜ ⎟ ⎛ 7 ⎞
(1.81)
⎝ 15 ⎠ ⎝ 15 ⎠ ⎝ 15 ⎠ ⎛
= 60 ⎜⎜
⎞
5 − 1 ⎟⎟ s i n ⎜
⎜
π ⎟ K k 15
⎟
[ ( )] 2
;
⎛ 7 ⎞ ⎝ ⎠ ⎝ 15 ⎠
Γ ⎜ ⎟
⎜ ⎟
⎝ 15 ⎠
⎛ 1 ⎞ ⎛ 9 ⎞
Γ ⎜ ⎟Γ ⎜ ⎟
⎜ ⎟ ⎜ ⎟ ⎛ ⎞
(1.82) ⎝ 20 ⎠ ⎝ 20 ⎠ = 2 − 1 5 1 4
⎜⎜ 5 + 1 ⎟⎟ ;
⎛ 3 ⎞ ⎛ 7 ⎞ ⎝ ⎠
Γ ⎜ ⎟Γ ⎜ ⎟
⎜ ⎟ ⎜ ⎟
⎝ 20 ⎠ ⎝ 20 ⎠
⎛ 1 ⎞ ⎛ 3 ⎞
Γ ⎜ ⎟Γ ⎜ ⎟ 2
⎜ ⎟ ⎜ ⎟ ⎛ ⎞
1 2
⎛ 7 ⎞ ⎛ 9 ⎞ ⎡ ⎛ 1 ⎞⎤
(1.83) ⎝ 20 ⎠ ⎝ 20 ⎠ = 2 4 5
5 1 4
⎜⎜ 10 − 2 5 ⎟⎟ sin ⎜ π ⎟ sin ⎜ π ⎟ ⎢Γ ⎜ ⎟⎥ ;
⎛ 7 ⎞ ⎛ 9 ⎞ ⎝ ⎠ ⎜ ⎟ ⎜ ⎟ ⎢ ⎜ ⎟⎥
Γ ⎜ ⎟Γ ⎜ ⎟ ⎝ 20 ⎠ ⎝ 20 ⎠ ⎣ ⎝ 5 ⎠⎦
⎜ ⎟ ⎜ ⎟
⎝ 20 ⎠ ⎝ 20 ⎠
⎛ 1 ⎞ ⎛ 7 ⎞
Γ ⎜ ⎟Γ ⎜ ⎟ 2
⎜ ⎟ ⎜ ⎟ ⎛ ⎞
1 2
⎛ 3 ⎞ ⎛ 9 ⎞ ⎡ ⎛ 2 ⎞⎤
(1.84) ⎝ 20 ⎠ ⎝ 20 ⎠ = 2 3 5
⎜⎜ 10 + 2 5 ⎟⎟ π −1
sin ⎜ π ⎟ sin ⎜ π ⎟ ⎢Γ ⎜ ⎟⎥ ;
⎛ 3 ⎞ ⎛ 9 ⎞ ⎝ ⎠ ⎜ ⎟ ⎜ ⎟ ⎢ ⎜ ⎟⎥
Γ ⎜ ⎟Γ ⎜ ⎟ ⎝ 20 ⎠ ⎝ 20 ⎠ ⎣ ⎝ 5 ⎠⎦
⎜ ⎟ ⎜ ⎟
⎝ 20 ⎠ ⎝ 20 ⎠
⎛ 1 ⎞ ⎛ 3 ⎞ ⎛ 7 ⎞ ⎛ 9 ⎞ 1 2
(1.85) Γ ⎜
⎜
⎟Γ
⎟
⎜
⎜
⎟Γ
⎟
⎜
⎜
⎟Γ
⎟
⎜
⎜
⎟ = 160 ⎛⎜
⎟ ⎜
⎞
5 − 2 ⎟⎟ π [ K ( k )] ,
5
2
⎝ 20 ⎠ ⎝ 20 ⎠ ⎝ 20 ⎠ ⎝ 20 ⎠ ⎝ ⎠
2π
3
⎛ 1 ⎞
(1.87) ∏
n=1
Γ ⎜
⎜
n⎟=
⎟
⎝ 3 ⎠ 3
;
2π
4
⎛ 1 ⎞ ⎛ 1 ⎞
(1.88) ∏ n=1
Γ ⎜
⎜
n⎟=
⎟
⎝ 3 ⎠ 3 3
Γ ⎜
⎜
⎝ 3
⎟ ;
⎟
⎠
5
⎛ 1 ⎞
∏
8
(1.89) Γ ⎜ n⎟= π 2
;
⎜ ⎟
n=1 ⎝ 3 ⎠ 27
6
⎛ 1 ⎞
∏
8
(1.90) Γ ⎜ n⎟= π 2
;
⎜ ⎟
n=1 ⎝ 3 ⎠ 27
7
⎛ 1 ⎞ ⎛ 1 ⎞
∏
32
(1.91) Γ ⎜ n⎟= π 2
Γ ⎜ ⎟ ;
⎜ ⎟ ⎜ ⎟
n=1 ⎝ 3 ⎠ 243 ⎝ 3 ⎠
640 π 2
8
⎛ 1 ⎞
(1.92) ∏ n=1
Γ ⎜
⎜
⎟
n =
⎟
⎝ 3 ⎠ 2187 3
;
4
⎡ ⎛ 1 ⎞⎤
⎢Γ ⎜ ⎟⎥
⎢⎣ ⎜ ⎟⎥ 32 52 −1 72
⎝ 4 ⎠⎦
(1.93) = ⋅⋅⋅⋅ ;
16 π 2
32 −1 52 72 −1
⎛ 1 ⎞
⎟ Γ′⎜
Γ ′ (1 ) ⎜ ⎟
⎝ 2 ⎠ = 2 ln 2 ;
(1.94) −
Γ (1 ) ⎛ 1 ⎞
Γ ⎜ ⎟
⎜ ⎟
⎝ 2 ⎠
Γ 2
(n + 1) ∞
⎡ x2 ⎤
(1.95)
Γ (n + x i + 1)Γ (n − x i + 1)
=
∏
k =1
⎢1 +
⎢
⎣ (n + k )2
⎥ ;
⎥
⎦
⎧ Γ 3 (m + 1) Γ 3 (n + 1)
⎪ φ (m , n ) φ (n ,m ) = ×
⎪ Γ (2 m + n + 1) Γ (2 n + m + 1)
⎪
(1.96) ⎨ ⎡ ⎤ ,
⎪ c o s h ⎢ π ( m + n ) 3 ⎥ − c o s [ π ( m − n ) ]
⎪× ⎣ ⎦
⎪
⎩ (
2π 2 m2+ m n + n2 )
където
⎡ ⎛ ⎞
3
⎤
⎢ 1 +⎜ m + n
∏
∞
(1.97) φ ( m , n ) = ⎟ ⎥ ;
⎢ ⎜ ⎟ ⎥
⎝ k+m
k =1
⎣⎢ ⎠ ⎦⎥
⎧ ⎡ 3
⎤ ⎡ ⎛ ⎞ ⎤
2
⎛ n ⎞
∏ ∏
⎪
∞ ∞
⎢1 + 3 ⎜ n ⎟ ⎥=
⎢1 + ⎜ ⎟ ⎥
⎪ k =1 ⎢ ⎜ ⎟ ⎥ ⎢ ⎜ ⎟ ⎥
⎝ k ⎠ ⎝ n + 2 k ⎠ ⎥⎦
k =1
⎪ ⎣ ⎦ ⎢⎣
⎪
⎪ ⎛ 1 ⎞
(1.98) ⎨ Γ ⎜⎜ n ⎟⎟ ⎛ ⎞
⎪ c o s h ⎜⎜ π n 3 ⎟⎟ − c o s ( π n )
⎪= ⎝ 2 ⎠ ⎝ ⎠
⎪ ⎡1 ⎤ 2
n+2
π 3 2
n
⎪ Γ ⎢ ( n + 1 )⎥
⎪⎩ ⎢⎣ 2 ⎥⎦
⎧ 4
⎛ 1⋅5 ⎞
4
⎛ 1⋅5 ⋅9 ⎞
4
⎛ 1 ⎞
⎪ 1 + 9 ⎜ ⎟ + 17 ⎜ ⎟ + 25 ⎜ ⎟ + ....=
⎪ ⎜ ⎟ ⎜ ⎟ ⎜ ⎟
⎪ ⎝ 4 ⎠ ⎝ 4⋅8 ⎠ ⎝ 4 ⋅ 8 ⋅ 12 ⎠
⎪ 4
⎪ ⎡ ⎛ 1 ⎞ ⎤
(1.99) ⎨ ⎢Γ ⎜k+ ⎟ ⎥ ;
⎪ ⎜ ⎟ 3 2
∑
⎢ 4 ⎠ ⎥ 2
(8 k + 1) ⎢ ⎝
∞
⎪= ⎥ = 2
⎪ k =0
⎢ ⎛ 1 ⎞ ⎥ ⎡ ⎛ 3 ⎞⎤
⎪ ⎢ k ! Γ ⎜⎜ ⎟ ⎥
⎟ π ⎢Γ ⎜ ⎟⎥
⎜ ⎟⎥
⎪⎩ ⎢⎣ ⎝ 4 ⎠ ⎥⎦ ⎢⎣ ⎝ 4 ⎠⎦
⎧ 5
⎛ 1⋅3 ⎞
5
⎛ 1⋅3⋅5 ⎞
5
⎛ 1 ⎞
⎪ 1−5⎜ ⎟ +9⎜ ⎟ − 13 ⎜ ⎟ + ....=
⎪ ⎜ ⎟ ⎜ ⎟ ⎜ ⎟
⎪ ⎝ 2 ⎠ ⎝ 2⋅3 ⎠ ⎝ 2⋅4⋅6 ⎠
⎪
(1.100) ⎨ ⎡ ( 2 k − 1 ) !! ⎤
5
.
∑
∞ 2
⎪= (− 1) ( 4 k + 1 ) ⎢
k
⎥ =
⎪ k =0 ⎢ ( 2 k ) !! ⎥ ⎡ ⎛ 3 ⎞⎤
4
⎣ ⎦
⎪ ⎢Γ ⎜ ⎟⎥
⎪ ⎜ ⎟⎥
⎩ ⎣⎢ ⎝ 4 ⎠⎦
(1.102) y imp (t ) = F -1
[ D( jω )] = T dn F -1
[ ( jω ) ] .
n
-n-1
t
(1.107) y (t ) =T
n
(
u ( t ) , ∀ t ≠ 0 , Re [ n ] ∈ ℜ - N
+ ∗
) ;
(−n)
imp d
Г
(1.108) y ( t ) = y imp ( t ) x( t ) = T dn δ ( n )
( t ) x( t ) .
(1.109) y ( t ) = y imp ( t ) x ( t ) = T dn δ( n )
( t ) x( t ) ;
∞ -n-1
Θ
(1.110) y ( t ) = T
∫ x (t − Θ )dΘ ;
n
Г(− n )
d
( t − Θ ) -n-1
t
(1.111) y ( t ) = T
∫ x (t − Θ )dΘ
n
Г( − n )
d
-∞
( t − Θ ) -n- 1
t
(1.113) y ( t ) = T
∫ x (Θ )dΘ , ( ( t )=0 , t <0 ) .
n
u
Г(− n )
d
Г (1)
d
Td
0 0
Г (1)
d
Td
0 0
( Θ ) -n-1
t
y ( t )=
∫ x ( t − Θ ) dΘ.
n
(1.118) D
{ Re [ n ] < 0 } Г (−n)
0
(1.119) D - 1 D x ( t ) = [ x ( t ) − x ( 0 ) ] u ( t ) ,
която зависимост, изменена в (1.120), отчита каузалността на входната променлива x ( t ) :
(1.120) D -1
D x ( t )= x ( t ) − x ( 0 ) u ( t ) .
Въз основа на (1.118), (1.119) и (1.120), обобщеният диференциатор от n -ти ред се описва с
(1.121) :
(1.121) D n-1
D x ( t )= D n
x(t ) − x(0 )D n
u (t ),
но ако в (1.121) се използва основното определение на n -тата производната на x ( t ) , то
(1.121) се трансформира до (1.122), а с отчитане и на това, че D n u ( t ) = D - 1 δ ( t ) , (1.122)
се видоизменя до (1.123) :
(1.122) D n
x ( t )= D n-1
x (1)
( t )+ x ( 0 ) D n u ( t ) ;
(1.123) D n
x ( t )= D n-1
x (1)
( t )+ x ( 0 ) D - 1 δ ( t ) .
За случая на Re [ n ] < 1 , ( Re [ n ] ≥ 0 ) следва, че Re [ n − 1 ] < 0 , откъдето след изчисле-
нието на (1.124) (1.125), следва (1.126) :
-n
t
δ ( t )= u(t ) ;
-1
(1.124) D
Г (− n + 1 )
( Θ ) -n
t
( t )=
∫ (t − Θ )dΘ ;
n-1 (1) (1)
(1.125) D x x
Г ( − n+1 )
0
( Θ ) -n
-n t
t
x ( t )= x ( 0 ) u(t )
∫ (t − Θ )dΘ .
n (1)
(1.126) D + x
{ Re [ n ] < 1 } Г (− n + 1) Г ( − n+1 )
0
( Θ ) -n+1
-n+1 t
t
( t )= x (0 ) u ( t )+
∫ ( t − Θ )dΘ;
n-1 (1) (1) ( 2 )
(1.128) D x x
Г (− n + 2 ) Г ( − n+2 )
0
( Θ ) -n+1
-n -n+1 t
(1.129) t t
(t − Θ )dΘ .
x ( t )= x ( 0 ) u ( t )+ x (0 ) u ( t )+
∫
n (1) ( 2 )
D x
{ Re [ n ] < 2 } Г (− n + 1) Г (− n + 2 ) Г ( − n+2 )
0
( Θ ) -n+k
k -n+1 t
∑
t
(1.130) D x ( t ) = (0 ) u(t )
∫ ( t − Θ )dΘ ,
n (1) ( k +1 )
x + x
{ Re [ n ] < k + 1 }
i =0
Г (− n + i + 2 ) Г (− n+ k +1 )
0
( Θ ) -n+k
k -n+1 t
∑x
t
(1.131) y ( t ) = T dn (0 ) u (t )
∫ (t − Θ )dΘ.
(1) n ( k +1 )
+T x
Г (− n + i + 2 ) ( − n+ k +1 )
d
i =0
Г
0
(1.133) D ( p ) = y ( p ) x ( p ) = ( p ω u- 1 )( a+ j b )
(
, ω u =T d
- ( a + j b )
, D ( p )≡ ( p ωu
-1
)( a+ j b )
).
Случаят, при който n = a , ( b = 0 ) и a е реално цяло или дробно отрицателно число, оп-
ределя аналогично динамична система, наречена фрактален интегратор.
С писмо до l'Hôpital от 30 септември 1695 Leibniz дава следния отговор на въпроса му:
d
m
n
Γ ( n +1 ) n−m
(2.2) x = x .
d x
m
Γ ( n − m +1 )
През 1867 Grünwald [31] определя интегро-диференцирането в термините на безкрайна
форма от редове като (2.3) :
dα f ⎧⎪ [( x − a ) N ]−α N −1
Γ ( k −α ) ⎛ ⎛ x − a ⎞ ⎞ ⎫⎪ ,
(2.3) =lim
( d ( x − a ) )α N → ∞
⎨
⎪⎩ Γ (− q ) ∑
k =0
Γ ( k +1 )
f ⎜⎜ x − k ⎜
⎝
⎟ ⎟⎟ ⎬
⎝ N ⎠ ⎠ ⎪⎭
⎧ dα f ⎧⎪ ⎫⎪
k ⎛ α ⎞
N
⎪
⎪⎪ d x
α
=lim
δ x →0
⎨
⎪⎩
( δ x ) −α
k =0
∑
( − 1 ) ⎜
⎜ k ⎟
⎝
⎟
⎠
f ( x − k δ x ) ⎬ ,
⎪⎭
(2.4) ⎨ ,
⎪ ⎛ ⎛ α ⎞ α! ⎞
⎪ ⎜ α ∈ N 0 , C kα = ⎜⎜ ⎟⎟ = ⎟
⎪⎩ ⎜ k k ! ( α − k ) ! ⎟
⎝ ⎝ ⎠ ⎠
α
където C k е биномиален коефициент (броят на комбинациите от k елемента от клас α ).
Теорията на фракталния анализ, както и комплексът от основните подходи и методи в не-
го, е развивана от много математици. Но най-голяма в това отношение е заслугата на
compte Augustin-Louis Cauchy (1789-1857) и на Edouard Goursat (1858-1936). По-късно
Sonin през 1869 написва базов труд, озаглавен “Върху диференцирането от произво-
лен ред”, в който по същество формулира особеностите на оператор за интегриране, пре-
цизиран по-късно от Riemann-Liouville.
Впоследствие Letnikov [63] дава обяснение в четири поредни труда на основните поня-
тия и концепции в теорията на диференцирането от произволен ред, които са естествено
продължение на резултатите от работата на Sonin.
Изключително прецизна е монографията на Miller и Ross [82]. В нея за първи път се де-
финират фундаменталните особености на оператора на Riemann-Liouville. В тази връзка
следва да бъдат споменати и работите на Nishimoto [86,88] и Riesz [112].
Хронологична библиография на фракталния математически анализ е представена в мо-
нографията на Oldham и Spanier [93].
Кратка история на развитието на фундаменталната теория на фракталния анализ е публи-
кувана от Ross [113].
за α > 0 с 0 D t0 f (t ) = f ( t ) , където :
α −1
t
(2.7) 0 I t
α
f (t ) = Φ α ( t ) ∗ f ( t ); (2.8) Φ α ( t ) = +
, (α ∈ℜ ) +
.
Γ (α )
Този оператор е с развит от Oldham и Spanier (1974), Miller и Ross (1993), Srivastava и
Saxena (2002) като R oα , x :
1 t
(t )=
∫ ( t − u ) α −1 (u )d u ;
α −α
(2.9) R o , t f = D f f
(α )
0 t
Γ 0
α
t 1
∫ ( 1 − u ) α −1 (t u )d u ( ℜ ( α )> 0 ) .
α
(2.10) R o , t f = f ,
Γ (α ) 0
1 t (τ )f
(2.12) a I (t ) (t )
∫ d τ , ( α , a ∈ ℜ , α < 0 );
α −α
f ≡ aD t f =
(−α ) a ( t −τ )
t α +1
Γ
1 t f (τ )
(2.13) 0 I (t ) (t )
∫ dτ , ( α , a = 0 , 0 < α < 1 );
α −α
f ≡ 0D t f =
(−α ) ( t − τ ) 1−α
t
Γ 0
1 d
n t (τ )
f
(2.14) a D t (t )
∫ (n −1<α );
α
f = dτ , <n
Γ (n−α ) dt
n
a ( t − τ ) α −n+1
1 d
n t (τ )
f
(t )
∫ (n −1<α ) .
α
(2.15) Dt f = dτ , <n
(n −α ) ( t − τ ) α −n+1
0
Γ dt
n
0
⎧ d
2
f ′(t )− f ′(t − h )
⎪ f (x) ≡ f ′′ ( t ) = lim
⎪ dt
2
h→0 h
⎪
⎪ d 2
1 ⎛ f (t )− f (t −h ) f (t − h )− f ( t − 2h ) ⎞
(2.17) ⎨ 2
f ( x )= lim ⎜
⎜
− ⎟ ;
⎟
⎪ dt h→0 h ⎝ h h ⎠
⎪
⎪ d
2
f (t )− 2 f (t − h )+ f ( t − 2h )
⎪ 2
f ( x )= lim 2
⎩ dt h→0 h
d
3
f (t )−3 f (t − h )+ 3 f (t − 2 h ) − f (t −3h )
(2.18) 3
f (x) ≡ f ′′′ ( t ) = lim 3
;
dt h→0 h
n n
∑ (−1)
d 1 ⎛ n⎞
(2.19) f (x) ≡ f
( n )
(t ) = lim
j
⎜⎜ ⎟⎟ f (t − jh ) ,
⎝ j ⎠
n n
dt h→0 h j =0
∑ ⎛ α ⎞
1
(2.21) D t f α
(t )= lim α
(−1) j ⎜⎜ ⎟⎟ f (t − jh ) ,
h→0 h j =0
⎝ j ⎠
n−1 k −α
∑ Γ (k −α +1) f
t
(2.24) R Dt
α
f (t ) = C Dt
α
f (t )+ ( k )
(0 ) +
;
k =0
⎛ n−1 ⎞ k
∑f
t
(2.25) R Dt
α ⎜
⎜ f (t )− ( k )
(0 ) + ⎟
⎟ = C Dt
α
f (t ) .
⎜ k! ⎟
⎝ k =0 ⎠
1 ∞
(2.26) W xα, ∞ f = ( x )=
∫ ( t − x ) α −1 (t )d t ;
−α
x W ∞ f f
Γ (α ) x
α
x ∞
∫ ( u − 1 ) α −1 ( x u ) d u , ( ℜ ( α )> 0 ) .
α
(2.27) W x , ∞ f = f
Γ (α ) 1
−η −α
x x
Γ (α ) ∫
(2.28) T [ f ( x ) ] = T [ α , η : f ( x ) ] = T ( α , η ) f ( x ) = ( x − t ) α −1 t
η
f (t )d t ;
0
ζ
x ∞
Γ (α ) ∫
(2.29) R [ f ( x ) ] = R [ α , ζ : f ( x ) ] = R ( α , ζ ) f ( x ) = ( t − x ) α −1 t
−ζ −α
f (t )d t .
x
m
(x )
x
[ f ( x )] =
∫ (t )d t ;
−η − mα + m − 1 η m m α −1
(2.31) T x t −t f
Γ (α ) 0
1
(xu )d u
1
[ f ( x )]=
∫ ( 1 − u ) α −1
(η +1 ) ( m−1 ) 1 m
(2.32) T u f ;
Γ (α ) 0
1 ∞
(2.34) R [ f ( x )]=
∫ u −( ζ m )−α
( u − 1 ) α −1 f (xu 1 m
)du ,
Γ (α ) 1
1 1 1 1
f ∈L p (0 ,∞ ) , ℜ (α )>0 , ℜ (η ) > − , ℜ(ζ )> − , + =1 , p≥1 , m>0 .
q p p q
Впоследствие Fox [20] доказва, че няма съществена разлика между операторите на Erde-
lyi и на Kober. Това е видно от (2.35) и (2.36) [20] :
(2.35) T [ α , η : m : f ( x )]= T [α , m −1
(η + 1 ) − 1 : 1 : F ( x )] ;
(2.36) R [ α , ζ : m : f ( x )]= [
R α ,ζ m −1
: 1 : F ( x )] , ( f (x ( 1 m )
)= F ( x ) ).
Тази идентичност позволява към операторите да бъде приложена Mellin -трансформа-
цията с помощта на оператора M . Резултатите са показани с (2.37) и (2.38):
Γ [(β +1− s ) s ]
(2.37) M { T (α ,β :m )f (x) : s }= M { f (x) : s };
Γ [α + ( β + 1 − s ) s ]
Γ [(β + s ) m ]
(2.38) M { R (α ,β :m )f (x) : s }= M { f (x) : s },
Γ [α + ( β + s ) m ]
През 1966 Saxena [132] представя обобщение на операторите на Kober (2.28) и (2.29) под
формата на (2.39) и (2.40):
⎧ F [ f ( x )]= F [α , β ,γ ,m : f ( x )]
⎪ −γ −1
(2.39) ⎨ x x
;
∫ F1 (α ,β + m ; β ;t ) (t )d t
γ
⎪ = x t f
(1−α )
2
⎩ Γ 0
⎧ F [ f ( x )]= F [α , β ,δ , m : f ( x )]
⎪ δ
(2.40) ⎨ x ∞
,
∫ F1 (α ,β + m ; β ; x ) (t )d t
−δ −1
⎪ = t t f
(1−α )
2
⎩ Γ x
В последствие Kalla и Saxena [48,49] обобщават операторите (2.39) и (2.40) чрез използва-
нето на интегрални уравнения и въвеждат в тях важни свойства, някои от които са пока-
зани със (2.41) и (2.42):
⎧ F [ f ( x )]= F [ α , β , γ ; m , µ ,η , a ; f ( x )]
⎪⎪ −η − 1 x
µ x
(2.41) ⎨
⎪ =
∫ (
F1 α ,β + m ;γ ;a t
µ
x
µ
)t η
f (t )d t
;
(1−α )
2
⎪⎩ Γ
0
⎧ F [ f ( x )]= F [α , β ,γ ; m , µ ,δ , a ; f ( x )]
⎪ δ
(2.42) ⎨ µ x ∞
.
⎪ =
∫ (
2 F1 α , β + m ;γ ; a x
µ
t
µ
)t −δ −1
f (t )d t
⎩ Γ (1−α ) x
Операторите, изразени с (2.41) и (2.42), съществуват при условия, показани с (i) ÷ (iii):
+ q −1 = 1 , µ > 0 , a r g ( 1 − a )
−1
(i) 1 ≤ p , q < ∞ , p <π ;
⎧ 1
⎪ ℜ (α ) > 0 , ℜ (η ) > − , ℜ ( δ ) > − p −1 ;
(ii) ⎨ q
⎪ ℜ (1+ γ −α − β − m ) > 0 ,m∈N ;γ ≠ 0 ,− 1 ,− 2 ,..;
⎩ 0
(iii) f ( x )∈ L p ( 0 , ∞ ) .
Тези условия (i) ÷ (iii) са гаранцията за съществуването на F ( f ( x ) ) и R ( f ( x ) ) и за
тяхната принадлежност към функционалното пространство L p ( 0 , ∞ ) . Доказателството
се определя с помощта на три теореми (Теорема 1, Теорема 2, Теорема 3), които могат да
бъдат намерени в книгата “Специални математически функции и фрактални опера-
тори (справочно пособие), изд. ТУ София, 2004 г. (http://anp.tu-sofia.bg/Nicoloff/index.html).
⎧ ⎛ α , β ,γ ; ⎞
⎪ ⎜ ⎟
⎪ K [ f ( x )] = K ⎜ f ( x ) ⎟ =
⎪ ⎜ σ ,ρ ,a ; ⎟
(2.44) ⎨ ⎝ ⎠ .
⎪ xσ ∞ ⎛ ⎛ x ⎞⎞
⎪ =
∫ ( t − x ) ρ −1 F1 ⎜ α ,β ;γ ;a ⎜ 1− ⎟⎟ f (x)
−σ − ρ
t dt
⎪ Γ ( ρ )
2
⎜ ⎜ t ⎟⎠ ⎟⎠
⎩ x ⎝ ⎝
като необходимите и достатъчни условия за съществуването на тези оператори (2.43) и
(2.44) са отразени в (i) ÷ (iv):
(i) 1 ≤ p , q < ∞ , p −1
+ q −1 = 1 , µ > 0 , a r g ( 1 − a ) <π ;
(ii) ℜ ( α ) > − p −1
, ℜ(δ ) > − q −1 , ℜ(ρ )> 0;
(iii) ℜ ( γ − α − β ) >0 ;
(iv) f ( x )∈ L p ( 0 , ∞ ) .
Възможностите на операторите (2.43) и (2.44), изследвани от Saxena и Kumbhat [143], са
свързани пряко със зависимостта им от известните интегрални трансформации от типа
на Mellin-, Laplace-, и Hankel -трансформациите. Зависимостта (2.43) е разгледана
най-напред от Love [64,65]. В частния случай, когато α = σ + ρ , (2.43) води до оператор,
разгледан от Saigo [119,124,120-123,125-129]. Изследванията на Saigo са върху възмож-
ностите на оператора и техните приложения, които могат да се представят както следва.
Допуска се, че α , β и η са комплексни числа, както и че x ∈ ℜ + = ( 0 , ∞ ) . Фракталният
интеграл ( ℜ ( α ) > 0 ) и фракталната производна ( ℜ ( α ) < 0 ) от първи клас на фун-
кцията f ( x ) на ℜ + са определени с (2.45) и (2.46) :
⎧ x
−α − β x
⎪ I (x)
∫ ( x − t ) α −1
α , β ,η
f = ×
(α )
0 ,x
⎪⎪ Γ
(2.45) ⎨ 0
⎪ ⎛ t ⎞
⎪ × F1 ⎜ α + β ,−η ;α ;1 −
⎜
⎟ f (t ) dt, ( ℜ (α )>0 )
x ⎟⎠
2
⎪⎩ ⎝
n
d
(2.46) I α , β ,η
0 ,x f (x) = n
I
α + n , β − n ,η − n
0 ,α f (x) , ( 0 < ℜ ( α ) + n ≤ 1 , ( n∈ N ) ) 0
d x
Фракталният интеграл ( ℜ ( α ) > 0 ) и фракталната производна ( ℜ (α ) <0 ) от втори
клас на функцията f ( x ) на ℜ + се определят с (2.47), (2.48) :
⎧ 1 ∞
(x)
∫ ( t − x ) α −1
α , β ,η −α − β
⎪ J f = t ×
(α )
x ,∞
⎪ Γ x
(2.47) ⎨ ;
⎪ ⎛ x ⎞
⎪ × 2 F1 ⎜ α + β ,−η ;α ;1 −
⎜
⎟ f
⎟
(t ) dt, (ℜ (α )> 0 )
⎩ ⎝ t ⎠
n
d
(2.48) J α , β ,η
x ,∞ f (x) =(−1) n
n
I
α + n , β − n ,η
x ,∞ f (x) , ( 0 < ℜ ( α ) + n ≤ 1 , ( n∈ N ) ) . 0
d x
∫ ( x − t ) α −1 (t ) (ℜ (α )>0 )
α α , − α ,η
⎪ R f =I f = f dt ,
(α )
0,x 0 ,x
⎪ Γ 0
(2.49) ⎨ n
;
⎪ d
⎪ = n
R α +n
0 ,x f , (0 < ℜ (α )+ n ≤ 1 ,(n∈ N )) 0
⎩ d x
⎧ 1 ∞
∫(t − x ) (t ) (ℜ (α )> 0 )
α α , − α ,η α −1
⎪ W f =J f = f dt ,
(α )
x ,∞ x ,∞
(2.50) ⎪ Γ x
;
⎨ n
⎪ d
⎪ =(−1)
n
n
W
α +n
x ,∞ f , (0 < ℜ (α )+ n ≤ 1 ,(n∈ N )) 0
⎩ d x
− α −η
x x
∫ ( x − t ) α −1 t η (t ) (ℜ (α )> 0 ) ;
α ,η α , 0 ,η
(2.51) E f =I f = f dt ,
(α )
0 ,x 0 ,x
Γ 0
η
x ∞
∫ (t − x ) (t ) (ℜ (α )> 0 ) .
α ,η α , 0 ,η α −1 − α −η
(2.52) K f =J f = t f dt ,
(α )
x ,∞ x ,∞
Γ x
∫ ∫ (x )
(2.53) ⎨ = ⎪ 1 n
η δ −1
;
⎨ .... t j
−t j
×
⎪⎩ Γ ( δ j ) j j j
⎪ j =1
0 0
⎪
⎪ ⎡ ⎛ ⎞ ⎤ ⎡⎛ t ⎞⎤ ⎫
⎪ × F1 ⎢α ,β ,δ , a ⎜ 1− t j ⎟ ⎥ f [ (t ) ] φ ⎢ ⎜⎜ ⎟ ⎥ d t 1 ....d t ⎪
2 j j j j
⎜ ⎟ ⎟ n ⎬
⎪ ⎢ x ⎥ ⎢⎣ ⎝ x ⎠ ⎥⎦ ⎪⎭
⎩ ⎣ ⎝ j ⎠ ⎦
и
⎧
⎪
⎪
⎪ K { f [ ( x ) ] }= K { α j ,β j ,ζ j ,γ j , a j; f [ ( x ) ] }=
⎪ ρ
n ⎧
∏
⎪ x j j ∞ ∞
∫ ∫ (t )
⎪ −ζ −γ γ −1
(2.54) ⎨ = ⎨ .... t j j
−x j
× ,
⎪⎩ Γ ( γ ) j j j
⎪ j =1 j x 1 x n
⎪
⎪ ⎡ ⎛ x ⎞ ⎤ ⎡ ⎛ x ⎞⎤ ⎫
⎜ 1− ⎟ ⎪
⎪ × 2 F1 ⎢α j ,β j ,γ j ,a j
⎜
j
⎟
⎥ f [ (t ) ] φ ⎢ ⎜ ⎟ dt
⎜ t ⎟⎥ 1 ....d t n ⎬
⎪ ⎢ t ⎥ ⎣⎢ ⎝ ⎠ ⎥⎦ ⎪⎭
⎩ ⎣ ⎝ j ⎠ ⎦
където ядрото φ [ ( t ) ] се предполага да е такава непрекъсната функция, че интегралите
да имат смисъл за широк клас функции f [ ( x ) ] ; α j , β j ,γ j ,δ j , η j , ζ j , или комп-
лексни числа.
Функцията f [ ( t ) ] е използвана в (2.53), (2.54), за да се представи символично функци-
ята f ( x 1 , x 2 , . . , x n ) , а функцията φ [ ( t x ) ] - за да се представи символично фун-
кцията φ ( t 1 x 1 , t 2 x 2 , . . . , t n x n ) . Тук j се променя от 1 до n . Операторите,
определени с (2.53) и (2.54), съществуват при следния набор от условия (i) ÷ (iv):
−1 −1
(i) 1 ≤ p j , q j <∞, p +q =1;
(ii) ℜ ( η j )> − q −1
j , ℜ (δ j )> 0 , ℜ(β j )> 0 ;ℜ (δ j −α j −β j ) >0;
(iii) ℜ ( ζ j )>− p −1
j ;ℜ (γ j )> 0 ; ℜ ( γ j −α j −β j ) >0;
(iv) f [ ( x ) ]∈ [ L p ( 0 , ∞ ) ] ; j
j = 1 , 2 , . . . , n.
С помощта на L [ p j
( 0 , ∞ ) ] е означено пространството на Lebesgue от интегрируеми до
p j -ти ред функции на n броя променливи по отношение на всяка една от променливите
x j . Това пространство на Lebesgue е със смесена норма и е разгледано от Samko [131].
Той определя фундаментални свойства на операторите, включвайки Mellin -трансфор-
мации и формули на инверсията.
Операторите на Kalla [43,44] също могат да бъдат получени от (2.53) и (2.54) след пре-
цизиране на параметрите при n = 1 .
Друга двойка многомерни оператори, свързана с хипергеометричната Gauss -функция,
разгледана от Saxena и Modi [144], е непосредствено обобщение на двойката оператори
на Mathur и Krishna [77].
⎧ ∞ ⎛ ax α , 1−β +l a ,...,a ⎞
( x )=
∫ ⎜ ⎟ t (t )d t
η 1 p −η − 1
⎪ K f Ax G m ,n
f ,
⎪⎪
α p + 2 ,q + 2
⎜ t γ , 1−β b1 ,...,b q ⎟
(2.56) x ⎝ ⎠ .
⎨
⎪ ⎛
⎜ A=
(β ) Γ ⎞
⎟
⎪ ⎜ ⎟
⎪⎩ ⎝ Γ (α )Γ (1−α )Γ ( β −l ) ⎠
⎛ a 1 ,...,a p ⎞ 1
∏Γ (b j −s ) ∏Γ (1− a j +s )
(2.57) G
∫ ,
j =1 j =1
m ,n
⎜ x ⎟= x
s
d s
p, q ⎜ b1 ,...,b q ⎟
⎠ 2π i
q p
⎝
L
∏Γ
j=m+1
(1 − b j +s ) ∏Γ
j=n+1
(a j −s )
∏Γ
j =1
(b j − s ) , полюсите на
∏Γ j =1
(1 − a j +s )
и от полюсите на подинтегралния израз в (2.57), предполагайки че са прости полюси. Въз-
можностите за използването на Meijer G -функцията подробно са анализирани от
Mathai и Saxena [75].
Операторите за фрактално интегриране, дефинирани от Kiryakova [53], с използването на
Meijer G -функцията като ядро, са разгледани с помощта на интегралите (2.58) и (2.60):
⎧ 1
⎛ (γ +δ ⎛ 1
) ⎞⎟ ⎞
∫
⎪ R[ f (γ ),( δ k ) ⎜ ⎟
( x )]= R ( x )= m ,0
⎜ u k k β
⎟⎟ d u =
f G
(γ ) ⎟⎠ f ⎜⎜ x u
k
⎪ β ,m m ,m
⎜
(2.58) ⎪
0 ⎝ k
⎝ ⎠ ,
⎨
⎪ ⎛ ⎛ t ⎞
β
( γ k + δ k ) ⎞⎟
( )
x
∫
⎜
⎪ =x −β
G m ,0
⎜ ⎟ (t ) β
⎪ 0
m ,m ⎜⎜ ⎜ x ⎟
⎝ ⎠ ( γ k ) ⎟⎟ f d t
⎩ ⎝ ⎠
където m ∈ N , β > 0 , δ (k = 1 , . . , m ); {γ } ; {δ }
m m
k >0 k k =1 k k =1
са реални числа. Опе-
раторът R е определен в пространството от функции (2.59) с
α = m a x [− β (γ k + 1 )]
1≤ k ≤ m
(2.59) C α = f ( x )= x f ( x );α , f ∈C [0 ,∞ ] ;
⎧
⎪
⎪ {γ k }, { α k }
⎪ W [ f ( x )] = W β ,m f ( x )=
⎪ ∞ ⎛ 1 (τ +α +1) ⎞
⎪
(2.60) ⎨ =
∫ G
m ,0
m ,m
⎜
⎜ u
k
(τ +1)
k
⎟ f
⎟
(xu 1 β
)du ,
⎪ 1 ⎝ k ⎠
⎪
⎪ ∞ ⎛ ⎛ x ⎞
β
(τ +α + 1 ) ⎞⎟
⎪ =x
−β
∫ G
m ,0
m ,m
⎜
⎜⎜
⎜ ⎟
⎜ t ⎟
k
(τ +1)
k
⎟⎟ f (t ) d (t ) β
⎪ x
⎝ ⎝ ⎠ k
⎠
⎩
където m ∈ N , { τ k } m
k =1
и {α k } m
k =1
са реални числа и α k >0 (k = 1 , . . , m ) . Операто-
рът W е определен в пространството от функции (2.61) с α *
(2.61) C α* * = {f ( x )= x q
*
g (x) ; q *
< α *
, g ∈C [0 ,∞ ] , g ≤ Ag }
α *
=min β (τ ) k
1≤ k ≤ m
⎪
⎢z
⎢⎣ (b ,Bq ) ⎥⎥⎦ = H p ,q ⎢z
⎢⎣ (b ,B1 ),..., (b ,Bq ) ⎥⎥⎦ =
(2.62) ⎪⎨
q 1 q
,
⎪ = 1
∫
χ (s)z s
d s
⎪ 2 π i
⎪⎩ L
∏ Γ (b j −B j s ) ∏ Γ (1 − a j + A j s )
χ (s ) j =1 j =1
= q p
.
∏Γ ( 1 − b
j =m+1
j +B j s ) ∏Γ (a
j =n+1
j − A j s )
Освен това резултатът винаги се интерпретира като единица, тъй като m , n , p , q са та-
кива цели неотрицателни числа, които за
0 ≤ n ≤ p и 1 ≤ m ≤ q; A j ( j = 1,.., p ) и B j ( j =1 ,..,q )
са положителни, а a j ( j = 1 , . . , p ) и b j ( j = 1 , . . , q ) са комплексни числа, като
A j ( b h + ν ) ≠ B h ( a j − λ − 1 ) , ( ν , λ = 0 , 1 , 2 , . . ; h =1 , . . , m ; j = 1 , . . , n ) .
Контурът L е такъв, че полюсите на Γ ( b j − B j s ) ( j = 1 , . . , m ) се различават от по-
люсите на Γ ( 1 − a j + A j s ) ( j = 1 , . . , n ) . Приема се, че полюсите на подинтегралния из-
раз са прости. Ако се използва заместването (2.63) :
n p m q
(2.63) Ω = ∑A
j =1
j − ∑A
j=n+1
j + ∑B j =1
j − ∑B
j =m+1
j >0 ,
µ = ∑B j =1
j − ∑A
j =1
j >0 и 0< z < ∞
или
p q
µ = 0 и 0< z < R : =
∏A j= 1
−A
j
j
∏B
j =1
−B
j
j
.
и
∞
⎡ (a )⎤
(2.65) K δ ,α
x ,r [ f ( x )]= r x δ
∫ t −δ −rα −1
(t r
−x r
) α
H M ,N
P ,Q ⎢kV
(b
P ,AP
,BQ ) ⎥⎦⎥ f ( x ) d t
,
x ⎣⎢ Q
⎧ ℜ [η + ( r m b β )]> − q −1
, ℜ α +(r mb [ β )]> − q −1
>0 ,
(ii) ⎪⎨ j j j j
⎪⎩ [
ℜ δ +α + (r mb j β j )]> p −1
( j =1,..,M );
(iii) f ( x )∈ L p ( 0 , ∞ ) .
Фундаменталните свойства на R и K операторите, свързани с Mellin -трансформаци-
ите, са анализирани от Saxena и Kumbhat [142].
Два оператора за фрактално интегриране, използващи Fox H -функция, са въведени от
Kalla [41,42]. Те притежават интересни свойства, някои от които са представени, както
следва.
Операторите за фрактално интегриране на Kalla [41] са определени с (2.66) и (2.68) :
⎧ R [ f ( x ) ] = R γm, ,rn;,ap , q, ,Aa ; b , B [ f ( x )]=
⎪ j j j j
⎪
(2.66) ⎨
x
⎡ ⎛ y ⎞
r
(a ,AP ) ⎤⎥ ,
H p ,q ⎢ a ⎜
∫ ⎟ (y)
−γ −1 P γ
⎪ =x ΓR m ,n
⎪ ⎢
⎣
⎜ x ⎟
⎝ ⎠ (b Q ,BQ ) ⎥⎦ y f d y
⎩ 0
в който r > 0 , и
−1
⎧ q ⎫ ⎧ m p ⎫
(2.67) Γ R
⎪
=⎨r
⎪⎩
∏ j =1
Γ (1 − b j )⎬
⎪
⎪⎭
⎪
⎨
⎪⎩
∏ Γ (a ) ∏ Γ (1 − a
j =1
j
j =1
j ) ⎪
⎬
⎪⎭
;
⎪
(2.68) ⎨
∞
⎡ ⎛ x ⎞ s
(c ,C ) ⎤⎥ ,
∫ ⎢ b ⎜ ⎟ (y)
δ v v −δ −1
= x Γ H t ,u
⎪
⎪
S v ,w
⎢
⎣ ⎝
⎜ y ⎟
⎠ (d w ,D w ) ⎥⎦ y f d y
⎩ x
в който s > 0 , и
−1
⎧ w ⎫ ⎧ t v ⎫
(2.69) Γ S
⎪
=⎨s
⎪⎩
∏ Γ (1 − d
j =1
j ) ⎪⎬
⎪⎭
⎪
⎨
⎪⎩
∏ Γ (c ) ∏ Γ (1 − c
j =1
j
j =1
j ) ⎪
⎬
⎪⎭
,
(2.70) a D α
z {a f (z) + bh(z )}= aaD α
z f (z) + ba D α
z h(z ) .
● За фракталните интеграли от произволен ред α > 0 , β > 0 , ( R e ( α ) , R e ( β ) ) е в си-
ла адитивният закон, изразен с (2.71):
(2.71) a D z
−α
a D z
−β
f (z) = a D z
−( α +β )
f ( z ).
(2.73) L {D α
f (t ) }=p α
F ( p )− ∑p
k =0
k
[D α −k −1
f ( t ) ] t =0 , (n −1≤α <n ).
(2.75) L {D α
f (t ) }=p α
F ( p )− ∑p
k =0
α −k −1
f
( k )
(t ) , (n −1≤α <n ).
∑b
m
β k
k p
(p) y bm p
β m
+ b m−1 p
β m −1
+⋅⋅+ b0 p
β 0
(3.2) G ( p )= = =
k =0
,
u( p)
α α α
∑a
+a +⋅⋅+ a0 p
n n −1 0 n
a n p n−1 p α k
k p
k =0
където:
⎛ ⎛ ⎞⎞
p = σ + j ω , ⎜⎜ p = Re p + j Im p ; ⎜⎜ Re p = σ , Im p = ω , j = − 1 ⎟⎟ ⎟⎟
⎝ ⎝ ⎠⎠
е комплексната променлива; u ( p ) е входната величина, а y ( p ) - изходната величина
на фракталната система, а α k ( k = 0 , . . , n ) , β k ( k = 0 , . . , m ) са произволни положител-
ни дробни числа. Без загуба на общност в разглеждането се приема, че
α n > α n − 1 > ⋅ ⋅ > α 0 , и че β m > β m − 1 > ⋅ ⋅ > β 0 .
∑ Γ ( n k +1 ) ; ∑ Γ ( α k +1 ) .
k k
x z
(3.8) E n ( x )≡ (3.9) E α ( z ) ≡
k =0 k =0
фиг.3.1.a
фиг.3.1.b
⎛ 1 2 n−1 x ⎞
(3.12) E n ( x )= 0 F n−1 ⎜ ; , , . . . ,
⎜ n n
; n ⎟ ;
⎟
⎝ n n ⎠
⎛ 1 2 α −1 z ⎞
(3.13) E α ( z )= 0 F α −1 ⎜ ; ,
⎜ α α
,..., ; α ⎟ .
⎟
⎝ α α ⎠
Mittag-Leffler -функцията е създадена във връзка с решаването на фрактални интеграл-
ни уравнения и по-конкретно при изучаването на фракталното обобщение на кинетичното
уравнение. Обикновената и обобщената Mittag-Leffler-функция интерполират между пре-
цизния експоненциален закон и на подобни на него с поведението си явления, описвани с
кинетични уравнения и техните фрактални аналози.
За цели числа α = n стойностите на Mittag-Leffler -функцията са показани с (3.14) ÷ (3.18).
1 ⎛ ⎞
(3.14) E 0 ( x )= ; (3.15) E 1 ( x )=e x ; (3.16) E 2 ( x ) = cosh ⎜⎜ x ⎟⎟ ;
1− x ⎝ ⎠
⎡ ⎤
1
1 ⎢
−x
⎛ 1 ⎞ ⎥
1 3 1
1 ⎡ ⎛ ⎞ ⎛ ⎞ ⎤
1 1
⎧ ⎛ 1 2 n−1 z 2
⎞
⎪ E n 2 ( z )= F n−1 ⎜ ; , ,..., ; ⎟+
⎪
0
⎜ n n n n n ⎟
⎪ ⎝ ⎠
(3.20) ⎨ n+1 .
⎪ 2 2 z ⎛ n+2 n+3 3n z 2
⎞
⎪ + Fα ⎜ 1; , ,.., ; ⎟
⎪
1
⎜ 2n 2n 2n n n ⎟
⎩ n!! π ⎝ ⎠
∞ ∞
∑ Γ ( m k +n ) ; ∑ Γ (α k +β )
k k
x z
(3.21) E m ,n ( x )≡ (3.22) E α , β ( z )≡ ,
k =0 k =0
( z ) = c o s h ⎛⎜⎜ ⎞
e
(3.25) E 1 , 2 ( z )= ; (3.26) E 2 ,1 z ⎟⎟ ;
z ⎝ ⎠
⎛ ⎞
s i n h ⎜⎜ z ⎟⎟
⎝ ⎠
(3.27) E 2 ,2 ( z )= ;
z
2 ⎛ ⎞
(3.28) E 1 2 ,1 ( z )= e −z
e r f c ⎜⎜ − z ⎟⎟ ;
π ⎝ ⎠
∞
∑ Γ ( α k +1 ) ≡ E
k
z
(3.29) E α , 1 ( z )≡ α ( z ) ,( β =1) .
k =0
(3.33) ε k (t , y ;α ,β ) =t α k + β −1
E α( k, β) ( y t α
) , (k = 0 ,1 ,2 ,... ) .
(3.35) D ( t
0 E( ) (z) )
µ
t
α k + β −1 k
α ,β = t α k + β −µ −1
E α( k, β) − µ (z) .
∫ (t )
−t β −1 α
1
(3.36) e t E α ,β z dt =
0 z−1
∞ −β
∫ (a t )d t
β −1 α
p
(3.37) pt
=
(1 − a p )
e t E α ,β −α
0
за R [ p ] > a и за R [ β ] > 0 .
1 α
∫ ( )d t
α k + β −1 ( k ) α
k! p
(3.38) e pt
t E ±a t = ,
(p )
α ,β k +1
α
0 ma
∫
k! p
(3.39) e − pt
ε (t , ± y ;α ,β )d t = .
(p )
k k +1
α
0 ma
(3.40) L = D
~ ~ n
+a n−1 ( t ) D~ n − 1 + ..+ a 1 ( t ) D~ + a 0 ( t )
с непрекъснати променливи a i ( t ) за i = 0 , 1 , . . , n − 1 в интервала I , като се приема,
че в случая се търси решението y ( t ) на уравнението (3.41) :
(3.41) L y ( t ) = h ( t ) ,
~
(3.42) y ( t ) = g (h(t ))
Уравнението (3.42) е уравнение на свиването във формата на (3.43) :
(3.43) y = g ∗ h ,
така че решението на уравнението (3.40) е във формата на (3.44) :
∫
t
h ( t ) = δ ( t ) , следва (3.45) :
∫
t
~
Решението L φ = f е във формата на (3.48) :
(3.48) φ ( r ) =
∫ G ( r , r′ ) f ( r′ ) r′ .
3
d
(3.49) G ( r 1 , r 2 ) = ∑a
n=0
n ( r )φ ( r )2 n 1
и делта-функцията (3.50) :
∞
(3.50) δ 3
(r 1 − r2 )= ∑ b n φ n (r ). 1
n=0
(3.51)
∫ φ m ( r )δ ( r
2
3
1 − r2 )d 3
r1 = ∑b ∫φ
n=0
n m ( r )φ ( r ) d
2 n 1
3
r1 ;
(3.52) φ m ( r )= ∑ b
2 n δ nm = bm ,
n=0
определя (3.53) :
∞
(3.53) δ 3
(r 1 − r2 )= ∑φ
n=0
n ( r )φ ( r ) .
1 n 2
(τ ) dτ
∫
t
1 f 1
(3.57) y ( t ) = = D t− α f (t )
(α ) (t −τ ) 1−α 0
aΓ 0 a
1
(3.62) g 3 ( p )= β α
.
a p +b p + c
Приемайки β > α , то функцията g 3 ( p ) може да бъде записана под формата на (3.63) :
⎧ 1 ⎛ cp
−α
⎞ 1
⎪ g ( p )= ⎜ ⎟ =
⎪ c ⎜⎝ a p ⎟ ⎛
3 β −α −α
+b ⎠ ⎜ cp ⎞
⎪ 1+ ⎟
⎪⎪ ⎜ a p β α +b
− ⎟
⎝ ⎠
(3.63) ⎨ k +1
.
∞ −α k −α
⎪
∑( − 1 )
1 ⎛ c ⎞ p
⎪ =
k
⎜ ⎟
⎜ a ⎟ k +1
⎪ c ⎝ ⎠ ⎛ b ⎞
⎪
k =0
⎜p β −α
+ ⎟⎟
⎪⎩ ⎜
⎝ a⎠
( )
∞
∫ (± a t ) d t
k! p
(3.64) e − pt
t α k + β −1
E α ,β k α
= , Re ( p )> a
1 α
0 (p α
ma ) k +1
∑
1 ⎛ c ⎞ ⎛ b ⎞
(3.65) G 3 (t ) = ⎜ ⎟
⎜ a ⎟
t
β ( k +1 )−1
E β − α , β + αk
⎜ − t
⎜ a
β −α
⎟.
⎟
a k =0
k! ⎝ ⎠ ⎝ ⎠
∑( − 1 )
1 ⎛ c ⎞ ⎛ b ⎞
⎪ G (t ) =
k
⎜ ⎟
⎜ a ⎟
(−1) j
⎜ ⎟
⎜ a ⎟
=
⎪ (β ( j + k + 1 )−α j)
3
c ⎝ ⎠ ⎝ ⎠ k! j!Γ
(3.68) ⎪ k =0 .
⎨ ∞
⎛ −b ⎞
j ∞ k +1
( j + k )! t β ( j + k )+ β −1−α j
c ∑ ⎜⎝ ∑( − 1 )
⎪ 1 ⎛ c ⎞
⎪ = ⎜ ⎟ k
⎜ ⎟
⎪⎩ j =0
a ⎟⎠ k =0
⎜ a ⎟
⎝ ⎠ k! j!Γ (β ( j + k + 1 )−α j)
(3.69) a 0 D tγ y ( t ) + b 0 D tβ y ( t ) + c 0 D tα y ( t ) + d y ( t ) = f (t )
е определена с обратната Laplace -трансформация на функцията (3.70) :
1
(3.70) g 4 ( p )= γ β α
.
a p + b p + c p +d
Приемайки γ > β > α , то функцията g 4 ( p ) може да бъде записана като (3.71) :
⎧ 1 1
⎪g ( p )= =
⎪
4
(a p γ
+ b p β
) ⎛
⎜1 +
c pα +d ⎞
⎟
⎪ ⎜ ⎟
⎪ ⎝ a pγ + b p β
⎠
⎪ −1 −β
⎪ a p 1
= =
⎪
⎪⎪ (p γ −β
+ a −1
b ) ⎛
⎜1 +
a −1
c p α −β
+a −1
d p −β
⎞
⎟
(3.71) ⎨ ⎜ γ −β −1 ⎟ .
⎪ ⎝ p + a b ⎠
⎪ ∞ −1 −β m−k
∑(−1) ∑
m k
⎪
a p ⎛ m⎞ c d α k−β m
=
m
⎜⎜ ⎟⎟ p =
⎪
⎪ m=0
(p γ −β
+ a −1
b ) m+1
k =0
⎝ k ⎠ a m
⎪ ∞ m k α k−β m−β
∑(−1) ∑
⎛ d ⎞ ⎛ m ⎞ ⎛⎜ c ⎞⎟
m
⎪ 1 p
=
m
⎜ ⎟ ⎜⎜ ⎟⎟
⎪
⎪⎩ a m=0
⎜ a ⎟
⎝ ⎠ k =0
⎝ k ⎠ ⎜⎝ d ⎟⎠ (p γ −β
+ a −1
b ) m+1
a ∑ ∑
⎞ ⎛ c ⎞ ⎛ b ⎞
m
(3.72) 1 ⎛m⎞ ⎟.
G4 (t ) = ⎜ ⎟ ⎜⎜ ⎟⎟ ⎜ ⎟ t γ ( m+1 ) −α k −1
E γ( −mβ) , γ + β m − α k ⎜ − t γ − β
m=0
m ! ⎜⎝ a ⎟
⎠ k =0
⎝k⎠ ⎜ d ⎟
⎝ ⎠
⎜ a
⎝
⎟
⎠
y (t )+ a y (t )+ .. + a 1 Dt y (t )+ a0 Dt y (t )= f ( t ),
β β β β
(3.74) a n Dt n
n−1 Dt n−1 1 0
Приемайки β n >β n−1 > ...> β 1 > β 0 , то функцията g n ( p ) може да бъде записана
като (3.76) :
⎧ 1 1
( p )= =
⎪ gn
(a β
+ a
β
) n−2
∑a
⎪
n n 1
n p n−1 p β
⎪
k
k p
⎪ k =0
⎪ 1+
(3.76) β β ,
⎪⎪ + a
n n 1
a n p n−1 p
⎨ n−2
⎪ −β n−1 + ∑( β i − β n − 1 ) k i
⎪ ∞ n−2
⎛ ai ⎞
k
∑( − 1 ) ∑( m ; k
i
)∏
i =0
1 ⎜ ⎟ p
⎪ = m
,k ,..,k
⎪ 0 1 n−2
⎜ a ⎟ m+1
⎪
a ⎝ n ⎠ ⎛ a ⎞
m=0 k 0 + k 1 + ..+ k n − 2 = m
k 0 ≥0 , . . , k n − 2 ≥ 0
i =0
⎜ p β n −β n −1
+
n−1 ⎟
⎪ ⎜ ⎟
⎪⎩ ⎝ a n ⎠
∑ ∑( m ; k
⎞
) продължава
1
⎪ G (t ) = ⎜
⎜ a
⎟
⎟
,k ,..,k n−2
⎪
n 0 1
a m! ⎝ ⎠
⎪
n m=0 k + k 1 + ..+ k =m
0 n − 2
0 ≥0 , . . , k n ≥0
⎪
k − 2
⎪ n−2
⎛ a ⎞
k
(3.77) .
i
∏
⎪ ⎜ i ⎟ (β n − 1 −β j )m+β n + ∑
n − 2
j = 0
(β n − 1 −β j ) k j −1
⎨ ⎜ a ⎟
t продължава
⎪ i=0 ⎝ n ⎠
⎪
⎪ ⎛ a n−1 ⎞
⎪ E
( m ) ⎜ − t
β n −β n − 1 ⎟
⎪ β n − 1 −β ,+ β + ∑
n − 2
(β n − 1 −β ) k ⎜ a n ⎟
⎝ ⎠
j n j = 0 j j
⎪
⎩
(3.78) G ( z
( ) −1
bm ϖ ( (z )) −1 β
+ b m−1 ϖ ( (z )) −1 β m −1
+⋅⋅+ b0 ϖ ( (z )) −1 β
)=
m 0
y z
−1
= ,
u(z ) (ϖ ( z ) ) (ϖ ( z ) ) (ϖ ( z ) )
−1 −1 α −1 α −1 α
+a +⋅⋅+ a0
n n −1 0
a n n−1
(3.79) ;
( z = Re z + j Im z ; ( Re z = e T 0 σ
c o s ω T , Im z = e
T 0 σ
sin ω T ))
(3.80) z = e ; p = T 0− 1 l n z .
T 0 p
⎛ 2 ( 1 − z ) ⎞⎟ −1
±α
(3.83) p ±α
≡D ±α
= ϖ ( ( z )) −1 ±α
= ⎜ − Tustin ;
⎜ T
⎝ 0 ( 1 + z ) ⎟⎠ −1
⎛ 3 ( 1 + z ) ( 1 − z ) ⎞⎟
−1 −1
±α
(3.84) p ±α
≡D ±α
= ϖ ( ( z )) −1 ±α
= ⎜ − Simpson ;
⎜ T
⎝ 0 ( 1 + 4 z + z ) ⎟⎠−1 −2
⎛ 8 ( 1 − z ) ⎞⎟ −1
±α
(3.85) p ±α
≡D ±α
= ϖ ( ( z )) −1 ±α
= ⎜ − Al - Alaoui .
⎜ 7T
⎝ 0 ( 1 + ( z 7 ) ) ⎟⎠
−1
⎡ 2 ( 1 − z ) ⎤⎥ −1
α
⎛ 2 ⎞
α
α
= ⎢ α
=⎜ ⎟ (1 − 2 α z −1
+ 2α 2 −2
⋅⋅⋅⋅ )
( 1 + z ) ⎥⎦
p p z
⎢⎣ T 0 −1 ⎜ T ⎟ Tustin
Tustin ⎝ 0 ⎠
⎡ 3 (1 + z )(1 − z )
−1 −1
⎤
α
⎛ 3 ⎞
α
α
= ⎢ ⎥ α
≈⎜ ⎟ (1 − 4 α z −1
+ 2α (4α +3)z −2
⋅⋅⋅⋅ )
(1 + 4 z + z )
p p
⎢⎣ T 0 −1 −2
⎥⎦ ⎜ T ⎟ Simpson
Simpson ⎝ 0 ⎠
фрактален оператор за апроксимация на оператора
p → z трансформация с ред на Padé с ( m = n = 1 )
α α
⎡ 1 ⎤ ⎛ 1 ⎞ ⎛ 2 − (α + 1 ) z −1
⎞
p
α
= ⎢ (1 − z ) −1
⎥ p
α
≈ ⎜ ⎟
⎜ T ⎟
⎜
⎜ 2 +( α + 1 ) z
⎟
⎟ Euler
⎢⎣ T 0 ⎥⎦ Euler ⎝ 0 ⎠ ⎝
−1
⎠ Grünwald
Grünwald
Letnikov Letnikov
⎡ 2 ( 1 − z ) ⎤⎥ −1
α
⎛ 2 ⎞
α
⎛ 1−α z −1
⎞
α
= ⎢ α
≈ ⎜ ⎟ ⎜ ⎟
( 1 + z ) ⎥⎦
p p
⎢⎣ T 0 −1 ⎜ T ⎟ ⎜ 1+α z −1 ⎟
Tustin ⎝ 0 ⎠ ⎝ ⎠ Tustin
⎡ 3 (1 + z )(1 − z )
−1 −1
⎤
α
⎛ 3 ⎞
α
⎛ 2 − (4 α − 3 ) z −1
⎞
α
= ⎢ ⎥ α
≈ ⎜ ⎟ ⎜ ⎟
(1 + 4 z + z )
p p
⎢⎣ T 0 −1 −2
⎥⎦ ⎜ T ⎟ ⎜ 2 − (4 α − 3 ) z −1 ⎟
Simpson ⎝ 0 ⎠ ⎝ ⎠ Simpson
продължение на Табл.3.1
фрактален оператор за апроксимация на оператора
p → z трансформация с ред на Padé с ( m = n = 2 )
α
⎡ 1 ⎤ α
⎛ 12 − 6 ( α + 2 ) z ( )
(1 − z )
⎛ 1 ⎞ −1
+ α 2
+ 3α + 2 z −2
⎞
≈ ⎜ ⎟ ⎜ ⎟
α −1
p = ⎢ ⎥ α
+ (α + 3α + 2 )z
p
⎢⎣ T 0 ⎥⎦ Euler ⎜ T ⎟ ⎜ 12 + 6 ( α + 2 ) z −1 2 −2 ⎟ Euler
Grünwald
⎝ 0 ⎠ ⎝ ⎠ Grünwald
Letnikov
Letnikov
⎡ 2 (1 − z ) −1
⎤
α
⎛ 2 ⎞
α
⎛ 3 − 3α z −1
(
+ α 2
)
−1 z −2
⎞
≈ ⎜ ⎟ ⎜ ⎟
α
= ⎢ ⎥ α
(1 + z ) + (α −1)z
p p
⎜ T ⎟
⎢⎣ T 0 −1
⎥⎦ ⎜ 3 + 3α z −1 2 −2 ⎟
Tustin
⎝ 0 ⎠ ⎝ ⎠ Tustin
⎛ (
64 α 4 − 144 α 3 − 92 α 2 + 177 α + 28 z − 2 + ) ⎞
α
⎡ 3 (1 + z )(1 − z )
−1 −1
⎤
α
⎛ 3 ⎞
≈ ⎜ ⎟
α
⎜
( ) (
⎜ + 3 16 α 2 − 25 − 6 16 α 3 − 24 α 2 − 25 α + 33 z − 1 )
⎟
⎟
= ⎢ ⎥ α
⎜ ⎟
(1 + 4 z + z ) ( ) ( )
p p
⎜ T ⎟
⎢⎣ T 0 −1 −2
⎥⎦ ⎜ 3 16 α 2 − 25 + 6 16 α 3 − 24 α 2 − 25 α + 33 z − 1 + ⎟
⎝ 0 ⎠ ⎜ ⎟
Simpson ⎜
⎝ (
+ 64 α − 144 α − 92 α + 177 α + 28 z
4 3 2 −2
) ⎟
⎠ Simpson
След дискретизацията на (3.2), използваща някой от операторите (3.82 ÷ 3.85) или тяхна ап-
роксимация, и преработка с подреждане на резултата по степените на z − 1 , дискретната
предавателна функция (3.78) се трансформира до (3.86) :
( ) −1
(z ) −1
(z )=
−1
y z Pr
(3.86) G = c ,
u(z ) −1
Qq (z ) −1
( ) r −1 −( n−m )
+ r1 z −( n−m+1 )
+ r2 z −( n−m+2 )
+⋅⋅⋅ + rm z −n
( )=
−1
y z 0 z
=
u(z )
G z −1 −1 −2 n−1 −n
.
q 0 +q 1 z +q 2 z +⋅⋅⋅ + q n−1 z +q n z
= r0 u (( k − n + m )T )+ r u (( k − n + m − 1 )T )+ ⋅ ⋅ ⋅ + r u (( k − n )T )
0 1 0 m 0
1
(4.6) x = a 0 + .
1
a1 +
1
a2 +
a3 + ⋅⋅⋅
(4.7) x = [ a 0 , a 1 , a 3 . . . ] .
⎡ 1 ⎤
(4.9) a 1 = ⎢ ⎥
⎣⎢ x − a 0 ⎦⎥
обобщава реципрочната стойност на x − a 0 , а a 2 се определя с (4.10) :
⎡ ⎤
⎢ ⎥
⎢ 1 ⎥
(4.10) a 2 = ⎢ ⎥ ,
1
⎢ −a1 ⎥
⎢ x−a ⎥
⎣ 0 ⎦
като обобщава реципрочната стойност на остатъчния член и т.н. Аналитичният израз на
остатъчните членове е показан с (4.11) и (4.12) :
1
(4.11) r 0 = x ; (4.12) r 0 = .
r n−1 − a n−1
π = [ 3 , 7 , 15 , 1 , 292 , 1 , 1 . . . ] .
Табл.4.1
член стойност означение сходимост стойност
a0 π =3 [3 ] 3 3.00000
⎡ 1 ⎤ 22
a1 ⎢ ⎥ =7 [ 3 ,7 ] 3.14286
⎢⎣ π − 3 ⎥⎦ 7
⎡ ⎤
⎢ ⎥
⎢ 1 ⎥ 333
a2 ⎢ ⎥ = 15 [ 3 , 7 , 15 ] 3.14151
1 106
⎢ −7 ⎥
⎢⎣ π −3 ⎥⎦
(4.16) P0 ≡ a 0 Q0 ≡ 1 ,
(4.19) Pn Q n − 1 − Pn − 1 Q n = ( − 1 ) n−1
∏bk =1
k .
[ a 0 , a 1 , ... , a n ] [a n , a n − 1 , ... , a 1 , a 0 ]
(4.21) = .
[a 0 , a 1 , .. . , a n − 1 ] [a n , a n − 1 , ... , a 2 , a 1 ]
Простите дроби са рационални числа, а всички рационални числа могат да се представят
с крайни верижни дроби. Съществуват два начина за представяне на крайна проста дроб :
⎧ [ a 0 , a 1 , ... , a n − 1 ,1 ] за an > 1 ;
(4.22) [ a 0 , a 1 , ... , a n ]= ⎨
⎩ [a 0 , a 1 , ... , a n − 1 + 1 ] за an = 1 .
(4.24) p − 1 ≡ 1 q−1 ≡ 0 ;
(4.25) p 0 ≡ a 0 q0 ≡ 1 ,
qn
(4.30) [
= a n , a n − 1 , ... , a 2 , a 1 ].
qn −1
(4.34) c n − c n − 1 = ; (4.35) c n − c n − 2 = .
qn qn −1 qn qn − 2
Освен това, ако D не е точен квадрат на цяло число, то верижната дроб D удовлетво-
рява зависимостта (4.40) :
2
a+ a +4
(4.41) [ a ]= ;
2
2
2−a+ a +4
(4.42) [ 1 , a ]= ;
2
⎡ _____
⎤
(4.43) ⎢ a , 2 a ⎥ = a2 + 1 ;
⎣ ⎦
⎡ _______
⎤ ab(ab+4 )
(4.44) ⎢ a , b ⎥ = ;
⎣ ⎦ 2b
⎡ _______________
⎤ 1
(4.45) ⎢ a 0 , b 1 , ... , b n ⎥ = a 0 + ;
⎣ ⎦ ⎡ _______________ ⎤
⎢ b 1 , ... , b n ⎥
⎣ ⎦
⎡ _______________ ⎤
⎢ b 1 , . .. , b n ⎥ p n + p n − 1
⎡ _______________ ⎤ ⎣ ⎦
(4.46) ⎢ b 1 , ... , b n ⎥ = _______________ .
⎣ ⎦ ⎡ ⎤
⎢ b 1 , . .. , b n ⎥ q n + q n − 1
⎣ ⎦
Първият член следва от зависимостта (4.47) :
1 1
(4.47) α = a + =a+ .
1 ⎛ ⎞
a+ ⎜ ⎟
1 ⎜ 1 ⎟
a+ a+⎜ ⎟
a +⋅ ⋅ ⋅ ⎜ 1 ⎟
⎜ a + ⎟
⎝ a + ... ⎠
Следователно
1
(4.48) α − a = ,
1
a+
1
a+
a +⋅ ⋅ ⋅
а заместването на (4.48) в (4.47) определя (4.49) :
1 1
(4.49) α = a + =a+ .
a + (α − a ) α
Разширението (4.50)
(4.50) α 2 − η a − 1 = 0
позволява използването на формулата за корените на квадратното уравнение (4.51) :
2
a+ a +4
(4.51) α = .
2
Аналогът на тази трансформация в общия случай е показан със зависимостта (4.52) :
α pn + pn −1
(4.52) α = .
α qn + qn −1
Табл.4.2
α α
N N N N
⎡ _______________________
⎤
2 [1 ,2 ] 22 ⎢ 4 , 1 , 2 ,4 ,2 ,1 ,8 ⎥
⎣ ⎦
⎡ _______ ⎤ ⎡ _______________
⎤
3 ⎢ 1, 1,2 ⎥ 23 ⎢ 4 , 1 ,3 ,1 ,8 ⎥
⎣ ⎦ ⎣ ⎦
⎡ ___
⎤ ⎡ _______
⎤
5 ⎢2, 4 ⎥ 24 ⎢ 4 , 1 ,8 ⎥
⎣ ⎦ ⎣ ⎦
⎡ _______
⎤ ⎡ ___
⎤
6 ⎢ 2 , 2 ,4 ⎥ 26 ⎢ 5 , 10 ⎥
⎣ ⎦ ⎣ ⎦
⎡ _______________
⎤ ⎡ _________
⎤
7 ⎢ 2 , 1 ,1 ,1 ,4 ⎥ 27 ⎢ 5 , 5 , 10 ⎥
⎣ ⎦ ⎣ ⎦
⎡ _______
⎤ ⎡ _________________
⎤
8 ⎢ 2 , 1 ,4 ⎥ 28 ⎢ 2 , 3 , 2 , 3 , 10 ⎥
⎣ ⎦ ⎣ ⎦
⎡ ___
⎤ ⎡ __________________
⎤
10 ⎢3,6 ⎥ 29 ⎢ 5 , 2 , 1 , 2 , 10 ⎥
⎣ ⎦ ⎣ ⎦
⎡ _______
⎤ ⎡ _________
⎤
11 ⎢ 3 , 3 ,6 ⎥ 30 ⎢ 5 , 2 , 10 ⎥
⎣ ⎦ ⎣ ⎦
⎡ _______
⎤ ⎡ ______________________________
⎤
12 ⎢ 3 , 2 ,6 ⎥ 31 ⎢ 5 , 1 , 1 , 3 , 5 , 3 , 1 , 1 ,10 ⎥
⎣ ⎦ ⎣ ⎦
⎡ _________________
⎤ ⎡ ________________
⎤
13 ⎢ 3 , 1 , 1 , 1 ,1 , 6 ⎥ 32 ⎢ 5 , 1 , 1 , 1 ,10 ⎥
⎣ ⎦ ⎣ ⎦
⎡ ______________
⎤ ⎡ ________________
⎤
14 ⎢ 3 , 1 , 2 , 1 ,6 ⎥ 33 ⎢ 5 , 1 , 2 , 1 ,10 ⎥
⎣ ⎦ ⎣ ⎦
⎡ ______
⎤ ⎡ ________________
⎤
15 ⎢ 3 , 1 ,6 ⎥ 34 ⎢ 5 , 1 , 4 , 1 ,10 ⎥
⎣ ⎦ ⎣ ⎦
⎡ __
⎤ ⎡ ________
⎤
17 ⎢4,8 ⎥ 35 ⎢ 5 , 1 , 10 ⎥
⎣ ⎦ ⎣ ⎦
⎡ _______
⎤ ⎡ ____
⎤
18 ⎢ 4 , 4 ,8 ⎥ 37 ⎢ 6 , 12 ⎥
⎣ ⎦ ⎣ ⎦
⎡ ______________________
⎤ ⎡ ________
⎤
19 ⎢ 4 , 2 , 1 , 3 ,1 , 2 , 8 ⎥ 38 ⎢ 6 , 6 , 12 ⎥
⎣ ⎦ ⎣ ⎦
⎡ _______
⎤ ⎡ ________
⎤
20 ⎢ 4 , 2 ,8 ⎥ 39 ⎢ 6 , 4 , 12 ⎥
⎣ ⎦ ⎣ ⎦
⎡ ______________________
⎤ ⎡ ________
⎤
21 ⎢ 4 , 1 , 1 , 2 ,1 , 1 , 8 ⎥ 40 ⎢ 6 , 3 , 12 ⎥
⎣ ⎦ ⎣ ⎦
+1
b0
(4.54) b 1n < b 0 < b 1n
1 1
b2 = n
,
b1 1
+1
b1
(4.55) b 2n < b 1 < b 2n
2 2
b3 = n
b2 2
фиг.4.2
n→∞
⎡ ⎤
1 e
−2π
e
−4π ⎢ 5+ 5 5 + 1 ⎥ 2π
(4.60) =⎢ ⎥ e 5
− ;
1+ 1+ 1+ ⋅⋅⋅ ⎢ 2 2 ⎥
⎢ ⎥
⎣ ⎦
⎡ ⎤
⎢ ⎥
⎢ ⎥
1 e
−2π 5
e
−4π 5 ⎢ 5 5 + 1 ⎥ 2π
=⎢ ⎥ e 5
(4.61) − ;
1+ 1+ 1+ ⋅⋅⋅ ⎢ ⎛ ⎞
5 2
2 ⎥
⎢ ⎜ 5 −1⎟ ⎥
⎢ 1 + 53 4
⎜ ⎟ ⎥
⎢ ⎜ 2 ⎟ ⎥
⎢⎣ ⎝ ⎠ ⎥⎦
⎧ ∞ x e −π 5
⎪ 4
⎪
⎪
0 ∫cosh x
d x=
⎪ 1 ⎡ ⎛ 1 ⎛ ⎞⎞ ⎛ 1 ⎛ ⎞⎞ ⎤
⎪
(4.62) ⎨ = ⎢ ζ ⎜⎜ 2 , ⎜⎜ 1 + 5 ⎟⎟ ⎟ − ζ ⎜ 2 , ⎜⎜ 3 + 5 ⎟⎟ ⎟ ⎥ = .
⎪ 2 ⎣⎢ ⎝ 4 ⎝ ⎠ ⎟⎠ ⎜
⎝ 4 ⎝ ⎠ ⎟⎠ ⎦⎥
⎪ 2 2 2 2 2 2
⎪ 1 1 1 2 2 3 3
⎪ =
⎪⎩ 1+ 1+ 1+ 1+ 1+ 1+ 1+
(4.64) G ( p )= R i ( i +1 ) . . ( i + m ) = =
0 1 0
, ( m + 1 = µ +ν + 1 )
Qν (p) q n + q1 p +⋅⋅+ q0 pν
с точки на пропускане ( p i G ( p i ) ) , . . , ( p i + m G ( p i + m ) ) .
Известно е че разширените непрекъснати верижни дроби CFE се използват и за изслед-
ване на устойчивостта на линейни системи. За целта характеристичния полином Q ( p )
(4.65) на системата се разделя на две части - “четна” част, съдържаща четните степени на
p и “нечетна” част, изградена от нечетните степени на комплексната променлива p ,
(4.65) Q ( p ) = m ( p ) + n ( p ) .
Тези две части на характеристичния полином се използват при създаването на тестови,
изпитателни функции R ( p ) под формата на дроби, в които най-високата степен на p
се съдържа в знаменателя (4.66) :
m(p) ⎛ n ( p ) ⎞⎟
(4.66) R ( p ) = ⎜ и ли R ( p )= .
n( p) ⎜ m ( p ) ⎟⎠
⎝
Рационалната функция R ( p ) трябва да бъде разписана под формата на непрекъсната
дроб (4.67) :
1
(4.67) R ( p ) = .
1
b1p +
1
b2 p+
1
b3 p +
⋅⋅⋅⋅
1
b n−1 p +
bn p
Ако в (4.67) всички коефициенти b k са b k > 0 , k = 1 , . . , n , това означава, че системата
е устойчива. Ако има макар и един коефициент b k < 0 , то системата е неустойчива.
Принципно рационална апроксимация на функцията G ( p ) = p − α , 0 < α < 1 (а тя изра-
зява оператора за фрактално интегриране от непълен ред α ) може да бъде реализирана
чрез създаването на CFE -функция на разширените непрекъснати верижни дроби CFE .
Съществуват няколко метода.
(4.73) Ĥ i ( p ) = Ĥ i − 1 ( p ) .
( q + m ) ( Ĥ i − 1 ( p ) ) + (q − m ) G (p)
2
p k , k = 0 , 1 , 2 , . . .,
то предлаганата от Matsuda Koichi апроксимация е изразена с (4.76) :
p − p0 p − p1 p − p2
(4.76) Ĥ ( p ) = a 0 + ⋅⋅⋅ ,
a1 + a2 + a3 +
където
p − pi
(4.77) a i = υ i + 1 ( pi ) , υ 0 ( p ) = Ĥ ( p ) , υi+1 (p) = .
υi (p) − ai
Методът на Chareff A., който е изключително близък до този на Oustaloup A., се осно-
вава на апроксимация, използваща функция от вида (4.86) :
1
(4.86) H ( p )= α
,
⎛ p ⎞
⎜1 + ⎟
⎜ ρ T ⎟⎠
⎝
като отношение на полиноми по степените на p във факторизирана форма (4.87) :
n−1
∏ (1 + p ϑ ) i
(4.87) Ĥ ( p )= i =0
n
.
∏ (1 + p
i =0
ρi )
(4.92) се представя с (4.96), (4.97), а (4.98) и (4.99) отразяват реалната и комплексната със-
тавящи :
⎛ ⎛ ⎞ ⎞
a ⎜ ⎜ 1+ p ⎟ ⎟
⎛ ⎛ ⎞ ⎞ ⎜ ⎜ ⎟ ⎟
⎜ 1+ p
⎜ ⎝ ω b ⎠ ⎟
⎜ ⎟ ⎟ j b Log ⎜ C 0 ⎟
⎜ ⎜ ωb ⎟ ⎟ ⎜
⎜
⎛
⎜ 1+ p
⎞
⎟
⎟
⎟
⎜ ⎝ ⎠ ⎟ ⎜ ⎜ ⎟ ⎟
( p )= ⎜C0 ⎝ ω h ⎠
(4.96) D DNE ⎟ e ⎝ ⎠
;
⎜ ⎛ ⎞ ⎟
⎜ ⎜ 1+ p ⎟ ⎟
⎜ ⎜ ωh ⎟ ⎟
⎝ ⎝ ⎠ ⎠
(4.97) D DNE ( p ) = D r e ( p )+ D im ( p ) ;
a
⎛ ⎛ ⎞ ⎞ ⎛ ⎛ ⎛ ⎞ ⎞ ⎞
⎜ ⎜ 1+ p ⎟ ⎟ ⎜ ⎜ ⎜ 1+ p ⎟ ⎟ ⎟
⎜ ⎜ ⎟ ⎜ ⎜ ⎟ ⎟
⎜ ⎝ ω b ⎟⎠ ⎟ ⎜ ⎜
⎜
⎝ ω b ⎟⎠ ⎟ ⎟
(4.98) D r e ( p )= ⎜C0 ⎟ cos ⎜ j b Log ⎜ C 0 ⎟ ⎟ ;
⎜ ⎛ ⎞ ⎟ ⎜ ⎜ ⎛ ⎞ ⎟ ⎟
⎜ ⎜ 1+ p ⎟ ⎟ ⎜ ⎜ ⎜ 1+ p ⎟ ⎟ ⎟
⎜ ⎜ ω h ⎟⎠ ⎟ ⎜ ⎜ ⎜ ω h ⎟⎠ ⎟ ⎟
⎝ ⎝ ⎠ ⎝ ⎝ ⎝ ⎠ ⎠
a
⎛ ⎛ ⎞ ⎞ ⎛ ⎛ ⎛ ⎞ ⎞ ⎞
⎜ ⎜ 1+ p ⎟ ⎟ ⎜ ⎜ ⎜ 1+ p ⎟ ⎟ ⎟
⎜ ⎜ ⎟ ⎜ ⎜ ⎟ ⎟
⎜ ⎝ ω b ⎟⎠ ⎟ ⎜ ⎜
⎜
⎝ ω b ⎟⎠ ⎟ ⎟
(4.99) D i m ( p )= ⎜C0 ⎟ sin ⎜ j b Log ⎜ C 0 ⎟ ⎟ .
⎜ ⎛ ⎞ ⎟ ⎜ ⎜ ⎛ ⎞ ⎟ ⎟
⎜ ⎜ 1+ p ⎟ ⎟ ⎜ ⎜ ⎜ 1+ p ⎟ ⎟ ⎟
⎜ ⎜ ω h ⎟⎠ ⎟ ⎜ ⎜ ⎜ ω h ⎟⎠ ⎟ ⎟
⎝ ⎝ ⎠ ⎝ ⎝ ⎝ ⎠ ⎠
Честотните характеристики на апроксимиращия (4.92) честотно ограничен диференциатор
са представени с (4.100) и (4.101) :
⎧
⎪ ⎛ (1 + ρ b ( ω ) ) ⎞
a
( ))
jω ) = ⎜C 0 ⎟
⎪ ( ω )−Θ (
D re ( e
ja Θ b h ω
×
⎪
⎪
⎜
⎝ (1 + ρ h ( ω ) ) ⎟
⎠
⎪
(4.100) ⎪ ⎛ ⎛ (1 + ρ b ( ω ) ) ⎞
⎟ + j b ( Θ ( ω )− Θ ( ω
⎞ ;
⎨ × cos ⎜⎜ j b Log ⎜ C 0 ) ) ⎟⎟ ,
⎪ ⎜
⎝
⎜
⎝ (1 + ρ h ( ω ) ) ⎟
⎠
b h
⎟
⎠
⎪
⎪ ⎛ ⎛ 2
⎞
0 ,5
⎞
⎪ ⎜ ⎛ ω ⎞ ⎜ ⎛ ω ⎞ ⎟ ⎛ ω ⎞ ⎟
j⎜ ⎟= ρ (ω )e , ρ b ( ω ) = ⎜ 1+ ⎜ ⎟ ⎜ ⎟
( )
, Θ b ( ω ) = a r ct g
jΘ ω
⎪ ⎜ 1+ b
⎟ ⎟
⎜⎜ ⎜ω ⎟ b
⎜ ⎜ ⎟ ⎟ ⎜ω ⎟ ⎟
⎪ ⎝ b ⎠ ⎝ ⎝ ωb ⎠ ⎠ ⎝ b ⎠ ⎟
⎩ ⎝ ⎠
⎧
⎪ ⎛ (1 + ρ b ( ω ) ) ⎞
a
( (ω))
jω ) = ⎜C 0 ⎟ ( ω )− Θ
⎪ D im ( e
ja Θ b h
×
⎪
⎪
⎜
⎝ (1 + ρ h ( ω ) ) ⎟
⎠
⎪
(4.101) ⎪ ⎛ ⎛ (1 + ρ b ( ω ) ) ⎞
⎟ + j b ( Θ ( ω )− Θ ( ω
⎞ .
⎨ × sin ⎜⎜ j b Log ⎜ C 0 ) ) ⎟⎟ ,
⎪ ⎜
⎝
⎜
⎝ (1 + ρ h ( ω ) ) ⎟
⎠
b h
⎟
⎠
⎪
⎪ ⎛ ⎛ ⎛ ω ⎞ 2
⎞
0 ,5
⎞
⎪ ⎜ ⎛ ω ⎞ ⎜ ⎟ ⎛ ω ⎞ ⎟
j⎜ ⎟= ρ (ω )e , ρ b ( ω ) = ⎜ 1+ ⎜ ⎟ ⎜ ⎟
( )
, Θ b ( ω )= ar ct g
jΘ ω
⎪ ⎜ 1+ b
⎟ ⎟
⎜⎜ ⎜ω ⎟ b
⎜
⎜ ⎝ b ⎟⎠
ω ⎟ ⎜ω ⎟ ⎟
⎪ ⎝ b ⎠ ⎝ ⎠ ⎝ b ⎠ ⎟
⎩ ⎝ ⎠
⎪ = ⎜C0 ⎟
b
D re ( jω ) ×
⎪
⎪⎪
⎜
⎝ ( 1+ ρ ( ω ) )
h
⎟
⎠
(4.102) ⎨ 1 ;
⎪ ⎡ ⎛ ⎛ ( 1+ ρ ( ω ) ) ⎞ ⎞ ⎤ 2
⎜ b Log ⎜ C ⎟+ sh ( b ( Θ b ( ω ) − Θ h ( ω ) ) ) ⎟⎟
b
⎪ × ⎢ cos 2 2 ⎥
⎪ ⎢
⎪⎩ ⎣
⎜⎜
⎝
⎜ 0
⎝ ( 1+ ρ ( ω ) )
h
⎟
⎠
⎟
⎠
⎥
⎦
⎧ ⎛ ( 1+ ρ ( ω ) ) ⎞
a
⎪ = ⎜C0 ⎟
b
D im ( jω ) ×
⎪
⎪⎪
⎜
⎝ ( 1+ ρ ( ω ) )
h
⎟
⎠
(4.103) ⎨ 1 ;
⎪ ⎡ ⎛ ⎛ ( 1+ ρ ( ω ) ) ⎞ ⎞ ⎤ 2
⎜ b Log ⎜ C ⎟+ sh ( b ( Θ b ( ω ) − Θ h ( ω ) ) ) ⎟⎟
b
⎪ × ⎢ sin 2 2 ⎥
⎪ ⎢
⎪⎩ ⎣
⎜⎜
⎝
⎜ 0
⎝ ( 1+ ρ ( ω ) )
h
⎟
⎠
⎟
⎠
⎥
⎦
⎧ ar g (D ( re jω )) = ( a ( Θ ( ω )− Θ ( ω ) ) ) +
b h
⎪
⎪
(4.104) ⎨ ⎡ ⎛ ⎛ ( 1 + ρ ( ω ) ) ⎞⎟ ⎞⎟ ⎤ ;
⎜ b Lo g ⎜C ( ( ) )
b
⎪ − a r ct g
⎢tg × t h b Θ ( ω ) − Θ ( ω ) ⎥
⎪⎩
⎢
⎣
⎜⎜
⎝
⎜ 0
⎝ ( 1 + ρ ( ω ) ) ⎟⎠ ⎟⎟⎠
h
⎥
⎦
b h
⎧ ar g (D i me ( jω ) = ( a ( Θ ( ω )− Θ ( ω ) ) ) +
) b h
⎪
(4.105) ⎪⎨ ⎡ ⎛ ⎛ ( 1 + ρ ( ω ) ) ⎞⎟ ⎞⎟ ⎤ .
⎜ b Lo g ⎜C ( ( ) )
b
⎪ − a r ct g
⎢ cot g × t h b Θ ( ω ) − Θ ( ω ) ⎥
⎪⎩
⎢
⎣
⎜⎜
⎝
⎜ 0
⎝ ( 1 + ρ ( ω ) ) ⎟⎠ ⎟⎟⎠
h
⎥
⎦
b h
(4.107) D im ( jω ) u = sh ( b ( Θ ( ω )− Θ ( ω ) ) ) ;
b u h u
(
⎛ d D re ( j ω ) ) ⎞ ⎛⎛
⎜ ω u2 ⎞ ⎛ ω u2 ⎞⎞
⎟⎟ ;
(4.108) ⎜⎜ ⎟ = 20 a ⎜ ⎜ ⎟−⎜
d ( log ω) ⎟ ⎜ ⎜ ω u2 + ω b2 ⎟ ⎜ ω 2 +ω 2 ⎟ ⎟⎟
⎝ ⎠ ω=ω u
⎝⎝ ⎠ ⎝ u h ⎠⎠
(
⎛ d D im ( j ω ) ) ⎞ ⎛⎛
⎜ ω u2 ⎞ ⎛ ω u2 ⎞⎞
⎟⎟ .
(4.109) ⎜⎜ ⎟ = 20 a ⎜ ⎜ ⎟−⎜
d ( log ω) ⎟ ⎜ ⎜ ω u2 + ω b2 ⎟ ⎜ ω 2 +ω 2 ⎟ ⎟⎟
⎝ ⎠ ω=ω u
⎝⎝ ⎠ ⎝ u h ⎠⎠
∏
⎪ D ωb ⎜ ⎝ ⎠ ⎟
( p )=⎜ ⎟ ⎜ ⎟ = l i m D app ( p )=⎜ ⎟
⎜ ⎟
⎪ DNE
⎜ω ⎟ ⎜ p ⎟ ⎜ω ⎟
⎝ h ⎠ N →∞
⎝ h ⎠ ⎜ ⎛ ⎞ ⎟
(4.115) ⎪ ⎜ 1+ ⎟ ⎜
k=− N
⎜ 1+ p ⎟ ⎟
;
⎨ ⎜ ωh ⎟ ⎜ ⎟
⎪ ⎝ ⎠ ⎜ ωk ⎟
⎝ ⎝ ⎠ ⎠
⎪ α α
⎪ ⎛ ⎛ ωu ⎞ ⎛ ωb ⎞
⎛
− ⎜ N+
1 ⎞
⎟ ⎛ 1 ⎞ ⎛ 1 ⎞ ⎞
⎜ ⎜ ⎟ ⎟
=⎜ ⎟ ; ⎜ ⎟>⎜ ⎟
⎜ ⎟
⎪ ⎜ =ν ⎝ 2 ⎠
⎟
⎪ ⎜ ⎜ω ⎟ ⎜ω ⎟ ⎜ ω′ ⎟ ⎜ ω ⎟ ⎟
⎩ ⎝ ⎝ h ⎠ ⎝ u ⎠ ⎝ k ⎠ ⎝ k ⎠ ⎠
⎧ +⎜
⎛ 1 ⎞
⎜ 2 ⎟
⎟
⎛ 1 ⎞
−⎜ ⎟
⎜ 2 ⎟
⎫
⎪ ω′ = η ⎝ ⎠
ωb ; ω N =η ⎝ ⎠
ωh ; ⎪
−N
⎪ ⎪
⎪ ⎛ 1 ⎞
−⎜ ⎟
⎛ 1 ⎞
+⎜ ⎟ ⎪
⎪ ω ′ = ν ⎜⎝ 2 ⎟⎠ ω ; ω = ν ⎜⎝ 2 ⎟⎠ ω ; ⎪
log ( ω N ω0 ) ⎪⎪ o u o u
⎪⎪
(4.116) N = ,⎨ ω ′k +1 ω k +1 ⎬ ;
log (νη ) ⎪ = =ν η > 1 ; ⎪
⎪ ω ′k ωk ⎪
⎪ ⎪
⎪ ωk ω ′k +1 ⎪
⎪ = ν > 0 ; =η>0 ⎪
⎪⎩ ω ′k ωk ⎪⎭
log (ν )
(4.117) α =
log (ν η )
Очевидно е, че при ω = ω u свойствата на реалния дробно-рационален рекурсивно поли-
номиален фрактален диференциатор D app ( p ) се определят с това, че:
● стръмността на амплитудно-честотната характеристика (предавателният коефици-
ент) е свързана и се определя от реалната съставяща на a на непълния ред α .
● стойностите на фазово-честотната характеристика са свързани и основно се опреде-
лят от реалната съставяща на a на непълния ред на диференциране α .
Изложеното по-горе е систематизирано накратко в (4.118), (4.119), (4.120) чрез апроксима-
ционните преходи на D ( p ) до D app ( p ) (4.121) в последователността от :
● комплексния фрактален диференциатор D ( p ) в комплексен фрактален диферен-
циатор с честотно ограничена предавателна функция D DNE ( p ) ;
● комплексния фрактален диференциатор с честотно ограничена предавателна функ-
ция D DNE ( p ) в реален фрактален диференциатор с честотно ограничена предава-
телна функция D DNE ( p ) ;
● реалния фрактален диференциатор с честотно ограничена предавателна функция
D DNE ( p ) в реален дробно-рационален рекурсивно полиномиален фрактален дифе-
ренциатор D app ( p ) ;
( )
⎧ ⎛ ⎛ p ⎞⎞
n
⎪ ( n )
⎜ ⎜ 1+ ⎟⎟
⎪ ⎛ p ⎞ ⎜ ⎜ ω b ⎟⎟
(4.118) ⎪ D ( p ) =⎜
⎜ ω
⎟
⎟
⇒ D DNE ( p )=⎜C0 ⎜
⎜ p ⎟⎟
⎟⎟ , ∀ ω∈ ω A , ω B [ ];
⎨ ⎜
⎪ ⎝ u ⎠ ⎜ ⎜ 1+ ⎟⎟
⎪ ⎜ ⎜ ω h ⎟⎠ ⎟⎠
⎝ ⎝
⎪
⎩ ( n = a + jb)
( )
⎧ ⎛ p ⎞
n
⎛ p ⎞
a
⎪ n
⎜ 1+ ⎟ ( a ) ⎜ 1+ ⎟
⎪ ⎛ ωu ⎞ ⎜ ωb ⎟ ⎛ ωu ⎞ ⎜ ωb ⎟
(4.119) ⎪⎪ D DNE ( p ) = ⎜ ⎟ ⎜ ⎟ ⇒D ( p )=⎜ ⎟ ⎜ ⎟ , ;
⎨ ⎜ω ⎟ ⎜ p ⎟
DNE
⎜ω ⎟ ⎜ p ⎟
⎝ h ⎠ ⎜ 1+ ⎟ ⎝ h ⎠ ⎜ 1+ ⎟
⎪ ⎜ ⎟ ⎜ ⎟
⎪ ⎝ ωh ⎠ ⎝ ωh ⎠
⎪
[ ]
⎪⎩ ∀ ω ∈ ω A , ω B , ( n = a = α ∈ℜ , b = 0 ; ( ω b ω h ) 1 2
= ω u ; ω b << ω A ; ω h >> ω B )
⎧ ⎛ ⎛ ⎞ ⎞
⎜ 1+ p
n
⎪ ⎛ p ⎞ ⎜ ⎟ ⎟
⎜ 1+ ⎟ ⎜ ⎜ ⎟ ⎟
⎪ ⎛ ωu ⎞
n
⎜ ⎟ ⎛ ωu ⎞
n
N ω ′k
∏
⎪D ωb ⎜ ⎝ ⎠ ⎟
( p )=⎜ ⎟ ⎜ ⎟ ⇒ D app ( p )=⎜ ⎟
⎜ ⎟
⎪ DNE
⎜ω ⎟ ⎜ p ⎟ ⎜ω ⎟
(4.120) ⎪ ⎝ h ⎠ ⎝ h ⎠ ⎜ ⎛ p ⎞ ⎟ ;
⎜ 1+ ⎟ ⎜
k=− N
⎜ 1+ ⎟ ⎟
⎨ ⎜ ωh ⎟ ⎜ ⎟
⎪ ⎝ ⎠ ⎜ ωk ⎟
⎝ ⎝ ⎠ ⎠
⎪ α α
⎪ ⎛ ⎛ω ⎞ ⎛ ωb ⎞
⎛
− ⎜ N+
1 ⎞
⎟ ⎞
⎜ ⎟
⎪ ∀ ω ∈ ωA ,ωB
⎪
[ ] ,⎜ ( n = a = α ∈ ℜ , b = 0 ; ⎜⎜ u ⎟
⎟
=⎜
⎜ω
⎟
⎟
=ν
⎜
⎝ 2 ⎟
⎠
⎟
⎜ ⎝ ωh ⎠ ⎝ u ⎠ ⎟
⎩ ⎝ ⎠
⎧ ⎛ ⎛ ⎞ ⎞
⎪ ⎜ ⎜ 1+ p ⎟ ⎟
⎪ ( n ) α ⎜ ⎜ ω ′k ⎟ ⎟
⎛ p ⎞ ⎛ ωu ⎞ N
∏
⎪ ⎜ ⎟ ⎜ ⎝ ⎠ ⎟
D ( p ) = ⇒⇒⇒ D app ( p )=⎜ ⎟
⎜ ⎟
(4.121) ⎪⎨ ⎜ ω ⎟ ⎜ω ⎟
⎛ ⎞ .
⎝ ⎠ ⎝ h ⎠ ⎜ ⎟
⎜ 1+ p
u
⎪ ⎜
k=− N
⎟ ⎟
⎪ ⎜ ⎜ ωk ⎟ ⎟
⎪ ⎝ ⎝ ⎠ ⎠
⎩ [
⎪∀ ω ∈ ω A , ω B , ] ( n = a + j0 ; 0 < a < 1 ; a > 1 ; a = α ∈ℜ; ( ω′ ) k
−1
> (ω ) ) k
−1
( p ) = ( p ω u- 1 )
( − a − jb )
(4.123) I ;
( − a − jb )
⎛ ⎛ p ⎞⎞
⎜ ⎜ 1+ ⎟⎟
⎜ ⎜ ωb ⎟⎟
(4.124) I INE ( p )=⎜C0
⎜
⎜ ⎟⎟ , ∀ ω ∈ ωA ,ωB ; [ ]
⎜ p ⎟⎟
⎜ ⎜ 1+ ⎟⎟
⎜ ⎜ ωh ⎟⎟
⎝ ⎝ ⎠⎠
( −a )
⎛ p ⎞
( −a ) ⎜ 1+
⎜
⎟
⎟
[ ]
⎧ ∀ ω ∈ ω A , ω B , ( n = − a = − α ∈ℜ , b = 0
⎛ ωu ⎞ ωb ⎪⎪
(4.125) I
INE ( p )= ⎜
⎜ω
⎟
⎟
⎜ ⎟ , ⎨ (ωb ω h )1 2 =ωu ; ;
⎜ p ⎟
ω b << ω A ; ω h >> ω B )
⎝ h ⎠ ⎪
⎜ 1+ ⎟ ⎪⎩
⎜ ωh ⎟
⎝ ⎠
⎧ ⎛ ⎛ ⎞ ⎞ ⎧⎛ ω ⎞
−α
⎛ ωb ⎞
−α ⎛ 1 ⎞ ⎫
⎜ 1+ p − ⎜ N+ ⎟
⎪ ⎜ ⎟ ⎟ ⎪⎜ u ⎟ =⎜ ⎟ ⎜ ⎟
=ν ⎝ 2 ⎠ ⎪
⎪ −α ⎜ ⎜ ω ′k ⎟ ⎟ ⎪⎜ ⎟ ⎜ω ⎟ ⎪
⎛ ωu ⎞ N
∏
⎜ ⎝ ⎠ ⎟ ⎪⎝ ω h
(4.126) ⎪⎨ I ( p )=⎜ ⎟
⎜ ⎟ ,⎨
⎠ ⎝ u ⎠ ⎪ .
⎬
app
⎜ω ⎟ ⎛ 1 ⎞ ⎛ 1 ⎞
⎪ ⎝ h ⎠ ⎜ ⎛ ⎞ ⎟ ⎪ ⎪
⎪ ⎜
k=− N
⎜ 1+ p ⎟ ⎟ ⎪
⎜ ⎟<⎜ ⎟ ⎪
⎪ ⎜ ⎜ ωk ⎟ ⎟ ⎪ ⎜ ω′ ⎟ ⎜ ω ⎟ ⎪⎭
⎩ ⎝ ⎝ ⎠ ⎠ ⎩ ⎝ k ⎠ ⎝ k ⎠
x ( p ) y ( p )
T 1 p+1 T 3 p +1 T 2N −3 p +1 T 2 N −1 p+1
kO T 2 p +1 T 4 p +1 T p +1 T p+1
2N −2 2N
D app ( p )≈ D α
( p )
фиг.4.3
⎧ N
( 1+ jω ( ω ′ ) ) −1
⎫
∏
i
⎪D α
( jω ) ≈ D app ( jω ) = k 0 = k 0 R 1 ( jω ) . . . R N ( jω ) ⎪
(4.127) ⎪⎨
⎪
i =1 ( 1+ jω ( ω ) ) i
−1 ⎪;
⎬
⎪
⎪⎩ [
∀ω ∈ ω A , ω B ], {α > 1 ,α e +α n =α } ; (ω′ ) i
−1
> (ω ) i
−1
⎪⎭
( 1+T jω )
(4.128) D app ( jω ) = k 0 1
;
( 1+T 2 jω )
( 1+T jω ) ( 1+T jω )
(4.129) D app ( jω ) = k 0 1 3
;
( 1+T 2 jω ) ( 1 + T 4 jω )
( 1+T ) ( 1+T
jω jω ) ( 1+T jω )
D app ( jω ) = k 0 1 3 5
×
( 1+T 2 jω ) ( 1 + T 4 jω ) ( 1 + T 6 jω )
(4.133) ;
( 1+T 7 jω ) ( 1 + T 9 jω ) ( 1 + T 11 jω )
×
( 1+T 8 jω ) ( 1 + T 10 jω ) ( 1 + T 12 jω )
( 1+T ) ( 1+T
jω ) ( 1+T
jω jω ) ( 1+T jω )
D app ( jω ) = k 0 1 3 5 7
×
( 1+T 2 jω ) ( 1 + T 4 jω ) ( 1 + T 6 jω ) ( 1 + T 8 jω )
(4.135) ;
( 1+T 9 jω ) ( 1 + T 11 jω ) ( 1 + T 13 jω ) ( 1 + T 15 jω )
×
( 1+T 10 jω ) ( 1 + T 12 jω ) ( 1 + T 14 jω ) ( 1 + T 16 jω )
( 1+T ) ( 1+T
jω ) ( 1+T
jω jω ) ( 1+T jω )
D app ( jω ) = k 0 1 3 5 7
×
( 1+T 2 jω ) ( 1 + T 4 jω ) ( 1 + T 6 jω ) ( 1 + T 8 jω )
(4.136) ;
( 1+T 9 jω ) ( 1+T 11 jω ) ( 1 + T 13 jω ) ( 1 + T 15 jω ) ( 1 + T 17 jω )
×
( 1+T 10 jω ) ( 1 + T 12 jω ) ( 1 + T 14 jω ) ( 1 + T 16 jω ) ( 1 + T 18 jω )
( 1+T ) ( 1 + T jω ) ( 1 + T
jω ) ( 1+T
jω jω ) ( 1+T jω )
D app ( jω ) = k 0 1 3 5 7 9
×
( 1+T 2jω ) ( 1 + T jω ) ( 1 + T 4 6 jω ) ( 1 + T 8 jω ) ( 1 + T 10 jω )
(4.137) .
( 1+T 11 jω ) ( 1 + T j ω ) ( 1 + T 13 15 jω ) ( 1 + T 17 jω ) ( 1 + T 19 jω )
×
( 1+T 12 jω ) ( 1 + T j ω ) ( 1 + T 14 16 jω ) ( 1 + T 18 jω ) ( 1 + T 20 jω )
D app
N = 2 ÷ 10
N =1
фиг.4.5
N =1
N = 2 ÷ 10
D app
фиг.4.6
D app
N = 3 ÷ 10
N =2
N =1
фиг.4.7
N = 5 ÷ 10 D app ( jω )
N =4
N =3
N =2
N =1
фиг.4.8
D app ( jω )
N = 1 ÷ 10
ar g (D app ( jω )) N = 2 ÷ 10
N =1
фиг.4.9
D app ( jω )
N = 2 ÷ 10
N =1
фиг.4.10
ar g (D app ( jω ))
N = 2 ÷ 10
N =1
фиг.4.11
Табл.4.3
N =1 N =2 N =3 N =4 N =5 N =6 N =7 N =8 N =9 N = 10
T1 4.63808947 1.6256647 1.14620323 0.96244726 0.8666 0.8081 0.76879564 0.74054237 0.71928742 0.70272354
T2 0.00011667 0.0081534 0.0335841 0.06816022 0.1042 0.1383 0.16933865 0.19707292 0.22174806 0.24369473
T 17 0 0 0 0 0 0 0 0 0.00244025 0.00420982
T 18 0 0 0 0 0 0 0 0 0.0007523 0.00145991
T 19 0 0 0 0 0 0 0 0 0 0.00222049
T 20 0 0 0 0 0 0 0 0 0 0.00077003
[
⎧ ℜ f 1 ( t ) , f 2 ( t ) , f 3 ( t ) , . . , f M ( t ) ; c 1 , c 2 , c 3 , . . .. , c L ]⎫
⎪⎪ ⎪⎪
[
(4.138) ξ ( t ) = ⎨ ℜ 1 , 1 + ( λ − 1 ) e − t , ( ( 1 − λ ) t + α ) e − t ; c 1 , c 2 , c 3 ] ⎬ .
⎪
⎩⎪ ( )
c 1 + c 2 1 + ( λ − 1 )e −t + c 3 ( ( 1− λ )t + λ )e −t
⎪
⎭⎪
20
15 ξ ( t )= c1 + c 2 t c1
c2
10 c1+c2*t
0
t
1 3 5 7 9 11 13 15 17 19 21
-5
-10
-15
фиг.4.12
{ f ( t )} = {1, t }
i
-20
P( p
) 1 1
(4.139) ξ ( p )= ; (4.140) G ( p ) = = ;
Q( p ) Q( p ) Q
DAS
( p )
(4.141) Q ( p ) = p ρ + q ρ p ρ − 1 +. . .+ q 2 p + q 1 = Q DAS ( p ).
От тук следва, че смущението ξ и вълновият модел на състоянието му могат да се пред-
ставят като “изходна променлива” на хипотетична линейна динамична система с предава-
телна функция G ( p ) (4.140), където полиномът Q ( p ) = Q DAS ( p ) е от вида (4.141).
От тази гледна точка следва, че разглежданото полудетерминиранo уравнение (4.138) е
решение на едно възможно диференциално уравнение от вида (4.142) :
dρ (ξ (t )) d ρ −1
(ξ (t )) d ρ −2
(ξ (t ))
(4.142) +qρ + q ρ −1 + . .. + q 1 ξ ( t )=ϑ(t ) ,
dtρ d t ρ −1 d t ρ −2
където “външната” генерираща функция ν ( t ) в (4.142) отчита измененията на интервал-
но-постоянните тегловни коефициенти ci на уравнението (4.139) на вълновия модел. Тя
се изгражда като последователност от напълно неизвестни, случайно генерирани през ня-
какъв минимален положителен интервал във времето, импулсни функции със случайна
интензивност (единични, двойни, тройни и т.н. символични импулсни делта-функции
δ ( t ) на Paul Dirac). В Табл.4.4 са показани типични, често срещани в инженерната
практика трендове (реакции на смущенията на затворените системи в експлоатационни
условия), както и съответстващите им функционални базиси { f i ( t ) } и вълнови модели
от класа (4.138). Те са систематизирани илюстративно и на фиг.4.13. “Оригиналните” урав-
нения, чиито решения са те, са показани в Табл.4.4.
70
ξ i (t )
20 t
0 2 4 6 8 10 12 14 16 18 20
-30
{ 1 ,t }{, e − λ t ,te
−λ t
,e
−β t
,t,e
−β t
}
-80
{ 1 , t , t }, { 1 , (1 − e )}
2 −t
{ 1 , t , t , t }, { 1 , (1 − e ), t e }
2 3 −t −t
-130 {1 , e −λ t
}, { 1 , (1 + ( λ − 1 ) e ), ( ( 1 − λ ) t + λ ) e }
−t −t
{1 , e −λ t
, e
− βt
,e }, { 1 , t e , t e , e , (t − 2 + ( t + 2 ) e ) }
−γt −α t −t −α t −t
фиг.4.13 {1 , t , t 2
,t
3
,e
−λt
,e
−βt
,e }, { 1 , sin ( λ t ) , cos ( λ t ) ), sin ( β t ) , cos ( β t ) }
−γ t
-180
Табл.4.4
№ ξ ( t ) ⇒ модел { f i (t ) } Q ( D )ξ ( t ) = ν ( t ) ⇒ състояние Q DAS ( jω )
ξ ( t ) = c 1 + c 2t
100
{ f (t )}=
80
d 2ξ
60
(t )
40
i
1 =ν
20
{1, t }
0
0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20
dt2
-20
-40
-60
-80
-100
{ f (t )}=
100
ξ ( t ) = c 1 + c 2t + c 3t 2
80
d ξ
3
60
40
i
2 =ν (t )
{ 1, t , t }
20
0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20
- 20
2 3
- 40
- 60
dt
- 80
- 100
ξ ( t ) = c 1 ξ(
+ t)c =2 tc1++ cc 23t t+ 2c3+t c+ c4 4t t 3
2 3
100
{ f (t )}=
80
d ξ
4
60
40
(t )
i
=ν
20
3
{ 1, t , t }
0
0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 8 1 2
- 20
2 3 4
,t dt
- 40
- 60
- 80
- 100
{ f (t )}=
100
80
d 2ξ dξ
60
40
(t )
i
4 +λ =ν
{1, e }
20
0
0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20
-20
−λ t 2
-40
-60
dt dt
-80
-100
100
{ f (t )}=
d ξ d ξ
80
4 3
+ ( λ + β +γ ) +
60
40
4 3
i dt dt
5
{ 1, e }
20
−λ t −β t −γ t d ξ 2
dξ
0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20
ξ ( t ) = c 1 + c 2e −λt
,e ,e + ( λβ + λγ + βγ ) =ν ( t )
- 20
- 40
+ +λ β γ
- 60
- 80
+ c 3e −βt
+ c 4e −γ t dt 2 dt
- 100
d 7ξ d 6ξ
80
+ ( λ + β +γ )
+ c 5e
−λt
++ cc 56ee −−αβt t ++ cc67ee−−βγt t + c 7 e − γ t i +
60
{ 1, t , t
40
7 6
2 3 dt dt
6
20
0
0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20
,t d ξ 5
d 4ξ
}
-20
+ ( λβ + βγ + λγ ) + λβγ =ν ( t )
-40
−λ t −β t −γ t
e ,e ,e
-60
-80
dt 5 dt4
-100
100
80
60
ξ ( t )ξ=( t()c=1 (+cc1 +2 tc)2et)−eλ−t α +t + ( c 3 + c 4 t )e − β t
+ (c + c 4t )e
−βt
{ f (t )}=
i d ξ
4
+λ β
d ξ
3
(
+ λ +β )
d ξ
2
{e
2 2 2 2
40
3
4 3 2
+
−λ t −λ t dt dt dt
7
20
0
0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20
,te , dξ
}
-20
-40
+ λβ + ( λ + β ) ξ =ν (t )
−β t −β t
e ,te dt
-60
ξ
-80 ξ
-100 ξ
( ))
−t
ξ ( t ) = c 1ξ(+t) c= 2c1 +1c 2−( 1e− −et
{ f (t )}=
100
80
d ξ dξ
2
60
40
i
8 + =ν (t )
{ 1, (1 − e ) }
20
0
0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 8 1 2
-20
−t 2
-40
-60
dt dt
-80
-100
{ f (t )}=
80
60
d ξ d ξ dξ
40
3 2
i
9 =ν (t )
20
+2 +
{ 1, (1 − e ) , t e }
0
0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20
−t −t 3 2
dt dt dt
-20
-40
-60
-80
-100
80 2
−t
+ c 3+ (c(31( (−1λ− )αt )+t +λ α))ee− t i
60
d ξ d ξ dξ
40
3 2
10 {1, 1 + ( λ − 1 ) e − t , =ν (t )
20
0
0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20
3
+2 2
+
( ( 1 − λ ) t + λ ) e −t }
dt dt dt
-20
-40
-60
-80
-100
60
40
+ c 4 e+ c 4 e+ c 5+ ct5 −( t2−+2(+
− λ t −α t
(
t +( t2+) 2e) e )
− t −t
) i + (2 + λ ) +
5
dt dt4
11 {1, 2, t e , −λ t
20
0
0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20
d 3ξ d 2ξ
}
-20
+ ( 1 + 2λ ) +λ =ν (t )
( t + 2 ) e −t , e −λ t
-40
-60
3 2
-80
-100
dt dt
d 5ξ d 3ξ
( )
80
60
40
n (β( βt t))++cc5 5ccos
+ +c 4c4s isin o s (β( βt t))
i = + λ +β
2 2
+
5
dt dt3
12 { 1, sin ( λ t ) , cos ( λ t ) ,
20
0
0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20
dξ
-20
sin ( β t ) , cos ( β t ) } +λ β =ν (t )
-40
ξ 2 2
-60
ξ
-80
-1 00
ξ
ξ
dt
(4.143) D DNE ( jω ) = k 0
⎜
⎜
ωb ⎟
⎟
⎧ ∀ω (l a ,l m )∈ ω A, ωB
, ⎨
[ ];
⎜ jω ⎟ ⎩ {0< α < 1 }
⎜ 1 + ⎟
⎜ ωh ⎟
⎝ ⎠
α α
⎛ jω ⎞ ⎛ jω ⎞
e n
⎜ 1+ ⎟ ⎜ 1+ ⎟
(4.144) D
⎜ ωb ⎟ ⎜ ωb ⎟ [
⎧⎪ ∀ ω ( l a , l m ) ∈ ω A , ω B ] .
DNE ( jω ) = k 0
⎜ ⎟ ⎜ ⎟ , ⎨
⎜ jω ⎟ ⎜ jω ⎟ ⎪⎩ { α > 1 , α e + α n = α }
⎜ 1+ ⎟ ⎜ 1+ ⎟
⎜ ωh ⎟ ⎜ ωh ⎟
⎝ ⎠ ⎝ ⎠
Режекторът D approx е устройство, реализиращо дробно-рационалния рекурсивно полино-
миален диференциатор D app от пълен ред (4.115),(4.120). Той апроксимира функцията на
фракталния диференциатор D DNE (4.143),(4.144) от непълен ред α с честотно ограниче-
ние за диапазона ( ω A ÷ ω B ) . Съобразно реда на диференциране α (по-малък или по-
голям от единица), се използват режекторите (4.145) или (4.146) :
⎧ ⎧ ⎛ ⎞ ⎫
⎪ ⎪ ⎜ 1 + jω ⎟ ⎪
⎪ ⎪ N ⎜ ω ′i ⎟⎠ ⎪
∏
⎪ ⎪k ⎝ ⎪
⎪ 0
⎪
⎪ D app ( jω ) = ⎨ ⎛ ⎞
⎪
⎪
(4.145) ⎨ ⎪ i =1
⎜ 1 + jω ⎟ ⎬ ;
⎪ ⎪ ⎜ ω i ⎟⎠ ⎪
⎪ ⎪ ⎝ ⎪
⎪ ⎪⎩ k 0 R 1 ( jω ) . . . R N ( jω ) ⎪
⎪ ⎪
[ ]
⎪⎩ ∀ ω ( l a , l m ) ∈ ω A , ω B , { 0 < α < 1 } ; ( ω ′k ) > ( ω k
−1
) −1
⎪⎭
⎧ ⎧ α ⎛ ⎞ ⎫
⎪ ⎪ ⎛
⎜ 1+
jω ⎞ e
⎟ ⎜ 1 + jω ⎟ ⎪
⎪ ⎪ ⎜ ⎜ ω ′i ⎟⎠ ⎪
ωb ⎟ N
∏
⎪ ⎪k ⎜ ⎝ ⎪
⎪ 0 ⎟
⎪
⎪ D app ( jω ) = ⎨ ⎜ jω ⎟ ⎛ ⎞
⎪
⎪
(4.146) ⎨ ⎪ ⎜ 1+ ⎟ i =1
⎜ 1 + jω ⎟ ⎬;
⎜ ω h ⎟⎠ ⎜
⎪ ⎪ ⎝
⎝ ω i ⎟⎠ ⎪
⎪ ⎪ ⎪
⎪ ⎪⎩ k 0 R α e ( jω ) . R 1 ( jω ) . . . R N ( jω ) ⎪
⎪ ⎪
⎪⎩ ∀ ω ( [ ]
l a , l m ) ∈ ω A , ω B , { α > 1 , α e + α n = α } ; ( ω ′k ) > ( ω k
−1
) −1
⎪⎭
⎧⎧ α ⎫ ⎧
αe 1⎫ ⎫
⎪⎪ ⎛ 2
⎞2 ⎪ ⎪ ⎛⎜ ⎛ ωu ⎞
2
⎞2 ⎡ ⎛ω ⎞ ⎤
2 2
⎪ ⎪
⎪ ⎪ ⎜ 1 + ⎛⎜ ωu ⎞⎟ ⎟ ⎪ ⎪ 1+ ⎜ ⎟ ⎟ ⎢ 1+ ⎜ u ⎟ ⎥ ⎪ ⎪
⎪⎪ ⎜ ⎜ω ⎟ ⎟ ⎜ ⎜ ωh ⎟ ⎟ ⎜ ωi ⎟ ⎥ ⎪
(4.147) ⎪⎪ ⎪⎪ ⎜ ⎝ ⎠
N ⎢
⎝ ⎠ ⎪ .
⎪⎪ a ⎜
k0 = ⎨ ⎨ ⎜
⎝ h⎠
⎛ω ⎞
2
⎟
⎟ ;
⎬ ⎨
a
⎜ ⎛ω ⎞
2
⎟
⎟ ∏ ⎢
i =1 ⎢ ⎛ ωu ⎞ ⎥ ⎬
2
⎥ ⎪ ; a= 1 ⎪
⎬
⎪⎪ ⎜ 1+ ⎜ u ⎟ ⎟ ⎪ ⎪ ⎜ 1+ ⎜ u ⎟ ⎟ ⎢ 1 + ⎜⎜ ⎟ ⎥ ⎪ G ∗ ( jωu ) ⎪
⎪ ⎪ ⎜⎝ ⎜ ωb ⎟ ⎟ ⎪ ⎪ ⎜ ⎜ ωb ⎟ ⎟ ω′i ⎟⎠ ⎥ ⎪ ⎪
⎝ ⎠ ⎠ ⎝ ⎠ ⎢ ⎝
⎪⎪ ⎪ ⎪ ⎝ ⎠ ⎣ ⎦ ⎪ ⎪
⎪ ⎩⎪
⎩
(
0< α <1 ) ⎭⎪ ⎪⎩ (
α >1 ; α e +α n = α ) ⎪
⎭
⎪
⎭
0 рекурсивна апроксимация
ω
20 log D DNE( jω ) , d B D ( jω )
app
D ( jω )
20 log D app ( jω ) , d B DNE
6 α , dB Oct
0 ωu ω
⎛ ωi ⎞ ⎛ ω i′+1 ⎞
⎜ = λ⎟;⎜ =η ⎟ ; α π ( log λ + log η ) =
π
log λ
⎜ ω′ ⎟ ⎜ ω ⎟ 2 2
⎝ i ⎠ ⎝ i ⎠
arg D ( jω )
DNE
arg D app ( j ω )
log η log (λη ) log η
2 2
log λ log η log λ log η log λ
π
+
2
π
+α
2
0 ω
ω '
ωi ω '
i +1 ω i +1 ω '
i +2 ω i +2
ωb ω ωh
i
B ωB
arg R i ( jω ) arg D app ( jω ) arg D DNE ( jω )
фиг.4.15.a
D app ( jω )
R1
RN
D app ( jω )
arg D app ( jω )
R1 RN
фиг.4.15.b
20 log R i
α >1
фиг.4.16.e
фиг.4.16.a
arg R i
α >1
α >1
(1) R i (t )
(1) D app ( t )
20 log D app
α >1 α >1
фиг.4.16.b
фиг.4.16.f
arg D app
α >1
фиг.4.16.g
фиг.4.16.c
D app ( jω )
α >1
α >1
(δ(t )) D app ( t )
( at ) D app ( t )
α >1
фиг.4.16.h
фиг.4.16.d
D app ( jω )
α >1
20 log R i
0< α < 1
фиг.4.17.e
фиг.4.17.a
arg R i 0< α < 1
0< α < 1
(1) R i (t )
(1) D app ( t )
20 log D app
0< α < 1 0< α < 1
фиг.4.17.b
фиг.4.17.f
arg D app
0< α < 1
( jω )
фиг.4.17.g
фиг.4.17.c
D app
0< α < 1
(δ(t )) D app ( t )
0< α < 1 фиг.4.17.h
фиг.4.17.d
D app ( jω ) ( at ) D app ( t )
⎜ 1+ ⎟ ⎜ 1+ ⎟
(4.150) I
⎜ ωb ⎟ ⎜ ωb ⎟ ⎧⎪ ∀ ω ( l a , l m ) ∈ ω A , ω B , [ ] .
( jω ) = k 0 ⎜ ⎟ ⎜ ⎟ , ⎨
⎪⎩ { α > 1 , α e + α n = α ; α < 0 }
INE
⎜ jω ⎟ ⎜ jω ⎟
⎜ 1+ ⎟ ⎜ 1+ ⎟
⎜ ωh ⎟ ⎜ ωh ⎟
⎝ ⎠ ⎝ ⎠
Режекторът I app е устройство, реализиращо дробно-рационалния рекурсивно полиноми-
ален интегратор I app от пълен ред (4.126). Той апроксимира функцията на фракталния ин-
тегратор I INE ( j ω ) (4.149), (4.150) от непълен ред α с честотно ограничение за диапа-
зона ( ω A ÷ ω B ) . Съобразно с реда на интегриране α (по-малък или по-голям от еди-
ница) се използват режекторите (4.151),(4.153) или (4.152),(4.153) :
⎧ ⎧ ⎛ ⎞ ⎫
⎪ ⎪ ⎜ 1 + jω ⎟ ⎪
⎪ ⎪ M ⎜ ω ′i ⎟⎠ ⎪
∏
⎪ ⎪k ⎝ ⎪
⎪ 0
⎪
⎪ I app ( jω ) = ⎨ ⎛ ⎞
⎪
⎪
(4.151) ⎨ ⎪ i =1
⎜ 1 + jω ⎟ ⎬ ;
⎪ ⎪ ⎜ ω i ⎟⎠ ⎪
⎪ ⎪ ⎝ ⎪
⎪ ⎪⎩ k 0 R 1 ( jω ) . .. R M ( jω ) ⎪
⎪ ⎪
[ ]
⎪⎩ ∀ ω ( l a , l m ) ∈ ω A , ω B , { 0 < α < 1 } ; ( ω ′k ) <
−1
(ω ) k
−1
⎪⎭
⎧ ⎧ α ⎛ jω ⎞⎟ ⎫
⎪ ⎪ ⎛ jω ⎞ e ⎜ ⎪
⎜ 1+ ⎟ 1 +
⎪ ⎪ ⎜ ⎜ ω ′i ⎟⎠ ⎪
ωb ⎟ M
∏
⎪ ⎪k ⎜ ⎝ ⎪
⎪ 0 ⎟
⎪
⎪ I app ( jω ) = ⎨ ⎜ jω ⎟ ⎛ ⎞
⎪
⎪
(4.152) ⎨ ⎪ ⎜ 1+ ⎟ i =1
⎜ 1 + jω ⎟ ⎬ ;
⎜ ω h ⎟⎠ ⎜
⎪ ⎪ ⎝
⎝ ω i ⎟⎠ ⎪
⎪ ⎪ ⎪
⎪ ⎪⎩ k 0 R α e ( jω ) . R 1 ( jω ) . . . R M ( jω ) ⎪
⎪ ⎪
⎪⎩ ∀ ω (l a ,lm [ ]
) ∈ ω A , ω B , { α > 1 , α e + α n = α } ; ( ω ′k ) −1 < (ω ) k
−1
⎪⎭
⎧⎧ α ⎫ ⎧ αe 1 ⎫ ⎫
⎪⎪ ⎛ 2
⎞ ⎪ ⎪ ⎛ ⎛ω ⎞
2
⎞ 2 ⎡ ⎛ω ⎞
2
⎤ 2 ⎪ ⎪
⎛ ωu ⎞ 2
⎪⎪ ⎜
1 + ⎜ ⎟ ⎟ ⎪ ⎪ ⎜⎜ 1 + ⎜ u ⎟ ⎟⎟ ⎢ 1+ ⎜ u ⎟ ⎥ ⎪ ⎪
⎪⎪ ⎜ ⎜ω ⎟ ⎟ ⎪ ⎪ ⎜ ω ⎟ ⎢ ⎜ ω ⎟ ⎥ ⎪ ⎪
(4.153) ⎪⎪ ⎪⎪ a ⎜ ⎝ h ⎠ ⎟
M
.
∏
⎪⎪ ⎜ ⎝ h ⎠ ⎟ ⎢ ⎝ i ⎠ ⎥ ⎪⎪ 1 ⎪
⎪⎪ a ⎜ ⎟ ⎜ ⎟ ⎪
k0 =⎨⎨ 2 ⎬;⎨ ⎜ 2 ⎢ 2 ⎥ ⎬ ; a= ⎬
⎛
⎪ ⎪ ⎜ 1+ ⎜ ωu
⎞ ⎟ ⎛ ωu ⎞ ⎟ ⎛ ωu ⎞
⎜ ⎟ ⎟
⎪ ⎪ ⎜
1 + ⎜ ⎟ ⎟
i =1 ⎢
1 + ⎜ ⎟ ⎥ ⎪ G ∗ ( jω u ) ⎪
⎪⎪ ⎜ ⎜ ω ⎟ ⎪ ⎪ ⎜ ⎜ ω ⎟ ⎟ ⎢ ⎜ ω′ ⎟ ⎥ ⎪ ⎪
⎟ ⎢ ⎥⎦
⎪⎪ ⎝ ⎝ b ⎠ ⎠ ⎪ ⎪ ⎝ ⎝ b ⎠ ⎠ ⎣ ⎝ i ⎠ ⎪ ⎪
⎪⎪
⎪
⎩⎪ ⎩
(
0< α <1 ) ⎪ ⎪
⎪⎭ ⎪⎩ (
α > 1 ; α e +α n = α ) ⎪
⎪⎭
⎪
⎭⎪
⎧ ∀ω (l a [
,lm )∈ ωA , ωB ] ⎫
⎪ ⎪
π π ⎪ log (λ ) ⎛ ωi ⎞ ⎛ ω ′i +1 ⎞ ⎪⎪
(4.154) α ( l o g λ + l o g η ) = l o g λ , ⎪⎨ α = ;⎜ =λ ⎟ ; ⎜ =η⎟ ⎬
.
2 2 ⎪ l o g ( λ η ) ⎜⎝ ω ′i ⎟ ⎜ ω
⎠ ⎝ i
⎟
⎠ ⎪
⎪ ⎪
⎪⎩ I DNE ( jω ) ≡ I approx ( jω ) ⎪⎭
Цялостна представа за свойствата на режектора I app е илюстрирана на фиг. 4.19. (за ред
α > 1 ) и на фиг.4.20 (за ред 0 < α < 1 ) със систематизация на неговите характерис-
тики (честотни I app ( j ω ) , преходна функция ( 1 ) I app ( t ) , импулсна преходна функция
( δ ( t ) ) I app ( t ) , преходна характеристика на линейно нарастващ входен сигнал ( a t ) I app ( t ) )
за конкретни стойности на параметрите.
I ( jω ) I ( jω )
0
app INE
ω
⎛ ωi ⎞ ⎛ ω i′+1 ⎞ π π
⎜ = λ⎟;⎜ =η ⎟ ; α ( log λ + log η ) = log λ
⎜ ω′ ⎟ ⎜ ω ⎟ 2 2
⎝ i ⎠ ⎝ i ⎠
arg I ( jω ) ; arg I ( jω )
ωb
INE app
ωh
log η ω i
'
ωi ω '
i +1 ω i +1 ω '
i +2 ω i +2 log η
log λ log η log λ logη
2
0 log λ 2
ω
π
−α
2
π
−
2
arg R i ( jω ) arg I app ( jω ) arg I INE ( jω )
фиг.4.18.a
RM
R1
I app ( jω )
I app ( jω )
R1 RM
arg I app ( jω )
фиг.4.18.b
20 log R i
α >1
фиг.4.19.a
фиг.4.19.e
(1) R i (t )
arg R i α >1
α >1
20 log I app
фиг.4.19.b
α >1
фиг.4.19.f
α >1
arg I app
α >1 (1) I app ( t )
(δ(t )) I app ( t )
α >1
фиг.4.19.g
фиг.4.19.c
I app ( jω )
α >1
I app ( jω )
α >1
фиг.4.19.h
фиг.4.19.d
α >1
( at ) I app ( t )
20 log R i
фиг.4.20.e
фиг.4.20.a
0< α < 1
(1) R i (t )
arg R i
0< α < 1 0< α < 1
20 log I app
фиг.4.20.b
фиг.4.20.f
0< α < 1
фиг.4.20.g
фиг.4.20.c
I app ( jω )
0< α < 1
фиг.4.20.h
фиг.4.20.d
( at ) I app ( t )
0< α < 1
d y ⎛ d x ⎞
(4.155) T 2 + y = k ⎜ T2 +x ⎟ ,
⎜ ⎟
dt ⎝ dt ⎠
T1
1+ jωT2
1+ j Ω τ T2 ⎛ T1 ⎞
(4.158) G o
( j Ω )= ≡ k
−1
=k
−1
G ( j ω ) , ⎜⎜ τ = , Ω =ωT2 ⎟
⎟
1+ j Ω 1+ jωT2 ⎝ T2 ⎠
⎧ ⎛ ⎞
⎪ G o
(Ω )= (1 + ( Ω τ ) ) (1 + Ω )
2 2 −1
, ⎜τ =
⎜
T1
, Ω =ωT2 ⎟
⎟
⎪⎪ ⎝ T ⎠ ;
(4.159) ⎨ 2
⎪ ⎛ ⎞
⎪ ⎜ lim G
⎜ Ω →∞
o
(Ω )= τ , lim G o
( Ω ) = 1 ⎟⎟
⎪⎩ ⎝ Ω →0 ⎠
⎛ T1 ⎞
(4.160) ϕ o
(Ω )= a r ct g ( Ω τ )− a r ct g ( Ω ) , ⎜τ = , Ω =ωT2 ⎟ .
⎜ T ⎟
⎝ 2 ⎠
dϕ
0
(Ω ) d ( a r ct g ( Ω τ )− ar ct g ( Ω ))
(4.161) = =0 ;
d Ω d Ω
(4.162) Ω = Ω M = τ = (T 1 T2 ) ;
⎡ (τ − 1 ) ⎤ ⎡ (T1 − T 2 )⎤ ⎛ T1 ⎞
(4.163) ϕ o
= ar c sin ⎢ ⎥ = ar c sin ⎢ ⎥ , ⎜τ = , Ω =ωT2 ⎟;
⎢⎣ ( τ + 1 ) ⎢⎣ ( T 1 + T 2 ) ⎥⎦ ⎜ ⎟
M
⎥⎦ ⎝ T 2 ⎠
(4.164) L o (Ω ) = 20 l o g G o
= 10 l o g 1 + ( Ω τ )2 − 10 l o g 1 + Ω 2
;
⎧ 0 , ( Ω ≤ 1 ,τ < 1 )
⎪
(4.165) L o
(Ω ) = ⎨ − 20 l o g Ω ,(1 ≤ Ω ≤ (1 τ ) ,τ < 1) ;
{τ }
<1
⎪ − 20 l o g τ ,(Ω ≥ 1 , τ < 1 )
⎩
⎧ 0 ,(Ω ≤ 1, τ > 1 )
⎪
(4.166) L o
(Ω ) = ⎨ 20 l o g Ω ,((1 τ ) ≤ Ω ≤ 1 , τ > 1 ) ,
{τ }
>1
⎪ 20 l o g τ ,(Ω ≥ 1 , τ > 1 )
⎩
⎡ k (1 + T1 p ) 1 ⎤
(4.167) h ( t ) = L −1 ⎢
⎢⎣ ( 1 + T 2 p )
⋅ ⎥ =k ( 1 + (τ − 1 )e −t T 2
)1(t ) ;
p ⎥⎦
d (h(t )) k
(4.168) w ( t ) = (τ −1)e 1(t )+ kτ δ (t ).
−t T
= 2
dt T2
Nyquist plot
Nyquist plot du
du Systeme
Systeme “Force”
"Force"
5
τ > 1
4.5
G ( jω)
4
Ω =ω T2
Ω =1
3.5 τ =T1 T2
3
ω
(jw)
Imag (jw)
2.5 Ω M
Imag
ϕ o
M
1.5
1
−1
Ω =τ
0.5
Ω =0 Ω =∞
0
0 1 2 3 4 5 6 7 8 9 10 11
фиг.4.21
G ( j0 ) =1 Real
Real(jw)
(jw) G ( j ∞ )=τ
Bodeplot
Bode plotduduSysteme
Systeme“Force”
"Force"
20
G ( jω ) = 20 l g τ Ω =1
(db)
20.log10[G(jw)] (dB)
15 τ > 1
20.log10[G(jw)]
10 Ω M G ( jω )
5 −1
Ω =ωT2
Ω =τ
τ =T1 T2
0
1 2 3 4 5 6
10 10 10 10 10 10
arg ( G ( jω ))
60
τ > 1
ϕ =ϕ o
M Ω Ω =ωT2
(deg)
M
Phase (deg)
40
τ =T1 T2
Ω =τ −1
Ω =1
Phase
20
0
1 2 3 4 5 6
10 10 10 10 10 10
фиг.4.22 Frequency
Frequency(rad/sec)
(rad/sec)
Logaritmique
Logaritmiqueplot
plotdu
duSysteme
Systeme“Force”
"Force"
20
20 l o g τ
18 Ω =1
16
14
(dB)
20.log10[G(jw)](db)
12
20.log10[G(jw)]
10 Ω M
6 Ω =ωT2
τ =T1 T2
4
−1
L ( jω )
2 Ω =τ
τ > 1
0
20 30 40 50 60 70 80 90 100 110 120
фиг.4.23 Loglog10 (Frequence)(rad/sec)
10 (Frequency) (rad/s)
G ( jω ) = 20 l g τ Nicholsplot
Nichols plotduduSysteme
Systeme"Force"
“Force”
20
Ω =∞ ττ >> 11
18 Ω =1
G ( jω )
16
Ω =ω T2
(db) (dB)
14 τ =T1 T2
20.log10[G(jw)]
12
20log10[G(jw)]
10 Ω M
4
−1
Ω =τ
2
Ω =0 ϕ =ϕ o
M
0
0 10 20 30 40 50 60
фиг.4.24 Frequence (rad/s)
Phase (grad)
Step
Step responsedu
Response duSysteme
Systeme“Force”
"Force"
10
h(t ) τ > 1
9
τ =T1 T2
8
6
Amplitude(-)(-)
Amplitude
1
k
0
0 1 2 3 4 5 6
фиг.4.25 Time
Time(sec)
(sec) -4
x 10
4 Impulse
ImpulseResponse
Responsedu
duSysteme
Systeme“Force”
"Force"
x 10
0
w(t )
-1
τ > 1
-2
τ =T1 T2
-3
(-)
Amplitude(-)
-4
Amplitude
-5
-6
-7
-8
-9
0 2 4 6
фиг.4.26 Time(sec)
Time (sec) -4
x 10
Pole-Zero Map
Pole-Zero Map
0.01
0.008
τ > 1 jω = Im (p)
plan complexe p
0.006
0.004
Imag Axis
0.002
pôle zéro
Imag Axis
0 x o
p1 z1
-0.002
-0.004
-0.006
(p)
-0.008
σ = Re
-0.01
-2 -1.8 -1.6 -1.4 -1.2 -1 -0.8 -0.6 -0.4 -0.2 0
Real Axis 4
фиг.4.27 Real Axis x 10
Root Locus
Root Locus
0.01
0.008
τ > 1 jω = Im (p)
plan complexe p
0.006
0.004
0.002
Axis
pôle zéro
Imag Axis
0 x o
Imag
p1 z1
-0.002
-0.004
-0.006
-0.008
σ = Re (p)
-0.01
-2 -1.8 -1.6 -1.4 -1.2 -1 -0.8 -0.6 -0.4 -0.2 0
Real Axis 4
фиг.4.28 x 10
Real Axis
G ( j ∞ )=τ Nyquistplot
Nyquist plotdu
duSysteme
Systeme“Force”
"Force" G ( j 0 ) =1
0
Ω =∞ Ω =0
-0.05
Ω =1
-0.1
ω
-0.15
-0.2
(jw)
Imag (jw)
Ω ϕ o
-0.25 M
M
Imag
-0.3
-0.35 Ω =ω T2
Ω =τ −1
τ =T1 T2
-0.4
G ( jω)
-0.45
τ < 1
-0.5
0 0.2 0.4 0.6 0.8 1
фиг.4.29 Real (jw)
Real (jw)
Bodeplot
Bode plotdu
duSysteme
Systeme“Force”
"Force"
0
Ω =τ −1
τ < 1
(dB)
20.log10[G(jw)] (db)
-5
G ( jω )
20.log10[G(jw)]
-10 Ω M Ω =ω T2
τ =T1 T2
-15
G ( jω ) = 20 l g τ Ω =1
-20
1 2 3 4 5 6
10 10 10 10 10 10
arg ( G ( jω ))
0
τ < 1
(deg)
Phase (deg)
-20 Ω =ω T2
Ω =τ −1
Ω =1 τ =T1 T2
Phase
-40
Ω M
ϕ =−ϕ o
M
-60
1 2 3 4 5 6
10 10 10 10 10 10
фиг.4.30 Frequency
Frequency(rad/sec)
(rad/sec)
Logaritmique
Logaritmiqueplot
plotdu
duSysteme
Systeme“Force”
"Force"
0
τ < 1
-2
-4
L ( jω )
Ω =ωT2
-6
(dB)
τ =T1 T2
20.log10[G(jw)](db)
-8
20.log10[G(jw)]
-10 Ω M
-12
-14
-16
Ω =τ −1
Ω =1
-18
20 l o g τ
-20
20 30 40 50 60 70 80 90 100 110 120
фиг.4.31 Loglog10 (Frequence)(rad/sec)
10 (Frequency) (rad/s)
Nicholsplot
Nichols plotduduSysteme
Systeme"Force"
“Force”
0
Ω =0
-2 −1
Ω =τ
-4
(db) (dB)
-6
τ < 1
20.log10[G(jw)]
-8
( jω )
20log10[G(jw)]
-10 Ω
G
M
Ω =ω T2
-12 τ =T1 T2
-14
-16
Ω =1
-18
G ( jω ) = 20 l g τ Ω =∞
-20
-60 -50 -40 -30 -20 -10 0
ϕ =ϕ o
фиг.4.32 M
Frequence (rad/s)
Phase (grad)
Step
Step responsedu
Response duSysteme
Systeme“Force”
"Force"
1 k
0.7
0.6
Amplitude(-)(-)
Amplitude
0.5
0.4
0.3
0.2
0.1
0
0 1 2 3 4 5 6
фиг.4.33 Time
Time(sec)
(sec) -3
x 10
Impulse
ImpulseResponse
Responsedu
duSysteme
Systeme“Force”
"Force"
900
w(t ) τ < 1
800
τ =T1 T2
700
600
(-)
Amplitude(-)
500
Amplitude
400
300
200
100
0
0 1 2 3 4 5 6
фиг.4.34 Time(sec)
Time (sec) -3
x 10
Pole-Zero Map
Pole-Zero Map
0.01
τ < 1
0.008
jω = Im (p)
0.006
plan complexe p
0.004
Imag Axis
0.002
zéro pôle
Imag Axis
0 o x
z1 p1
-0.002
-0.004
-0.006
-0.008
σ = Re (p)
-0.01
-2 -1.8 -1.6 -1.4 -1.2 -1 -0.8 -0.6 -0.4 -0.2 0
Real Axis 4
фиг.4.35 Real Axis x 10
Root Locus
Root Locus
0.01
τ < 1
0.008 jω = Im (p)
plan complexe p
0.006
0.004
zéro pôle
0.002
Axis
Imag Axis
0 o x
Imag
-0.002
z1 p1
-0.004
-0.006
-0.008
σ = Re (p)
-0.01
-2 -1.8 -1.6 -1.4 -1.2 -1 -0.8 -0.6 -0.4 -0.2 0
Real Axis 4
фиг.4.36 x 10
Real Axis
( p ) = (T 3 ) −1
(4.171) A 2 p
3
;
( p )=( T4 ) −1
(4.172) A 3 p 4
;
( p )= (T 2 ) −1
(4.173) A 4 p 2
+T 1 p ;
( p ) = (T 4 ) −1
(4.174) A 5 p
4
+T 3 p
3
+T 2 p
2
+T1 p ;
( p )= (T 7 ) −1
(4.175) A 6 p 7
+T 6 p 6
+T 5 p 5
+T 4 p 4
;
( p )= (T 4 p 4 ) −1
(4.176) A 7 +T 3 p 3
+T 2 p 2
+T1 p ;
( p )= (T 2 p 2 ) −1
(4.177) A 8 +T 1 p ;
( p )= ( T 3 p 3 + T 2 p 2 ) −1
(4.178) A 9 +T 1 p ;
( p ) = (T 3 p 3 + T 2 p 2 p)
−1
(4.179) A 10 +T 1 ;
(4.180) A 11 ( p ) = ( T 5 p 5 + T 4 p 4 + T 3 p 3 + T 2 p ) −1
2
;
( p )= ( T 5 p 5 ) −1
(4.181) A 1 2 +T 3 p 3
+T 1 p ;
−1
⎛ M ⎞
( p )= p( ) ⎜
∑ (T ) ⎟
ρ −1 −1
(4.182) A ρ
+q ρ p +. . .+ q 2 p =⎜ j p
j
⎟ .
⎜ ⎟
⎝ j=K ⎠
На фиг.4.37, фиг.4.38, фиг.4.39, фиг.4.40 са илюстрирани характеристиките на режекторите
INE ⋅ ABS (4.170) ÷ (4.181). Честотните им характеристики са систематизирани по съотве-
тен начин и в последната колона на Табл.4.4.
Във всички от анализираните типични случаи (Табл.4.4.) получените (4.170) ÷ (4.181) резул-
тати са за оператори за нехомогенно интегриране от непълен ред от типа (4.182). Това оп-
ределя и названието на реализиращите ги режектори INE ⋅ ABS , “поглъщащи” смущени-
ята от вълнов тип като режектори с нехомогенно интегриране от непълен ред, “поглъща-
щи” смущенията. Динамичните параметри за настройка на INE ⋅ ABS са редът M и коефи-
циентите T j (4.182). По същество INE ⋅ ABS са динамични системи от пълен ред. Те са ра-
ционални, реализуеми функции и за тях апроксимация не е наложителна.
INE − ABS
фиг.4.37
INE − ABS
фиг.4.38
INE − ABS
фиг.4.39
INE − ABS
фиг.4.40
(5.3) a ( h ) = ∑A
i=1
i ( h ) λ ih ,
(5.4) n ≡ ∑n i=m
i .
може да бъде умножаван или да бъде делен (изключва се деленето с нула). При степену-
ване
∞
(5.5) ∑k
k =1
−p
(5.6) D ±α
( z ) ≡ (ϖ ( z ))
−1 −1 ±α
= T ( 0
−1
( 1 − z )) −1 ±α
.
(5.7) y ( z −1
)=T mα
0 PSE {u } x z ( −1
),
където: T 0 е тактът на дискретизацията; y ( z −1
) е образът на изходната величина
( )
y ( k T ) в равнинната z ; x z − 1 е образът на входната величина x ( k T ) равнината z ;
а PSE { u } е символичното описание на използвания степенен ред в апроксимацията на
оператора за линейна фрактална трансформация u = ( 1 − z − 1 ) ±α
по отношение на ком-
плексната променлива z − 1 . От (5.7) следва зависимостта (5.8) :
( )
{ (1 − z }.
−1
y z
(5.8) D ±α
(z −1
)= ≈ T
mα
PSE
−1
) ±α
x(z ) −1 0
⎛ 12 − 6 ( α + 2 ) z −1
(
+ α
2
)
+ 3α + 2 z
−2
⎞
(5.11) D ±α
(z )
−1
≈ T
mα ⎜ ⎟.
⎜ 12 + 6 ( α + 2 ) z + (α + 3α + 2 )z ⎟
0 −1 2 −2
⎝ ⎠
( 1 − z ) ⎞⎟ ⎛ −1 ±α
(5.12) D ( z ) ≡ (ϖ ( z ))
±α −1 −1
.
±α
= ⎜2T −1
( 1 + z ) ⎟⎠ ⎜
⎝
0 −1
(5.13) y ( z −1
)=T mα
0 PSE {u } (
x z −1
),
където PSE { u } е символичното описание на използвания степенен ред в апроксимаци-
ята на оператора (5.14) за линейна фрактална трансформация по отношение на комплекс-
ната променлива z − 1 .
(5.14) u = (( 1 − z ) ( 1 + z ))
−1 −1 ±α
.
( )
{ (( 1 − z }
−1
y z
(5.15) D ±α
(z −1
)= ≈ T
mα
PSE
−1
) ( 1 + z )) −1 ±α
.
x(z ) −1 0
(5.16) D ±α
( z ) ≈ 2 T (1 − 2 α z
−1 mα
0
−1
+ 2α 2
z −2
⋅⋅⋅⋅ ).
При апроксимация на оператора (5.14) с ред на Padé с еднакви редове на полиномите в
числителя m и знаменателя ( m = n = 1 ) , зависимостта (5.15) се конкретизира до (5.17)
⎛ 1−α z −1
⎞
(5.17) D ±α
(z ) ≈
−1
2T
mα
0
⎜
⎜ 1+α z −1
⎟ .
⎟
⎝ ⎠
⎛ 3 − 3α z −1
(
+ α
2
)
−1 z
−2
⎞
(5.18) D ±α
(z )
−1
≈ 2T
mα ⎜ ⎟ .
⎜ 3 + 3α z + (α −1)z ⎟
0 −1 2 −2
⎝ ⎠
(5.19) D ±α
( z ) ≡ (ϖ ( z ))
−1 −1 ±α
= ⎜ 3T −1
.
⎜
⎝
0
( 1 + 4 z + z ) ⎟⎠−1 −2
(5.20) ((1 + z −1
)(1 − z ) (1 + 4 z−1 −1
+z −2
) −1
) ±α
.
Дискретната предавателната функция, апроксимираща фрактален интегро-диференциа-
лен оператор D ± α ( z − 1 ) (5.19), може да бъде изразена чрез (5.21) :
(5.21) y ( z −1
)=T ±α
0 PSE {u } x z ( −1
),
където PSE { u } е символичното описание на използвания степенен ред в апроксимаци-
ята на (5.22) :
(5.22) u = ((1 + z −1
)(1 − z ) (1 + 4 z
−1 −1
+z −2
) −1
) ±α
.
От (5.21) следва (5.23) 7
( )
((1 + z )
−1
y z
(z )= )(1 − z ) (1 + 4 z )
±α
(5.23) D ±α −1 mα ⎧ −1 −1 −1 −2 −1 ⎫ .
= 3T PSE ⎨ +z ⎬
x(z ) 0
−1
⎩ ⎭
(5.24) D ± α ( z − 1 ) ≈ 3 T 0m α ( 1 − 4 α z − 1 + 2 α ( 4 α + 3 ) z − 2 ⋅ ⋅ ⋅ ⋅ ) .
⎛ 2 − (4 α − 3 ) z −1
⎞
(5.25) D ±α
(z ) ≈ 3T−1 mα
0
⎜
⎜ 2 − (4 α − 3 ) z −1
⎟.
⎟
⎝ ⎠
⎛
⎜
(
64 α 4 − 144 α 3 − 92 α 2 + 177 α + 28 z − 2 + ) ⎞
⎟
( ) (
⎜ + 3 16 α 2 − 25 − 6 16 α 3 − 24 α 2 − 25 α + 33 z − 1 ) ⎟
(5.26) D ±α
(z ) −1
≈ 3T mα
⎜ ⎟ .
0
( ) (
⎜ 3 16 α 2 − 25 + 6 16 α 3 − 24 α 2 − 25 α + 33 z − 1 +
⎜
) ⎟
⎟
⎜
⎝ (
+ 64 α 4 − 144 α 3 − 92 α 2 + 177 α + 28 z − 2 ) ⎟
⎠
(5.27) D t f α
(k T )= T 0
−α
0 ∑ j =0
(−1) j ⎛ α ⎞
⎜⎜ ⎟⎟ f
⎝ j ⎠
(( k − j ) T ) 0 ,
(1 − z ) −1 ±α
∑( − 1 ) ⎛ ±α ⎞
−1
j − j
Qq
⎜⎜ ⎟⎟ z
j =0
⎝ j ⎠
[L T ]
∑
0
±α ⎞ [L
D
±α
( z ) ≡ (ϖ ( z ) )
−1 −1 ±α
≈ T
mα
0 z
[
− L T 0 ]
( − 1 ) j ⎛⎜⎜ ⎟⎟ z
T 0 ]− j
=
j =0
⎝ j ⎠
(5.32) [L T0 ] .
=T
mα
0 z
[
− L T 0 ]
∑c j =0
( ±α )
j z
[L T 0 ]− j
⎛ 1 + (± α ) ⎞
(5.33) c 0( α ) = 1 , c (α )
= ⎜ 1− ⎟c (α )
.
j
⎜ j ⎟ j −1
⎝ ⎠
За практически цели (изчисление и моделиране), размерът на L в тактове назад спрямо
текущия брояч на дискретното време се определя със зависимостта (5.34). Доказана от
Podlubny, зависимостта (5.34) осигурява желана точност на дискретизацията ε , където
M е максималната стойност на функцията, върху която е наложено действието на опера-
тора (5.32) :
1 α
⎛ M ⎞
(5.34) L ≥ ⎜ ⎟ .
⎜ ε Γ (1−α ) ⎟
⎝ ⎠
⎛ 2 ⎞
α
⎛ 1− z −1
⎞
α
⎛ 2 ⎞
α
An (z −1
,α )
(5.35) D α
( z ) ≡ (ϖ ( z ) )
−1 −1 α
= ⎜ ⎟ ⎜ ⎟ = ⎜ ⎟ lim .
⎜T ⎟
⎝ 0 ⎠
⎜ 1+ z
⎝
−1 ⎟
⎠
⎜T ⎟
⎝ 0 ⎠ n→∞ An (z −1
,− α )
В (5.35) елементите от разложението в ред на Taylor (5.36) на функцията
( z ) = (1 − z )
−1 α
f
−1
по отношение на комплексната променлива z ,
(z−z )
f ( z )= f ( z )+ ( z − z ) f ′ ( z )+
0 0 0
0
f ′′ ( z 0 )+ ⋅⋅⋅ =
2!
(5.36) ⎛ ⎞,
⎜ ⎟
n
(z−z ) k (k )
(z )
∑
f z
∫ ∫
⎜ ⎟
=
0 0
+Rn , ⎜ Rn = ⋅⋅⋅ f (n+1)
( z ) (d z ) n + 1 ⎟
k! ⎜⎜ z 0
⎟⎟
k =0 14243
⎝ n ⎠
наречени Taylor -разширения, са показани с изразите (5.37) :
(5.37) A 0 ( z − 1 , α ) = 1 , A n ( z − 1 , α ) = A n − 1 ( z − 1 , α ) + c n z −n
A n−1 ( z ,α ) ,
в които биномиалният коефициент (5.33) е трансформиран в (5.39) :
⎧ α n ; n е нечетно
(5.39) c n = ⎨ .
⎩ 0 ; n е четно
Аналогично са определени и разширенията за функцията f ( z ) = ( 1 + z − 1 ) . За произ-
−α
След изчисляването на A n (z −1
,α ) An (z −1
,−α ) е необходимо обобщаването на
коефициентите пред степените на z − i , до определянето на окончателния вид на Taylor -
разширението. Като пример за използването на рекурсивния метод с Tustin -трансфор-
мация, е показан резултатът (5.41)-(5.44) от неговото приложение за дискретизацията на
D 0 , 5 ( p ) с ред на апроксимация n = 1 , ...,9 и с период на дискретизация T 0 = 0.001 sec . :
44.72 z − 22.36
(5.41) G 1 ( z ) = ;
z + 0 .5
3 2
44.72 z − 22.36 z + 3.727 z − 7.454
(5.42) G 3 ( z ) = ;
3 2
z + 0. 5 z + 0.08333 z + 0.1667
7 6 5 4 3 2
44.72 z − 22.36 z + 4.792 z − 7.986 z + 2.795 z − 4.792 z + 1.597 z − 3.194
(5.43) G 7 ( z ) = ;
7 6 5 4 3 2
z + 0.5 z + 0.1071 z + 0.1786 z + 0.0625 z + 0.1071 z + 0.0357 z + 0.07143
9 8 7 6 5 4
44.72 z − 22.36 z + 4.969 z − 8.075 z + 3.061 z − 4.794 z +
3 2
2.041 z − 3.461 z + 1.242 z − 2.485
(5.44) G ( z ) = .
9 9 8 7 6 5 4
z + 0 .5 z + 0.1111 z + 0.1806 z + 0.06845 z + 0.1106 z +
3 2
0.04563 z + 0.07738 z + 0.0277 z + 0.05556
е показан с (5.46) :
α
⎧⎛ 1− z −1
⎞ ⎫ ⎛ 2 4 ⎞
⎪
PSE ⎨ ⎜
⎜ −1
⎟
⎟
⎪
⎬≈ 1−(2α )z
−1
(
+ 2α
2
)z −2
−⎜
⎜ 3
α + α
3
⎟z
⎟
−3
+
⎪⎩ ⎝ 1 + z ⎠ ⎪⎭ ⎝ 3 ⎠
⎛ 4 2 ⎛ 2
⎞ 4 4 ⎞ −5
+⎜ −⎜ α + α +
⎟z ⎟z
−4
⎜ 3
α 2
+ α
4
⎜ 5
⎟
3
α ⎟
5
+
⎝ 3 ⎝⎠ 3 15 ⎠
⎛ 46 8 4 ⎞ −6
+⎜ α + α + α ⎟z
2 4 6
+
⎜ 45 9 45 ⎟
(5.46) ⎝ ⎠
⎛ 2 56 4 8 ⎞ −7
−⎜ α + α + α + α ⎟z
3 5 7
+
⎜ 7 45 9 315 ⎟
⎝ ⎠
⎛ 88 44 8 2 ⎞ −8
+⎜ α 2 + α 4+ α 6 + α ⎟z
8
+
⎜ 105 45 45 315 ⎟
⎝ ⎠
⎛ 2 3272 76 8 4 ⎞
−⎜ α + α 3
+ α 5
+ α 7
+ α 9 ⎟⎟ z − 9 .
⎜ 9 2835 135 315 2835
⎝ ⎠
Резултатите от дискретизацията на D 0 , 5 ( p ) с ред на апроксимация n = 1 , ...,9 и с пе-
риод на дискретизация T 0 = 0.001 sec . с Tustin –трансформация (5.41) ÷ (5.44) са илюс-
трирани на фиг.5.1, фиг.5.2, фиг.5.3, фиг.5.4, фиг.5.5.
фиг.5.1.a
⎛ 2 ⎞
0.5
(
A n z − 1 , 0.5)
≈ ⎜ ⎟
0.5
Bode plot p
⎜T ⎟
⎝ ⎠ An z( −1
, − 0.5 )
( рекурсивна Tustin трансформация , n = 1 )
фиг.5.1.b
фиг.5.2.a
⎛ 2 ⎞
0.5
(
A n z − 1 , 0.5)
≈ ⎜ ⎟
0.5
Bode plot p
⎜T ⎟
⎝ ⎠ An z( −1
, − 0.5 )
( рекурсивна Tustin трансформация , n = 3 )
фиг.5.2.b
фиг.5.3.a
0.5
⎛ 2 ⎞
⎜ ⎟
0.5
(
A n z − 1 , 0.5)
Bode plot p ≈
⎜T ⎟
⎝ ⎠ An z( −1
, − 0.5 )
( рекурсивна Tustin трансформация , n = 5 )
фиг.5.3.b
фиг.5.4.a
0. 5
⎛ 2 ⎞
⎜ ⎟
0. 5
(
A n z − 1 , 0.5)
Bode plot p ≈
⎜T ⎟
⎝ ⎠ ( −1
A n z , − 0.5 )
( рекурсивна Tustin трансформация , n = 7 )
фиг.5.4.b
фиг.5.5.a
0. 5
⎛ 2 ⎞
⎜ ⎟
0. 5
A n z − 1 , 0.5 ( )
Bode plot p ≈
⎜T ⎟
⎝ ⎠ An z
−1
(
, − 0.5 )
( рекурсивна Tustin трансформация , n = 9 )
фиг.5.5.b
(5.47) D ±α
(z −1
)= ≡ (ϖ ( z )) −1 ±α
= ⎜ (
= G z
−1
).
x(z ) −1 ⎜ 7T
⎝ 0 ( 1 + ( z 7 ) ) ⎟⎠
−1
(5.48) G ( z −1
)≈ a ( z )+ −1
.
b (z )
0 −1
a1 ( z )+
−1 2
b (z ) −1
a ( z )+
−1 2
a (z ) +⋅⋅⋅⋅
2 −1
3
фиг.5.6.a
phase (deg.)
Bode plot p
0 .5
= ( 8 ( 7 T ) ) 0.5 ( P p (z )
−1
Q q ( z ))
−1
p = q = n = 1 , T = 0.001 sec
( дискретизация с Al-Alaoui − оператор )
фиг.5.6.b frequency
фиг.5.7.a
phase (deg.)
Bode plot p
0 .5
= ( 8 ( 7 T ) ) 0.5 ( P p (z )
−1
Q q ( z ))
−1
p = q = n = 3 , T = 0.001 sec
( дискретизация с Al-Alaoui − оператор )
фиг.5.7.b frequency
фиг.5.8.a
phase (deg.)
Bode plot p
0 .5
= ( 8 ( 7 T ) ) 0. 5 ( P p (z )
−1
Qq ( z ))
−1
p = q = n = 5 , T = 0.001 sec
( дискретизация с Al-Alaoui − оператор )
фиг.5.8.b frequency
фиг.5.9.a
phase (deg.)
Bode plot p 0 .5
= ( 8 ( 7 T ) ) 0.5 ( P p (z )
−1
Q q ( z ))
−1
p = q = n = 7 , T = 0.001 sec
( дискретизация с Al-Alaoui − оператор )
фиг.5.9.b frequency
фиг.5.10.a
phase (deg.)
Bode plot p 0 .5
= ( 8 ( 7 T ) ) 0. 5 ( P p (z )
−1
Qq ( z )) −1
p = q = n = 9 , T = 0.001 sec
( дискретизация с Al-Alaoui − оператор )
фиг.5.10.b frequency
⎛ 8 ⎞
±α
⎧ ⎛ ( 1 − z ) ⎞⎟ −1 ±α
⎫ ⎛ 8 ⎞
±α
Pp (z ) ,
−1
(5.49) D ±α
(z )
−1
≈ ⎜ ⎟ ⎪
C FE ⎨ ⎜ ⎪ ⎜
⎬ = ⎜
⎟
⎜ 7T
⎝ 0
⎟
⎠ ⎪⎩
⎜
⎝ ( 1 + ( z 7 ) ) ⎟⎠
−1
⎪⎭ ⎝ 7 T0
⎟
⎠ Qq (z )
−1
(5.50) u = ⎜ .
⎜
⎝ ( 1 + ( z 7 ) ) ⎟⎠
−1
5 4 4 4 3 4 2
2.47 z − 5.999.10 z + 4.941.10 z − 1.512.10 z + 956.9 z − 98.48
(5.53) G 5 ( z ) = ;
5 4 3 2
730.7 z − 1357 z + 745.7 z − 89.48 z + 15.52 z + 1
5 7 6 6 5 5 5 4
3.128 .10 z − 1.028 .10 z + 1.283 .10 z − 7.433 .10 z +
5 3 2
+ 1.87 .10 z − 9772 z − 2140 z + 104.5
(5.54) G ( z ) = .
7 7 4 6 4 5 4
9253 z − 2.512 .10 z + 2.436 .10 z − 9577 z +
3 2
+ 905.7 z + 219.7 z − 23.67 z − 1
(5.55) D ±α
(z −1
)= ≡ (ϖ ( z )) −1 ±α
= ⎜ 2 = G z ( −1
)
x(z ) −1 ⎜ T
⎝ 0 ( 1 + z ) ⎟⎠ −1
(5.56) u ≡ 2 .
(1 + z ) −1
Y (z ) −1 ⎧
⎪ ⎛
⎜ 2
( 1 − z ) ⎞⎟ −1 ±α
⎫
⎪ Pp (z ) −1
(5.57) D
±α
( z )= = T ±α
CFE ⎨ ⎬ = T ±α
.
F (z ) ⎜ ( 1 + z ) ⎟⎠ (z )
−1 0 −1 0 −1
⎪⎩ ⎝ ⎪⎭ Qq
p ,q
b (z ) −1
a ( z )+
−1 2
a (z ) +⋅⋅⋅⋅
2 −1
3
∏ ∏G
⎜⎜ 1 1 ⎟
(5.59) D DNE ( p ) = p ⎟⎜ 1 + p⎟ (p),
α
= G ⎜⎜1 + ⎟ =
{ ω ∈[ω ]} ω ′i ⎟⎠ ⎜⎝ ⎟ i
A ,ω B ⎜⎝ ωi ⎠ ⎟
i =1 ⎝ ⎠ i =1
където
−1
⎛ 1 ⎞⎛ 1 ⎞ ⎛ ωi ω ′i + 1 ⎞
(5.60) G i ( p ) = ⎜ 1 + p⎟ ⎜1 + p⎟ , ⎜ =λ >1 , =η > 1 ⎟.
⎜ ω ′i ⎟⎜ ωi ⎟ ⎜ ω′ ω ⎟
⎝ ⎠⎝ ⎠ ⎝ i i ⎠
−1
по отношение на комплексната променлива z . Операторът на Oustaloup(5.62) :
(1 − z ) −1
⎛ 1 ω 1 ⎞
, ⎜ k ⎟
i
(5.62) p n = k = ; f = ; f =
(1 + z ) −1 ⎜
⎝
i
t g (π f i f e ) i
2π
e
T0 ⎟
⎠
⎪ Gi z ( −1
)= i0 i1
,
⎪ (1 + b z ) i1
−1
⎪
⎪⎛ ⎛ ω ⎞ ⎛ ω ⎞ ⎞
⎪⎪ ⎜ ⎜1 + k ⎟ ⎜1 − k ⎟ ⎟
i i
(5.63) ⎨ ⎜ ⎜ ω ′i ⎟⎠ ⎜ ω ′i ⎟⎠ ⎟ .
i i
⎜ ⎝ ⎝ ⎟
⎪⎜ a i0 = ; a = ;
⎪⎜ (1 + k ) i
i1
(1 + k ) i
⎟
⎟
⎪⎜ ⎟
⎪⎜ 1−ki 1 1
b = ; k = = ⎟
⎪ ⎜ i1
⎪⎩ ⎝ 1+ki
i
t g (π f i f e ) t g (ω i T0 2 ) ⎟
⎠
(5.64) D α ( z −1
){ ≡ G (z )= G (z ) G (z ) . . . . G (z ) ,
−1 −1 −1 −1
( i =1÷ N )
ω∈ ω [ A ,ω B ]} DN E 1 2 i
ε (z )
−1
s s s s (
µ z −1
)
(z ) (z ) (z ) (z ) (z )
1 2 3 i
−1 −1 −1 −1 −1
C 1 C 2 C 3 C i C N
фиг.5.11
(5.65) µ ( z −1
) =G DNE (z ) ε (z ) = G (z ) G (z ) . . . G (z ) ε (z ) .
−1 −1
1
−1
2
−1
i
−1 −1
(a + a z ) −1
(a + a z ) −1
(5.66) G 1 ( z )= (z )=
−1 10 11 −1 20 21
; (5.67) G ;
(1 + b z ) 11
−1 2
(1 + b z ) 21
−1
(a + a z
−1
) (a + a z ) −1
G (z −1
)= 30 31
Gi z ( −1
)= i0 i1
(5.68) 3
(1 + b 31z
−1
) ; (5.69) (1 + b z ) ; i1
−1
⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅ ⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅
(a + a z −1
)
(5.70) G (z −1
)= N0 N1
.
N
(1 + b N1z
−1
)
Всеки един от тези елементи G i ( z − 1 ) може да се представи и във вида (5.71), като се
отчетат зависимостите (5.62) и (5.63) :
⎛ ⎛ ⎛ 1 ⎞ ωi ⎞ ⎛ ⎛ 1 ⎞ ωi ⎞ ⎞
⎜ ⎜ 1+ ⎜ ⎟ ⎟ ⎜ 1−⎜ ⎟ ⎟ ⎟
⎜
⎜
⎜
⎝
⎜ t g
⎝ (ω i T0 2 ) ⎟ ω′
⎠ i
⎟
⎠
⎜
⎝
⎜ t g
⎝ (ω i T0 2 ) ⎟ ω′ ⎟
⎠ i ⎠
−1
⎟
⎟
⎜ + z ⎟
⎜ ⎛ 1 ⎞ ⎛ 1 ⎞ ⎟
(5.71) ⎜ ⎜ 1+ ⎟ ⎜ 1+ ⎟ ⎟ .
⎜ ⎜
⎝ t g (ω T0 2 ) ⎟
⎠
⎜
⎝ t g (ω T0 2 ) ⎟
⎠ ⎟
( z )= ⎝ ⎠
i i
−1
Gi
⎛ ⎛ 1 ⎞ ⎞
⎜ ⎜ 1− ⎟ ⎟
⎜
⎜
⎜
⎝ t g (ω i T0 2 ) ⎟
⎠ −1
⎟
⎟
⎜1 + z ⎟
⎜ ⎛ 1 ⎞ ⎟
⎜ ⎜ 1+ ⎟ ⎟
⎜
⎝
⎜
⎝ t g (ω i T0 2 ) ⎟
⎠
⎟
⎠
κ ≡ k T 0 , κ - дискретното време ,
(5.72)
k - брояч на дискретното време , T 0 - такт на дискретизация
s 1 (κ ) = a 1 0 ε (κ ) + a 1 1 ε (κ − 1 ) − b 1 1 s 1 (κ − 1 )
s 2 (κ ) = a 2 0 s 1 (κ ) + a 21 s 1 (κ − 1 ) − b 2 1 s 2 (κ − 1)
s 3 (κ ) = a 3 0 s 2 (κ ) + a 3 1 s 2 (κ − 1) − b 31 s 3 (κ − 1)
(5.73) ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ;
s i (κ ) = a i 0 s i − 1 (κ ) + a i 1 s i − 1 (κ − 1 ) − b i 1 s i (κ − 1 )
⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅
s N (κ ) = a N 0 s N − 1 (κ ) + a N 1 s N − 1 (κ − 1 ) − b N 1 s i (κ − 1 ) = µ (κ )
s1 ( κ ) = a 10 ε ( κ ) + a 11 ε ( κ − 1 ) − b 11 s 1 ( κ − 1 )
s 2 ( κ ) = a 20 s 1 ( κ ) + a 21 s 1 ( κ − 1 ) − b 21 s 2 ( κ − 1 )
s 2 ( κ ) = a 2 0 [ a 10 ε ( κ ) + a 11 ε ( κ − 1 ) ] +
+ ( a 2 1 − a 2 0 b 11 ) s 1 ( κ − 1 ) − b 2 1 s 2 ( κ − 1 )
s 3 ( κ ) = a 30 s 2 ( κ ) + a 31 s 2 ( κ − 1 ) − b 31 s 3 ( κ − 1 )
⎡ a 2 0 [ a 10 ε ( κ ) + a 11 ε ( κ − 1 ) ] + ⎤
(5.74) s 3 ( κ ) = a 30 ⎢ ⎥+ .
⎣⎢ + ( a 2 1 − a 2 0 b 1 1 ) s 1 ( κ − 1 ) ⎦⎥
+ ( a 31 − a 30 b 21 ) s 2 ( κ − 1 ) − b 31 s 3 ( κ − 1 )
⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅
s i ( κ ) = a i0 s i −1 ( κ ) + a i1 s i −1 ( κ − 1 ) − b i1 s i ( κ − 1 )
⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅
s N ( κ ) = a N 0 s N −1 ( κ ) + a N 1 s N −1 ( κ − 1 ) − b N 1 s i ( κ − 1 ) = µ ( κ )
( p ) = ( 0.25 p 2 )
−1
A1 ⇒
(5.75) y(z) 10
−3
( 0 .1 z 2 + 0 . 2 z + 0 .1 )
A1 (z) = = ;
u(z) ( z 2- 2 z + 1 )
y ( κ ) = 2 y ( κ − 1) − y ( κ − 2 ) +
(5.76) ;
+ 10 u ( κ ) + 0 , 2 10 u ( κ − 1 ) + 10 u ( κ )
−3 −3 −3
−2
( p ) = ( 0.55 p 3 )
−1
A2 ⇒
y ( z ) 10 ( 0 . 2273 z + 0 .6818 z + 0 .6818 z + 0 . 2273 )
-6 3 2
(5.77)
A2 ( z )= = ;
u(z) ( z 3- 3 z 2 + 3 z - 1 )
y ( κ ) = 3 y ( κ − 1) − 3 y ( κ − 2 ) + y ( κ − 3 ) +
(5.78) + 0 . 2273.10 − 6 u ( κ ) + 0 .6818.10 − 6 u ( κ − 1 ) + ;
+ 0 .6818.10 −6
u ( κ − 1 ) + 0 . 2273.10 −6
u ( κ −3 )
( p ) = ( 0.75 )
4 −1
A3 p ⇒
(5.79)
10
−8
( 0 .0833 z 4
+ 0 . 3333 z
3
+
( z ) + 0 . 5 z 2 + 0 . 3333 z + 0 .0833 )
y
A3 ( z )= = ;
u(z) ( z 4- 4 z 3 + 6 z 2- 4 z + 1 )
y (κ )= 4y (κ −1)−6y (κ − 2 )+ 4 y (κ − 3 )+
(5.80) + 0 .0833.10 − 8 u ( κ ) + 0 . 3333.10 − 8 u ( κ − 1 ) + 0 . 5.10 − 8 u ( κ − 2 )+ ;
+ 0 . 3333.10 − 8 u ( κ − 3 ) + 0 .0833.10 − 8 u ( κ − 4 )
( p ) = ( p 2 + 12.55 p )
−1
A4 ⇒
(5.81) ( z ) 10 − 4
y (0 . 2352 z + 0 .4705 z + 0 . 2352 )
2
A 4 ( z )= = ;
u(z) ( z - 1 .8819 z + 0 .8819 )
2
y ( κ ) = 1 . 8819 y ( κ − 1 ) − 0 . 8819 y ( κ − 2 ) +
(5.82) + 0 . 2352.10 −4
u ( κ ) + 0 . 4705.10 − 4 u ( κ −1)+ ;
+ 0 . 2352.10 −4
u (κ − 2 )
( p ) = (0.05 p 4 )
3 2 −1
A5 + 1.75 p + 0.25 p + 12.55 p ⇒
(5.83)
10
−7
( 0 .1064 z 4
+ 0 . 4255 z
3
+
y(z) + 0 .6382 z
2
+ 0 . 4255 z + 0 .1064 )
A5 (z) = = ;
u(z) (z 4 3
- 3 .7016 z + 5 .1055 z - 3 .1060 z + 0 .7021
2
)
y (κ )= 3 .7016 y ( κ − 1 ) − 5 .1055 y ( κ − 2 ) + 3 .1060 y ( κ − 3 ) +
(5.84) − 0 .7021 y ( κ − 4 ) + 0 .1064.10 −7
)+ u (κ 0 . 4255.10 −7
u (κ −1) + ;
+ 0 .6382.10 −7
u (κ − 2 )+ 0 . 4255.10 − 7 u ( κ −3 ) + 0 .1064.10 −7
u (κ − 4 )
Продължение 1 на Табл.5.2
( p )= ( p 7 )
6 5 4 −1
A6 + 1.75 p + 9.25 p + 12.55 p ⇒
10 − 14
( 0 .0077 z 7
+ 0 .0542 z 6
+ 0 .1626 z 5
+ 0 . 2 710 z 4
+
(5.85) (z) y + 0 . 2710 z 3
+ 0 .1626 z 2
+ 0 .0542 z + 0 .0077 )
A6 ( z )= = ;
u(z) (z 7
- 6 . 98 17 z 6
+ 20 . 8913 z 5 - 34 .7306 z 4
+
+ 34 .6439 z 3 - 20 .7352 z 2
+ 6 . 8950 z - 0 . 9827 )
y ( κ ) = 6.9817 y ( κ − 1 ) − 20.8913 y ( κ − 2 ) + 34.7306 y ( κ − 3 ) +
− 34.6439 y ( κ − 4 ) + 20.7352 y ( κ − 5 ) − 6.8950 y ( κ − 6 ) +
(5.86) + 0.9827 y ( κ − 7 ) + 0.0077.10 − 14
u (κ
) + 0.0542.10 − 14 u ( κ − 1 ) + ;
+ 0.1626.10 − 14
u ( κ − 2 ) + 0.2710.10 − 14
u ( κ − 3 ) + 0.2710.10 − 14
u (κ − 4 )+
+ 0.0542.10 − 14
u ( κ − 5 ) + 0.1626.10 − 14
u ( κ − 6 ) + 0.0077.10 − 14
u (κ −7 )
( p )= ( p 4 )
3 2 −1
A7 + 0.75 p + 0.55 p + 15.25 p ⇒
10 −8
( 0 .062 3 z 4 + 0 . 2491 z 3
+
(5.87) y(z) + 0 . 3736 z 2
+ 0 . 2491 z + 0 .0623 )
A7 (z) = = ;
u(z) (z 4
- 3 . 9925 z
3
+
2
+ 5 . 9775 z - 3 . 9775 z + 0 . 9925 )
y (κ ) = 3.9925 y ( κ − 1 ) − 5.9775 y ( κ − 2 ) + 3.9775 y ( κ − 3 ) +
(5.88) − 0.9925 y ( κ − 4 ) ) + 0.2491.10 − 8 u ( κ − 1 ) +
+ 0.0623.10 −8
u (κ ;
+ 0.3736.10 − 8 u ( κ − 2 ) + 0.2491.10 − 8 u ( κ − 3 ) + 0.0623.10 − 8 u ( κ −4 )
( p ) = ( 0.25 p 2 ) −1
A8 + 12 , 25 p ⇒
(5.89) y(z) 10
−3
( 0 .0803 z + 0 .1606 z + 0 .0803 )2
A8 (z) = = ;
u(z) ( z - 1 .6064 z + 0 .6064 )
2
y ( κ ) = 1.6064 y ( κ − 1 ) − 0.6064 y ( κ − 2 ) +
(5.90) ;
u (κ ) + 1.1606.10 − 3 u ( κ − 1 ) + 0.0803.10 u (κ − 2 )
−3 −3
+ 0.0803.10
( p ) = ( 0.25 p 3 + 1.75 p 2 ) −1
A9 + 9.55 p ⇒
(5.91) (z)y 10
−5
( 0 .0483 z + 0 .1448 z + 0 .1448 z + 0 .0483 )
3 2
A9 (z ) = = ;
u(z) ( z - 2 .9287 z + 2 .8612 z - 0 .9324 )
3 2
Продължение 2 на Табл.5.2
( p ) = (1.55 p 3 + 0.0025 p 2 ) −1
A 10 + 12.55 p ⇒
(5.93) 10
−6
( 0 .0806 z 3
+ 0 . 2419 z
2
+
y(z) + 0 . 2419 z + 0 .0806 )
A 10 (z ) = = ;
u(z) (z 3
- 2 . 9992 z
2
+ 2 . 9992 z - 1 )
y ( κ ) = 2.9992 y ( κ − 1 ) − 2.9992 y ( κ − 2 ) + y (κ − 3 )+
(5.94) + 0.0806.10 −6
u (κ
) + 0.2419.10 −6
u ( κ − 1 ) + 0.2419.10 −6
u (κ − 2 )+ ;
+ 0.0806.10 −6
u (κ − 3 )
( p ) = ( 0.75 p 5 )
4 3 2 −1
A 11 + 0.0025 p + 12.75 p + 1.55 p ⇒
10 - 10
( 0 .0416 z 5
+ 0 . 2082 z 4
+ 0 . 4165 z 3
+
(5.95) ( )
y z
−1
+ 0 . 4165 z
2
+ 0 . 2082 z + 0 .0416 )
A 11 z ( −1
)= = ;
u(z ) −1
(z 5
- 4 . 9983 z 4
+ 9 . 9948 z 3
+
- 9 . 9947 z 2
+ 4 . 9982 z - 1 )
( p )= ( p 5 )
3 −1
A 12 + 9.75 p + 5.25 p ⇒
10 − 10
( 0 .0 312 z 5 + 0 .1562 z 4
+ 0 . 3124 z 3
+
(5.97) y(z) + 0 . 3124 z 2
+ 0 .1562 z + 0 .0312 )
A 12 (z ) = = ;
u(z) (z 5
- 4 . 9990 z 4
+ 9 . 9971 z 3
+
- 9 . 9971 z 2
+ 4 . 9990 z - 1 )
y ( κ ) = 4.9990 y ( κ − 1 ) − 9.9971 y (κ − 2 ) + 9.9971 y (κ − 3) +
− 4.9990 y ( κ − 4 ) + y ( κ − 5 ) +
(5.98) ,
+ 0.0312.10 − 10
u (κ
) + 0.1562.10 − 10 u ( κ − 1 ) + 0.3124.10 − 10 u ( κ − 2 ) +
+ 0.3124.10 − 10 u ( κ − 3 ) + 0.1562.10 − 10 u ( κ − 4 ) + 0.0312.10 − 10 u ( κ − 5 )
където:
κ ≡ k T 0 , κ - дискретното време , k - брояч на дискретното време ,
(5.99)
T 0 - такт на дискретизация
A5 ( jω )
20 l o g A5 ( jω )
ar g A 5 ( jω )
A5 ( jω )
10
−7
( 0 .1064 z 4
+ 0 . 4255 z
3
+
+ 0 .6382 z
2
+ 0 . 4255 z + 0 .1064 )
(z) =
( p ) = (0.05 p ) A5
(z
4 3 2 −1
A5 + 1.75 p + 0.25 p + 12.55 p 4 3
- 3 .7 016 z + 5 .1055 z
2
+
- 3 .1060 z + 0 .7021 )
Tustin , T 0 = 0.001 sec
фиг.5.12.a фиг.5.12.a
⎧ ⎛ ⎞ ⎫
⎜ 1 + jω
β
⎪ ⎛ jω ⎞
e
⎟ ⎪
⎜ 1+ ⎟ ⎜ ⎟
⎪ ⎜ ωb ⎟ ω ′i ⎪
∏
M
⎪ ⎝ ⎠ ⎪
⎪ R ( jω ) = k 0 ⎜ ⎟ ⎪
jω
D (ne)
(6.1) ⎨ ⎜ ⎟ ⎛ ⎞ ⎬ ;
⎪ ⎜ 1+ ⎟ i =1
⎜ 1 + jω ⎟ ⎪
⎜ ωh ⎟ ⎜ ⎟
⎪ ⎝ ⎠ ωi ⎪
⎪ ⎝ ⎠ ⎪
⎪⎩ ∀ ω (l a ,lm )∈ ω A , ω [ B ] ,{ β > 1,β e +β n = β } ; ( ω ′i ) −1
> (ω i ) −1
⎪⎭
⎧ ⎛ ⎞ ⎫
⎜ 1 + jω
α
⎪ ⎛ jω ⎞
e
⎟ ⎪
⎜ 1+ ⎟ ⎜ ⎟
⎪ ⎜ ωb ⎟ ω ′i ⎪
∏
M
⎪ ⎝ ⎠ ⎪
⎪ R ( jω ) = k 0 ⎜ ⎟ ⎪
jω
I (ne)
(6.2) ⎨ ⎜ ⎟ ⎛ ⎞ ⎬ ;
⎪ ⎜ 1+ ⎟ i =1
⎜ 1 + jω ⎟ ⎪
⎜ ωh ⎟ ⎜ ⎟
⎪ ⎝ ⎠ ωi ⎪
⎪ ⎝ ⎠ ⎪
⎪⎩ ∀ ω (l a ,lm )∈ ω A , ω [ B ] ,{ α > 1 ,α e +α n = α } ; ( ω ′i ) −1
< (ω i ) −1
⎪⎭
⎧ ⎛ ⎞ ⎛ ⎞ ⎫
⎜ 1 + jω ⎟ ⎜ 1 + jω ⎟
α β
⎪ ⎛ jω ⎞
e
⎛ jω ⎞
e
⎪
⎜ 1+ ⎟ ⎜ ⎜ 1+ ⎟
⎪ ⎜ ω bI ⎟ ω ′i ⎟⎠ ⎜ ω bD ⎟ ⎜ ω ′ j ⎟⎠ ⎪
∏ ∏
⎝ ⎝
M N
⎪ R ( jω ) = k 0 I ⎜ ⎟ + k ⎜ ⎟ ⎪
(6.3) ⎪⎪ ⎜ jω ⎟ ⎜ jω ⎟ ⎪ ;
0D
⎛ ⎞ ⎛ ⎞
⎪ ⎜ 1+ ⎟ i =1
⎜ 1 + jω ⎟ ⎜ 1+ ⎟ j =1
⎜ 1 + jω ⎟ ⎪
⎪
⎜ ω hI ⎟ ⎜ ⎜ ω hD ⎟
⎨ ⎝ ⎠
⎝ ω i ⎟⎠ ⎝ ⎠ ⎜
⎝ ωj ⎟
⎠
⎬
⎪ ⎪
⎪
⎪
∀ω ( la ,lm )∈ ω [ A ,ω B ] , ⎪
⎪
⎪
⎪
{ α > 1 ,α e +α n =α }; ( ω ′ ) i
−1
< (ω i ) ,{
−1
β > 1,β e +β n =β }; ( ω ′ ) j
−1
> (ω j ) −1
⎪
⎪
⎪⎩ k 0I ≠ k 0D ; i ≠ j ; ω bI < ω hI < ω bD < ω hD ⎪⎭
⎧ ⎛ ⎞
−1
⎫
∑ (T
M
⎪
(6.4) ⎨ R I N E−A B S ( jω ) = k 0 ⎜
⎜ j p j
) ⎟
⎟ R MCA ( ⎪
jω ) ⎬ ;
⎪ ⎜ ⎟ ⎪
⎩ ⎝ j=K ⎠ ⎭
⎧ ⎛ ⎞
−1
⎫
∑ (T
M
⎪
(6.5) ⎨ R I N E− A B S ( jω ) = k 0 ⎜
⎜ j p j
) ⎟
⎟ + R MCA ( ⎪
jω ) ⎬ ;
⎪ ⎜ ⎟ ⎪
⎩ ⎝ j=K ⎠ ⎭
⎧ ⎛ ⎞ ⎫
⎜ 1 + jω
α
⎪ ⎛ jω ⎞ e
⎟ ⎪
⎜ 1+ ⎟ ⎜ ⎟
⎪ ⎜ ω bI ⎟ ω ′i ⎪
∏
M
⎪ ⎝ ⎠ ⎪
⎪
R ( jω ) = k 0 I ⎜ ⎟ +
⎪
⎜ jω ⎟ ⎛ ⎞
⎪ ⎜ 1+ ⎟ i =1
⎜ 1 + jω ⎟ ⎪
⎪ ⎜ ω h I ⎟⎠ ⎜ ⎟ ⎪
⎝ ⎝ ωi ⎠
⎪ ⎪
⎪ ⎪
⎛ ⎞
⎜ 1 + jω
β
⎪ ⎛ jω ⎞ e
⎟ ⎪
⎪ ⎜ 1+ ⎟ ⎜ ⎟ ⎪
⎜ ω bD ⎟ ω ′j
∏
⎪ ⎪
N
⎝ ⎠
⎪ + k 0D ⎜ ⎟ + ⎪
⎨ ⎜ jω ⎟ ⎛ ⎞ ⎬
⎪ ⎜ 1+ ⎟ j =1
⎜ 1 + jω ⎟ ⎪
⎜ ω h D ⎠⎟ ⎜ ⎟
⎪ ⎝ ωj ⎪
⎪ ⎝ ⎠ ⎪
⎪ ⎛ ⎞
−1
⎪
∑ (T
M
⎪
⎪
⎜
+ ⎜ j p j
) ⎟
⎟
⎪
⎪
⎪ ⎜ ⎟ ⎪
⎝ j=K ⎠
⎪ ⎪
⎪∀ω (l a [
,lm )∈ ω A ,ω B ], { α > 1 ,α e +α }; ( ω ′ )
n =α i
−1
< (ω i ) −1
,⎪
⎪ ⎪
(6.6) ⎪ {β > 1,β e +β n =β }; ( ω ′ j ) > (ω )
−1
j
−1
⎪;
⎪ k 0 I ≠ k 0 D ; i ≠ j ; ω bI < ω hI < ω bD < ω hD ⎪
⎩ ⎭
⎧ ⎛ ⎞ ⎫
⎜ 1 + jω
β
⎪ ⎛ jω ⎞
e
⎟ ⎪
−1 ⎜ 1+ ⎟ ⎜ ⎟
⎪ ⎛ M ⎞ ⎜ ωb ⎟ ω ′i ⎪
∑ (T ∏
M
⎝ ⎠
⎪
(6.7) ⎪ R ( jω ) = k 0 ⎜
⎜
j p
j
) ⎟
⎟ ⎜
jω
⎟ ⎪
⎪ ;
⎨ ⎜ ⎟ ⎜ ⎟ ⎛ ⎞ ⎬
⎪ ⎝ j=K ⎠ ⎜ 1+ ⎟ i =1
⎜ 1 + jω ⎟ ⎪
⎜ ωh ⎟ ⎜ ⎟
⎪ ⎝ ⎠ ωi ⎪
⎪ ⎝ ⎠ ⎪
[
⎪⎩ ∀ ω ( l a , l m ) ∈ ω A , ω B ] ,{ β > 1,β e +β n =β }; ( ω ′ ) i
−1
> (ω i ) −1
; i ≠ j ⎪⎭
⎧⎧ α ⎫ ⎧ αe 1 ⎫ ⎫
⎪⎪ ⎛ 2
⎞ ⎪ ⎪ ⎛ 2
⎛ ωu ⎞ ⎟ 2 ⎞ ⎡ ⎛ω ⎞
2
⎤ 2 ⎪ ⎪
⎪⎪ ⎜ ⎛ ωu ⎞ ⎟
2
⎜ ⎪
⎜ ⎟ ⎪ ⎪ ⎜ 1+ ⎜ ⎟ ⎢ 1+ ⎜ u ⎟ ⎥ ⎪
⎪⎪ ⎜ 1+ ⎜ ⎟ ⎟ ⎪ ⎪ ⎜ ⎜ω ⎟ ⎟ ⎢ ⎜ ω ⎟ ⎥ ⎪ ⎪
(6.8) ⎝ ωh ⎠ ⎝ h ⎠ ⎟ .
∏
N
⎪⎪ ⎝ i ⎠ ⎪
⎪ g ⎜⎜ ⎟
⎟
⎪ ⎪⎪ g ⎜ ⎟
⎢ ⎥ ⎪⎪ 1 ⎪
k0 =⎨⎨ ⎬;⎨ ⎜ 2 ⎢ 2 ⎥ ⎬; g= ⎬
⎛ ωu ⎞ ⎟
2
⎜ ⎛ ωu ⎞ ⎟ ⎛ ωu ⎞
⎪⎪
⎜ 1+ ⎜ ⎟ ⎟
⎪ ⎪ ⎜
1 + ⎜ ⎟ ⎟
i =1 ⎢
⎢ 1 + ⎜ ⎟ ⎥
⎥
⎪ G
∗
( jω u ) ⎪
⎪⎪ ⎜ ⎜ω ⎟ ⎟ ⎪ ⎪ ⎜ ⎜ω ⎟ ⎟ ⎜ ω′ ⎟ ⎪ ⎪
⎪⎪ ⎝ ⎝ b ⎠ ⎠ ⎪ ⎪ ⎝ ⎝ b ⎠ ⎠ ⎢
⎣ ⎝ i ⎠ ⎥⎦ ⎪ ⎪
⎪⎪
⎩⎪ ⎩
(
0< α <1 ) ⎪ ⎪
⎭ ⎪⎩ (
α > 1 ; α e +α n = α ) ⎪
⎪⎭
⎪
⎭⎪
ε (p) µ (p)
k DNE DNE ИМ
фиг.6.1
ε (p) µ (p)
kINE INE ИМ
фиг.6.2
ε (p) µ (p)
kDNE DNE
k ИМ
kINE INE
фиг.6.3
k INE - ABS
µ (p)
ε (p)
MCA ИМ
фиг.6.4
ε (p) µ (p)
kABS INE - ABS
k ИМ
kMCA MCA
фиг.6.5
INE - ABS
ε (p) µ (p)
kDNE DNE
k ИМ
kINE INE
фиг.6.6
ε (p) ИМ
DNE
фиг.6.7
фиг.6.8.e
фиг.6.8.a
Nichols plot I(ne)-D(ne) Nichols plot I(ne)-D(ne)
фиг.6.8.f
фиг.6.8.b
фиг.6.8.g
фиг.6.8.c
d ( 20 l o g R
〉α 〈
( jω ) ) ⎧ a1 , ∀ω ∈ ω [ A ,ω C ] , ( a ( α ) = const < 0 )
1
(6.9) ⎪
= ⎨ 0 , ω = ω C ,
dω ⎪ a
⎩ 2 , ∀ω ∈ ω [ C ,ω B ) , ( a ( β ) = const > 0 )
2
(6.10) a 1 = a 1 ( α ) , a 2 = a 2 (β )
2. Фазово-честотни характеристики a r g ( R 〉 α 〈 ( jω ) ) , чийто профил гарантира:
● Желан размер на дефазирането ( a r g ( R 〉 α 〈 ( jω ) )) < 0 за честоти от ω A до
ω C в диапазона от − ( π 2 ) rad през − α ( π 2 ) rad до 0 rad (фиг.6.10). Желаното де-
фазиране е функция само и единствено на реда на оператора за фрактално интегриране
α (избрана в диапазона 0 < α < 1 или в диапазона α > 1 ). Стойността на α не е функ-
ция на реда на фракталното диференциране β . Настройката на α е независима при про-
ектирането на системата за управление.
● Желан размер на изпреварването ( a r g ( R 〉 α 〈 ( jω ) )) > 0 в спектъра на често-
тите от ω C до ω B в диапазона от 0 rad през + β ( π 2 ) rad до 0 rad (фиг.6.10).
Желаното изпреварване е функция на реда на оператора за фрактално диференциране β
(избрана в диапазона 0 < β < 1 или в диапазона β > 1 ). Стойността на β не е функция
на реда на фракталното интегриране α . Настройката на β е независима при проектира-
нето на системата за управление.;
● Дефазирането и изпреварването могат да бъдат определени в процеса на проектиране
като симетрични, когато α = β = ς , като 0 < ς < 1 или ς > 1 за целия честотен диапа-
зон ∀ ω ∈ [ ω A ÷ ω B ] . Това определя изключителна “гъвкавост” на фракталното интег-
ро-диференциране;
● Плато или хоризонтален профил ( d ( a r g ( R 〉 α 〈 ( jω ) )) d ω ) = 0 на Bode-ха-
рактеристиката в зоната на дефазиране (фиг.6.10) за спектъра на всички честоти в указа-
ния диапазон ∀ ω i ∈ [ω A ÷ ω C ], за който са в сила зависимостите (6.11). В същия чес-
тотен диапазон Nichols-характеристиката е с типичен вертикален профил;
( (
⎧ a r g R 〉 α 〈 ( jω ) )) = α ( −π 2 ) , ∀ω ∈ ω [ ÷ωC ]
⎪⎪
A
(6.11) ⎨ (
d ar g R〉α 〈 ( ( jω ) ) ) ;
⎪ = 0 , ∀ω ∈ ω [ A ÷ωC ]
⎪⎩ dω
( ( ))
⎧ a r g R 〉 α 〈 ( jω ) = β ( + π 2 ) , ∀ ω ∈ ω C ÷ ω B [ ]
⎪⎪
(6.12) ⎨ ( (
d a r g R 〉 α 〈 ( jω ) ))
⎪ = 0 , ∀ω ∈ ω C ÷ ω B [ ]
⎪⎩ dω
(6.13) ( d ( a r g ( R 〉 α 〈 ( jω ) ) ) )
d ω ≈ ∞ , (ω = ω C ).
3. Възможности за аналитично профилиране на фазово-честотната характеристика
в широк диапазон от ( − α .90 o ) до ( + β .90 o ) независимо или от ( − ς .90 o ) до
( + ς .90 o ) симетрично при запазване на вида на амплитудно-честотната характеристика.
Редът на фракталното интегриране α и редът на фракталното диференциране β са ре-
ални числа. За сравнение стандартните регулатори (с алгоритми от пълен ред) дефазират
от ( − 90 o ) до ( + 90 o ) в силно ограничен честотен диапазон. В този смисъл те са само
един частен случай от възможностите ( α = β = ς = 1 ) на фракталните режекторни ре-
гулатори. Като потвърждение и за сравнение на фиг.6.11, фиг.6.12, фиг.6.13 и фиг.6.14 са
илюстрирани преходните функции и честотните характеристиките на стандартен линеен
(промишлен) PID -регулатор (6.14) и на I ( ne ) D ( ne ) -регулатор (6.3). В случая на конкретната
симулация стойностите на α и на β са такива, че I ( ne ) D ( ne ) -регулаторът дефазира от
(− 50 )o
до ( + 50 o ). На тези илюстрации изброените по-горе типични особености са
твърде представителни.
⎛ 1+T i p ⎞ ⎛ 1+T d p ⎞
(6.14) R P I D ( jω ) = k ⎜ ⎟⎜ ⎟ .
p
⎜ T p ⎟ ⎜ a T p +1 ⎟
⎝ i ⎠⎝ d ⎠
R
〉α 〈
( jω )
фиг.6.9
ωA ωC ωB
ar g (R 〉α 〈
( jω ) )
фиг.6.10
ωA ωC ωB
I ne D ne
фиг.6.11.a
PI D
фиг.6.11.a
I ne D ne
фиг.6.12.a
PI D
фиг.6.12.a
I ne D ne
фиг.6.13.a
PI D
фиг.6.13.a
I ne D ne
I ne D ne
фиг.6.14.a
PI D
PI D
фиг.6.14.a
d y ⎛ d x ⎞
(6.15) T 2 + y = k ⎜ T2 +x ⎟ ,
⎜ ⎟
dt ⎝ dt ⎠
Z ⎛ 1 1+ jω C R2 ⎞
,⎜ Z ⎟ ;
2
(6.16) G = = R1 ,Z =R2 + =
+Z ⎜ 1 2
jωC jωC ⎟
Z 1 2 ⎝ ⎠
⎧ 1+ jωT1 1+ jωC R2
⎪ G ( jω )= = ,
⎪ 1+ jωT2 1+ jω C (R1 + R2 )
⎪
(6.17) ⎨ ⎛ T 1 = C R 2 ,T 2 = C ( R 1 + R 2 ) , k = 1 ⎞ ,
⎪ ⎜ ⎟
⎪ ⎜ T1 R2 ⎟
⎜ τ = = < 1⎟
⎪
⎩
⎜
⎝ T2 ( R 1 + R 2 ) ⎟⎠
а за схемата на фиг.6.16 - зависимостите (6.18) и (6.19) :
Z ⎛ R1 ⎞
,⎜ Z ⎟;
2
(6.18) G = = ,Z =R2
Z +Z ⎜ 1
1+ jωC R1
2
⎟
1 2 ⎝ ⎠
⎧ 1+ jωT R 1+ jω C R
( jω )=
1 2 1
⎪ G k = ⋅ ,
⎪ 1+ jωT 2 (R 1 +R 2 ) ⎛
⎜ 1+ jω C
R 1 R 2
⎞
⎟
⎪⎪
(6.19)
⎨
⎜
⎝ (R 1 +R 2 ) ⎟
⎠
,
⎪
⎪ ⎛⎜ R R R T (R +R ) ⎞
>1 ⎟
1 2 2 1 1 2
⎪⎜ T =C R ,T =C , k= ,τ = =
⎪⎩ ⎝
1 1 2
(R 1 +R 2 ) (R 1 +R 2 ) T 2 R 2
⎟
⎠
Z 1
R 1
U1 U2
R Z2
(x) 2
(y)
фиг.6.15
C τ <1
C
Z 1
R 1
U1 U2
R Z
(x) (y)
2 2
фиг.6.16
τ >1
R R R R R
λ λ2 λ3 λ i −1
U1 U2
C C C C C
фиг.6.17 η η 2
η 3
η i −1
R3
C2 C3
R1 R2
UE -
C1 + US
фиг.6.18
C7 C8
10 n F 10 n F
R 10 R 11
1M 1M
C5 C6
10 n F 10 n F
R8 R9
1M 1M
C3 C4
10 n F 10 n F
R6 R7
1M 1M
C1 C2
10 n F 10 n F
R4 R5
1M 1M
R3
1M
R1
1M R2
1M
-
UE -
+
+ US
фиг.6.19
u = (( 1 − z ) ( 1 + z ))
−1 −1 ±α
⎞ ⎛ - 8 , 31523288 z ⎞
−1
⎛ 0 , 482220735 p + 1 + 8 , 31524246
(6.21) ⎜ ⎟⇒⎜ ⎟ , T = 0 ,0001 , sec , Oustaloup ;
⎜ 0 ,05799214 p + 1 ⎟ ⎜ - 0 , 99999042 z − 1 + 1 ⎟ 0
⎝ ⎠ ⎝ ⎠
( ) −1
⎛ - 8 , 31523288 z − 1 + 8 , 31524246 ⎞
(z )
y z
−1
= = ⎜ ⎟×
u(z )
GD (ne ) −1 ⎜ - 0 , 99999042 z − 1 + 1 ⎟
⎝ ⎠
⎛ - 8 , 31511712 z − 1 + 8 , 31515156 ⎞ ⎛ - 8 , 31470103 z − 1 + 8 , 3148248 ⎞
(6.25) ×⎜ ⎟⋅⎜ ⎟× .
⎜ - 0 , 99996557 z
−1
+1 ⎟ ⎜ - 0 , 99987623 z
−1
+1 ⎟
⎝ ⎠ ⎝ ⎠
⎛ - 8 , 31320474 z − 1 + 8 , 31364976 ⎞
×⎜ ⎟
⎜ - 0 , 99955497 z
−1
+1 ⎟
⎝ ⎠
( ) −1 −4
− 19117.3 z −3
+ 28676.4 z −2 −1
+ 4779.59
(z )=
y z 4779.23 z - 19118 z
(6.26) G D ( −1
= .
u(z )
) −1 −4 −3 −2 −1
− 3.99816 z + 5.99816 z +1
ne
0.999387 z - 3.99939 z
(6.28) G D ( ( z )= = .
u(z)
)
0.999387 − 3.99816 z 1
+ 5.99816 z 2 - 3.99939 z 3
+ z 4
ne
⎛ - 8 , 31523288 z − 1 + 8 , 31524246 ⎞
⎜ ⎟
⎜ - 0 ,99999042 z
−1
+1 ⎟
⎝ ⎠
⎛ - 8 , 31511712 z − 1 + 8 , 31515156 ⎞
⎜ ⎟
⎜ - 0 , 99996557 z − 1 + 1 ⎟
⎝ ⎠
⎛ - 8 , 31470103 z − 1 + 8 , 3148248 ⎞
⎜ ⎟
⎜ - 0 , 99987623 z − 1 + 1 ⎟
⎝ ⎠
⎛ - 8 , 31320474 z − 1 + 8 , 31364976 ⎞
⎜ ⎟
⎜ - 0 , 99955497 z
−1
+1 ⎟
⎝ ⎠
фиг.6.20.a
T 0 = 0 ,0001 , s , Oustaloup
фиг.6.20.b
⎛ 8 , 3090 z - 8 , 3073 ⎞
⎜ ⎟
⎜ ⎟
⎝ z - 0 , 9983 ⎠
⎛ 8 , 2347 z - 8 , 2126 ⎞
⎛ 8 , 2927 z - 8 , 2865 ⎞ ⎜ ⎟
⎜ ⎟ ⎜ ⎟
⎜ ⎟ ⎝ z - 0 , 9780 ⎠
⎝ z - 0 , 9938 ⎠
⎛ 8 ,0336 z - 7 , 9566 ⎞
⎜ ⎟
⎜ ⎟
⎝ z - 0 , 9230 ⎠
фиг.6.21.b
фиг.6.22
фиг.6.23.a
фиг.6.23.b
k C( p) uD
A(p)
- ε(p)
изпълнителен
грешка алгоритъм
механизъм
l(p)
PP ( p ) PV ( p )
y(p) q(p)
регулируема величина позиция
фиг.7.1
k C( p) uD
A(p)
- ε(p)
изпълнителен
грешка алгоритъм
механизъм
l(p)
PP ( p ) PV ( p, s )
y(p) q(p) s(p)
хидравлично натоварване
регулируема величина
ξ (p) фиг.7.2
- CS ( p ) - εQ
k CQ ( p ) A(p)
εs
“бавна” алгоритъм по “бърза” алгоритъм по изпълнителен
грешка “бавния” канал грешка “бързия” канал механизъм
преобразувател “бавен” техн. процес “бръз” техн. процес регулиращ орган позиция
l(p)
P ( p)
PS P ( p)
PQ PV ( p, s )
ys ( p ) q(p) s(p)
“бавна” рег. величина “бърза” рег. величина хидравлично натоварване
ξ (p)
yQ ( p ) фиг.7.3
yo(p)
DNE ( p )
задание
k uD
A(p)
- ε(p)
изпълнителен
грешка алгоритъм
механизъм
l(p)
PP ( p ) PV ( p, s )
y(p) q(p) s(p)
хидравлично натоварване
регулируема величина
ξ (p) фиг.7.4
yo(p)
INE ( p )
задание
k uD
A(p)
- ε(p)
изпълнителен
грешка алгоритъм
механизъм
l(p)
PP ( p ) PV ( p, s )
y(p) q(p) s(p)
хидравлично натоварване
регулируема величина
ξ (p) фиг.7.5
INE.ABS ( p )
yo(p)
DNE ( p )
задание
kD uD
A(p)
- ε(p)
изпълнителен
грешка алгоритъм
механизъм
l(p)
PP ( p ) PV ( p, s )
y(p) q(p) s(p)
хидравлично натоварване
регулируема величина
ξ (p) фиг.7.6
kI INE ( p )
yo(p)
DNE ( p )
задание
kD uD
A(p)
- ε(p)
изпълнителен
грешка алгоритъм
механизъм
l(p)
PP ( p ) PV ( p, s )
y(p) q(p) s(p)
хидравлично натоварване
регулируема величина
ξ (p) фиг.7.7
INE.ABS ( p )
kI INE ( p )
yo(p)
DNE ( p )
задание
kD uD
A(p)
- ε(p)
изпълнителен
грешка алгоритъм
механизъм
l(p)
PP ( p ) PV ( p, s )
y(p) q(p) s(p)
хидравлично натоварване
регулируема величина
ξ (p) фиг.7.8
(фиг.7.9) :
⎧
⎪
) ω
W ω 12 ≡ Ω W ( jω ) [∈ ω 1 ,ω 2 ]
) ∈[ω ]
) ω
⎪ W ω 23 ≡ Ω W ( ,ω
jω
) ω ) ω ) ω ⎪ 2 3
W ω 12 W ω 34 W ω i −i −21 ⎪ . . . . . . . . . . . . .
(7.1) ) ω = ) ω = .. .. = ) ω ; ⎨ ;
W ω 34 W ω 56 W ω i −i 1 ⎪
) ωi
W ω i − 1 ≡ Ω W ( j ω ) ∈ ω i −1 , ω 1 [ ]
⎪
⎪ ω 1 < ω 1 < . . . .< ω i
⎪ω −ω =ω −ω = . . . = ω i −ω
⎩ 2 1 3 2 i −1
(7.9) G n o m ( p )= ,
(p 2
+ 10 p + 1 )(p 3
+ p 2 + 10 p + 1 )
както и с диапазона на проектната репараметризация и реструктуриране на обекта
(
k i 0.333 p 2 − p + 1 ) ( 0.333 p + p + 1 )
n 2 −n
(7.10) G r e p ( p )=
(p 2
+ 10 p + 1 ) ( p + p + 10 p + 1 )
3 2
ω6
ω5
ω6
ω4
ω3
фиг.7.9
SE W ( jω ) SNE
ω5
20 l o g W
SE
SNE
ω1 ω2 ω3 ω 4 ω5 ω6
фиг.7.10
SNE
ar g (W )
SE
ω1 ω2 ω3 ω 4 ω5 ω 6
W ( jω )
ω1 ω 1
ω 2 ω 2
ω3
фиг.7.11
ω4 ω 3
ω ω
SE ω 6
5 4
ω
ω 5
SNE
6
W ( jω )
ω6
SE
фиг.7.12
NOMINAL
ω5
ω5 ω6 Φ ( jω ) ω1
ω4
SE NOMINAL
ω3 ω2
фиг.7.13
extension
ω5 ω 5 SE NOMINAL
ω5
фиг.7.14
Φ ( jω )
SE PERTURBE
ω6 ω4
ω5
ω3
фиг.7.15
SNE NOMINAL
W ( jω )
ω2 ω3 ω4 ω5 ω6
ω1 Φ ( jω )
фиг.7.16
SNE NOMINAL
Φ ( jω ) co lim açon
SNE PERTURBE
ω5
фиг.7.17
ω5
ω5
SNE NOMINAL
Φ ( jω ) SNE PERTURBE
co lim açon
фиг.7.18
k7 > k 6
k 6 > k 5
k > k
5 4
k7
k 4 > k 3
k 3 > k 2
k 2 > k 1 k 1
k 1
co lim açon
фиг.7.19
k 8
k 9 > k 8
k > k
10 9
k 8
k 11 > k 10
k > k
12 11
k 14
k 13 > k 12
k 14 > k 13
W ( jω ) SNE PERTURBE
co lim açon
k 1 k 14
фиг.7.20
k7 > k 6 , k 14 > k 13
k 6 > k 5 , k 13 > k 12
k 5 > k 4 , k 12 > k 11
k 4 > k 3 , k 11 > k 10
k 3 > k 2 , k 10 > k 9
k 2 > k 1 , k 9 > k 8
k 1 k 8 > k 7
SNE PERTURBE
co lim açon
W ( jω ) Φ ( jω )
фиг.7.21
k7 > k 6
k 6 > k 5
k 5 > k 4
k 4 > k 3
k 3 > k 2
k 2 > k 1
k 1 k7
k 1
20 l o g W
SNE PERTURBE
co lim açon
фиг.7.22
ω1 ω2 ω3 ω4 ω5
20 l o g W
SNE PERTURBE
co lim açon ω1 ω2 ω3 ω4 ω5
W ( jω )
ϕ m = ar g ( G ( jω )) + π
c ω c
k7 > k
ϕ m = const 6
k 6 > k 5
k 5 > k 4
SNE PERTURBE
k 4 > k 3
ω1 k > k
3 2
( jω )
фиг.7.23
A m = − 20 l o g G k > k
π ω 2
2 1
A m = const k 1
ω3
k 1
ω4
ω5
ωπ k7 co lim açon
Φ ( jω )
SNE PERTURBE
co lim açon
фиг.7.24
Φ ( jω )
SNE PERTURBE
co lim açon
фиг.7.25
ID PERTURBE (τ ) 4
ID PERTURBE (τ ) 3
ID PERTURBE (τ ) 2
ID PERTURBE (τ ) 1
SNE PERTURBE
фиг.7.26
co lim açon
W ( jω )
co lim açon
SNE PERTURBE
фиг.7.2)
ID PERTURBE (τ ) 4
ID PERTURBE (τ ) 3
ID PERTURBE (τ ) 2
ID PERTURBE (τ )1
фиг.7.28
τ 4 >τ 3 >τ 2 >τ 1
ID PERTURBE (τ ) 4
ID PERTURBE (τ ) 3
ID PERTURBE (τ ) 2
ID PERTURBE (τ )1
co lim açon
4 3 2 1
ID PERTURBE (τ ) 4
ID PERTURBE (τ ) 3
ID PERTURBE (τ ) 2
ID PERTURBE (τ )1
SNE PERTURBE
co lim açon
SNE
фиг.7.30
SE
co lim açon
SNE фиг.7.31
SE
SE PERTURBE
A m = 11.863 dB
фиг.7.32
Φ m = 11.863 deg
SNE PERTURBE
A m = 22.216 dB
фиг.7.33
Φ m = 96.519 deg
фиг. 7.34
G nom ( jω )
G re p ( jω )
фиг. 7.35
τ = 36 , sec = const
G re p ( jω ) τ = 36 , sec = const
фиг. 7.36
k1k 2 k3k 4 k 5 k 6
G re p ( jω ) k = k 6 = 300 = const
фиг. 7.37
VII.3. Колимация
Компресивната профилна колимация на SNE -системите е тяхно уникално свойство. То
отличава фракталните системи от всички останали класове системи за управление. Това
свойство се определя със своите честотни траектории. Ти се градят на “движението”, ко-
ето инфлексните точки на честотната характеристика W ( j ω ) на отворената SNE -сис-
тема “извършват” при затварянето на SNE -системата до инфлексните точки от характе-
ристиката на затворената система Φ ( j ω ) . Честотата ω е скритият параметър на Nyqust-
характеристиките W ( j ω ) и Φ ( j ω ) на системата. Инфлексните точки на W ( j ω ) и на
Φ ( j ω ) се характеризират с една и съща стойност на честотата ω . Тя може да бъде наре-
чена честота на колимацията ω col на SNE -системата, а инфлексните точки ще са
W ( j ω c o l ) и Φ ( j ω c o l ) . Стойността на ω col е константа за целия проектен диапазон на
промяна на модела на обекта, определена от вида и параметрите на фракталния алгори-
тъм. Стойността на ω col е различна от стойността на останалите съществени честоти на
системата ω res , ω π , ω 0 , ω c . . , които променят стойността си при репараметризация или
реструктуриране. За целите на анализа на честотните траектории на компресивната про-
филна колимация на фиг.3.30 ÷ фиг.3.37 са показани честотните характеристики на смуте-
ната SNE -система. Техните инфлексни точки са означени с указаните символи –
W ( j ω c o l ) ⇔ " O" и съответно с Φ ( j ω c o l ) ⇔ " []" .
На фиг.7.46 и на фиг.7.47 паралелно са симулирани W ( j ω ) и Φ ( j ω ) -характеристиките
на SNE -системата. За разлика от фиг.7.38 ÷ фиг.7.45, то на фиг.7.46 и на фиг.7.47 цялостно
са визуализирани само по една характеристика от семействата характеристики, демон-
стриращи смутената система. Всички останали характеристики от семействата W i ( j ω ) и
Φ i ( j ω ) са представени само с инфлексните си точки " O i " и " [] i " . На фиг.7.46 съот-
ветстващите точки " O i " и " [] i " на W i ( j ω ) и на Φ i ( j ω ) са свързани със стрелки.
Посоката на всички стрелки е еднаква за цялото семейство характеристики на смутената
система. Тя определя посоката на “движението”, което инфлексните точки “извършват”
при затварянето на SNE -системата. Това е честотната траектория на компре-
сията на профилната колимация. Колкото по-висока е степента на смущението,
толкова по-активна е компресията. Това е видно от съотношението на дъгите на траек-
торията (7.11) :
6444447444448 644444474444448
(7.11) (W i ( j ω col ) → Φ i ( j ω col ) ) (W i + 1 ( j ω col ) → Φ i + 1 ( j ω col ) ) ,
отбелязани с пунктирани линии на фиг.7.46. На фиг.7.47 следващите една след друга (про-
диктувано от степента на смущение на обекта) точки " O i " и " O i + 1" на W i ( j ω ) и рес-
пективно точките " [] i " и " [] i + 1 " на Φ i ( j ω ) на смутената система са свързани със
стрелки. Посоката на всички стрелки за семейство W i ( j ω ) и посоката на стрелките за
семейство Φ i ( j ω ) съвпадат. Те маркират честотната траектория на плоско-
спиралното турбинно свиване на компресивната профилна колимация,
което е видно от съотношението на дъгите (7.12) :
64444447444444 8 64444447444444 8
(7.12) (Φ i ( j ω col ) → Φ i+1 ( j ω col ) ) (W ( j ω ) → W
i col i+1 ( j ω col ) ) ,
SNE PERTURBE W ( jω )
фиг. 7.38
ω col
k 1 = 30 ; k 2 ; k 3 ; k 4 ; k 5 ; k 6 = 300
SNE PERTURBE Φ ( jω )
фиг. 7.39
ω col
k 1 = 30 ; k 2 ; k 3 ; k 4 ; k 5 ; k 6 = 300
W ( jω )
τ 1 =
= 36 , s
ω c ol
фиг. 7.40
SNE PERTURBE τ = 124 , s
6
τ = 36 , s
Φ ( jω ) 1
ω col
фиг. 7.41
τ 6 = 124 , s
SNE PERTURBE
SNE PERTURBE Φ ( jω )
τ = 36 , sec = const
фиг. 7.42
k 1 = 30 ; k 2 ; k 3 ; k 4 ; k 5 ; k 6 = 300
SNE PERTURBE Φ ( jω )
k = k 6 = 300 = const
фиг. 7.43
SNE PERTURBE W ( jω )
τ = 36 , sec = const
фиг. 7.44
k 6 = 300
k 5
k 4
k 3
k 2
k 1 = 30
k = k 6 = 300 = const
фиг. 7.45
τ 6 = 124 , s
τ 5
τ 4
τ 3
τ 2
τ 1 = 36 , s
SNE PERTURBE W ( jω )
ω = 0 .0021
фиг. 7.46
SNE ferme
ω = 0 . 0021
SNE ouverte
τ = 20 , s
− ти
10 ред
фиг. 7.47
⎧ ⎧ G ( jω ) − G * ( jω ) ⎫ ⎫
⎪ ⎪∆ G : ≤ l m ( ω ) ; G ( jω ) − G * ( jω ) ≤ l a ( ω ) ⎪ ⎪
⎪ ⎪ G * ( jω ) ⎪ ⎪
⎪ ⎪ ⎪ ⎪
⎪ a ) − >> Π = ⎨ lm ( ω )< η ⎬
−1
η l m ∞ = sup η l m < 1 ; ,∀ω ⎪
(8.1) ⎪ ⎪ ω ⎪ ⎪
⎨ ⎪ ⎪ ⎬
⎪ ⎪ e s ∞ = sup e s < 1 ; η lm + e s < 1 , ∀ ω ⎪ ⎪
⎪ ⎩ ω ⎭ ⎪
⎪ ⎪
⎪ b ) − >> arg β ( j ω ) = − n ′ π , ∀ ω ( l , l )∈ ω , ω [ ]; c ) − >> σ = const ⎪
⎪⎩ u
2
u a m A B ⎪⎭
ν(p) ξ(p)
y 0( p )
ε (p) u(p) y (p)
Dne ( p ) G ( p ,ξ )
фиг.8.1
-
⎧ D ne ( jω ) ≈ D app ( jω ) = ⎫
⎪ ⎪
⎪ ⎛ 1 + jω ( ω b ) −1
⎞
α e N
(1 + jω ( ω ′ ) ) −1
⎪
⎜ ⎟
∏
i
⎪ =k0 ⎪
⎪
(8.3) ⎨
⎪
⎜ 1 + jω ( ω
⎝ h ) −1 ⎟
⎠ i =1 (1 + jω ( ω ) ) i
−1 ⎪
⎬ ;
⎪
⎪ =k 0 R α e ( jω ) . R 1 ( jω ) . . R N ( jω ) ⎪
⎪ ⎪
⎪⎩ ∀ ω (l a [
,lm )∈ ω A , ω B ] ,{ α > 1 ,α e +α n =α }; ( ω ′ ) i
−1
> (ω i ) −1
⎪⎭
⎧⎧ α ⎫ ⎧ αe 1 ⎫ ⎫
⎪⎪ ⎛ 2
⎞ ⎪ ⎪ ⎛⎜ ⎛ ω u ⎞ ⎞⎟ 2
2
⎡ ⎛ω ⎞
2
⎤ 2 ⎪ ⎪
⎪⎪ ⎜ ⎛ ωu ⎞ ⎟
2
⎪
⎜ ⎟ ⎪ ⎪ ⎜ 1+ ⎜ ⎟ ⎢ 1+ ⎜ u ⎟ ⎥ ⎪
⎪ ⎪ ⎜ 1+ ⎜ ⎟ ⎟ ⎪ ⎪ ⎜ ⎜ω ⎟ ⎟ ⎢ ⎜ ω ⎟ ⎥ ⎪ ⎪
(8.4) ⎝ ωh ⎠ ⎝ h ⎠ ⎟
N
.
∏
⎪⎪ ⎜ ⎟ ⎪ ⎪⎪ a ⎜ ⎢ ⎝ i ⎠ ⎥ ⎪⎪ 1 ⎪
⎪ a ⎜ ⎟ ⎟ ⎪
k0 =⎨⎨ 2 ⎬;⎨ ⎜ 2 ⎢ 2 ⎥ ⎬ ; a= ⎬
⎪⎪ ⎜ ⎛ ωu ⎞ ⎟ ⎛ ωu ⎞ ⎟ ⎛ ωu ⎞
⎜ ⎟ ⎪ ⎪ ⎜
+ ⎜ ⎟ ⎟ i =1 ⎢
+ ⎜ ⎟ ⎥ ⎪ G
∗
( jω u ) ⎪
⎪ ⎪ ⎜⎜ 1 + ⎜ ⎟
⎟
⎟ ⎪ ⎪ ⎜ 1
⎜ω ⎟ ⎟ ⎢ 1
⎜ ω′ ⎟ ⎥ ⎪ ⎪
⎪⎪ ⎝ ⎝ ωb ⎠ ⎠ ⎪ ⎪ ⎝ ⎝ b ⎠ ⎠ ⎢⎣ ⎝ i ⎠ ⎥⎦ ⎪ ⎪
⎪⎪
⎩⎪ ⎩
(
0< α <1 ) ⎪ ⎪
⎭ ⎪⎩ (
α > 1 ; α e +α n = α ) ⎪
⎭⎪
⎪
⎭⎪
Използвани са означенията:
● k 0 (8.4) - статичен коефициент на реалния апроксимиращ диференциатор D app с чес-
тотно ограничена предавателна функция за диапазона ( ω A ÷ ω B ) , определен от
множеството (l a ,lm ) параметрични смущения върху OOA с номинален модел
∗
G ;
●∆ω u = (ω B −ω A ) - широчина на честотната лента на ограничителния диапазон
(фиг.8.2);
● ω b , ω h - долна, горна прагова честота на ∆ ω u ;
● ( 0 < α < 1 ) - ред на фракталния диференциатор (не цяло, дробно число) апроксими-
ран с D app ;
● α , α > 1 ( α e + α n = α ) - ред на фракталния диференциатор с α e - цяло число, α n -
нецяло, дробно число, апроксимиран с D app ;
● N (цяло число) - ред на дробно-рационалната полиномиална апроксимация в D app ;
● ω i и ω ′i - срязващи честоти на полиномиалната апроксимация с N броя нули ω ′i и
N броя полюси ω i ;
● R i - членове на полиномиалната рекурсивна апроксимация на D app ;
● ω c - срязваща честота на номиналния модел на обекта G ∗ ;
● ω u единична честота на отворената номинална, параметрически несмутена система
с фрактален диференциатор, определена от β nom
( jω ) =1;
u
∗
● n - ред на номиналния модел на обекта G ;
● n ′ - ред на модела на отворената система с фрактален диференциатор β ( p ).
честотни съотношения на полиномиална дробно-рационална рекурсивна
Табл.8.1
алгоритъм на метода за синтез на D app алгоритъм на метода за синтез на D app
c (8.8) ω A = 0 .1 ω u I (8.14) (
λ= ωh ω −1
b )( 0.1 + α )
( 0. 9 − λ )
⎛ ⎞
(ω )
1
d (8.9) ω B = 10 ω u j (8.15) η = ⎜⎜ ω −1
N ⎟
h b ⎟
⎝ ⎠
1
ω ′i + 1 = ( λ η ) . η i 2
ωb ,
e (8.10) ω b = 0 .2 ω A k (8.16) 1
ω i + 1 = ( λ η ) . λ .η
i 2
ωb
k 0 = k 01 , ( 0 < α < 1 ) ,
f (8.11) ω h = 1 ,2 ω B l (8.17)
k 0 = k 02 , ( α > 1 )
Табл.8.2
основни изисквания към D app
(8.18) (8.19) (8.20) (8.21) (8.22)
εs εQ
“бавния” канал “бързия” канал
yo(p)
DS ( p ) DQ ( p ) A (p)
задание
изпълнителен
механизъм
yQ ( p ) “бърза” рег. величина фиг.8.3
⎧ ⎧ G ( jω ) − G * ( jω ) ⎫ ⎫
⎪ ⎪∆ G : ≤ l m ( ω ) ; G ( jω ) − G * ( jω ) ≤ l a ( ω ) ⎪ ⎪
⎪ ⎪ G * ( jω ) ⎪ ⎪
⎪ ⎪ ⎪ ⎪
⎪ a ) − >> Π = ⎨ lm ( ω )< η ⎬
−1
η l m ∞ = sup η l m < 1 ; ,∀ω ⎪
(8.28) ⎪ ⎪ ω ⎪ ⎪.
⎨ ⎪ ⎪ ⎬
⎪ ⎪ e s ∞ = sup e y < 1 ;0
η lm + e y 0
< 1 ,∀ω ⎪ ⎪
⎪ ⎩ ω ⎭ ⎪
⎪ ⎪
⎪ b ) − >> arg β ( j ω ) = − n ′ π , ∀ ω ( l , l )∈ ω , ω [
; c ) − >> σ = const ] ⎪
⎪⎩ u
2
u a m A B ⎪⎭
ν(p) ξ(p)
y 0( p )
ε (p) u(p) y (p)
Ine ( p ) G ( p ,ξ )
фиг.8.4
-
⎧ I n e ( jω ) ≈ I app ( jω ) = ⎫
⎪
⎪ ⎛ 1 + jω ( ω b ) − 1 ⎞
α e
N
1 + jω ω i ( −1
( )
1 + jω ( ω 0 ) ) (
−1
)
⎪
⎪
⎪⎪ = k 0
(8.30) ⎨
⎜
⎜ 1 + jω ( ω ) − 1 ⎟
⎝ h
⎟
⎠ i =1
∏ (
1 + jω ( ω ′i )
−1
jω ( ω 0 )
−1
) ( )
= ⎪⎪
⎬ ;
⎪ ⎪
⎪ = k 0 R 0 ( jω ) R α e ( j ω ) R 1 ( jω ) . . R N ( j ω ) ⎪
⎪ ⎪
[ ]
⎪⎩ ∀ ω ( l a , l m ) ∈ ω A , ω B , { α > 1 , α e + α n = α } ; ( ω ′i ) > ( ω
−1
i ) −1 ⎪⎭
⎧⎧ α ⎫ ⎧ αe 1 ⎫ ⎫
⎪⎪ ⎛ 2
⎞ ⎪ ⎪ ⎛⎜ ⎛ ωu ⎞ ⎟ 2
2
⎞ ⎡ ⎛ ωu ⎞
2
⎤ 2 ⎪ ⎪
⎪⎪ ⎜ ⎛ ωu ⎞ ⎟
2
⎪ ⎜ ⎟ ⎢ ⎜ ⎟ ⎥ ⎪ ⎪
⎜ ⎟ ⎪ ⎜ 1+ ⎜ 1+
⎪ ⎪ ⎜ 1+ ⎜ ⎟ ⎟ ⎪ ⎪ ⎜ ω h ⎟⎠ ⎟
⎟ ⎢ ⎜ ω′ ⎟ ⎥ ⎪ ⎪
(8.31) ω ⎪.
N
∏
⎪⎪ ⎜ ⎝ h ⎠ ⎟ ⎪ ⎪⎪ a ⎜ ⎝ ⎢ ⎝ i ⎠ ⎥ ⎪⎪ 1
⎪ a ⎜ ⎟ ⎟ ⎪
k0 =⎨⎨ 2 ;
⎬ ⎨ ⎜ 2 ⎢ 2 ⎥ ⎬ ; a= ⎬
⎪⎪ ⎜ ⎛ ωu ⎞ ⎟ ⎛ ωu ⎞ ⎟ ⎛ ωu ⎞
⎜ ⎟ ⎪ ⎪ ⎜ ⎜ ⎟ ⎟
i =1 ⎢
⎜ ⎟ ⎥ ⎪ G ∗ ( jω u ) ⎪
⎪ ⎪ ⎜⎜ 1 + ⎜ ⎟
⎟
⎟ ⎪ ⎪ ⎜ 1+ ⎜ ⎟ ⎟ ⎢ 1+ ⎜ ⎟ ⎥ ⎪ ⎪
⎪⎪ ⎝ ⎝ ωb ⎠ ⎪ ⎪ ⎝ ⎝ ω ⎠ ⎢⎣ ⎝ ωi ⎠ ⎥⎦ ⎪ ⎪
⎠ b
⎠
⎪⎪
⎪⎩ ⎩ (
0 < m′ < 1 ) ⎪ ⎪
⎭ ⎪⎩ (
α > 1 ; α e +α n = α ) ⎪
⎪⎭
⎪
⎪⎭
Използвани са означенията:
● k 0 (8.31) - коефициент на реалния апроксимиращ интегратор I app с честотно ограни-
чена предавателна функция за диапазона ( ω A ÷ ω B ) , определен от множеството
(l a ,lm ) параметрични смущения върху OOA с номинален модел G ; ∗
ωc ω0 ω b ωh
фиг.8.5 ω A ωu ωB
⎧ ( ω b ω h ) 1 2 = ω u ; ω b << ω A ; ω h >> ω B ;ω b ≥ ω c ; ω A < ω u ; ω B > ω u ; ⎫
⎪ ⎪⎪
(8.32) ⎪⎨ ω i ω ′i +1 ω ′i + 1 ω i +1 log ( λ ) ⎬ .
⎪ =λ > 0 ; =η > 0; = = λ η > 1 ; α = n − n′ = ⎪
⎩⎪ ω ′i ωi ω ′i ωi log ( λ η ) ⎭⎪
Табл.8.3
алгоритъм на метода за синтез на I app алгоритъм на метода за синтез на I app
c (8.35) ω A = 0 .1 ω u I (8.41) λ= ωh ω( −1
b )( 0.1 + α )
( 0. 9− α )
⎛ ⎞
( )
1
d (8.36) ω B = 10 ω u j (8.42) η = ⎜⎜ ω h ω −1
N ⎟
b ⎟
⎝ ⎠
1
ω b = 0 .2 ω A , ω ′i + 1 = ( λ η ) . η i 2
ωb ,
e (8.37) k (8.43)
ω 0 = 0 , 85 ω b 1
ω i + 1 = ( λ η ) . λ .η
i 2
ωb
k 0 = k 01 , ( 0 < α < 1 ) ,
f (8.38) ω h = 1 ,2 ω B l (8.44)
k 0 = k 02 , ( α > 1 )
Табл.8.4
основни изисквания към I app
изпълнителен
механизъм
yQ ( p ) “бърза” рег. величина фиг.8.6
⎧ ⎧ G ( jω ) − G * ( jω ) ⎫ ⎫
⎪ ⎪∆ G : ≤ l m ( ω ) ; G ( jω ) − G * ( jω ) ≤ l a ( ω ) ⎪ ⎪
⎪ ⎪ G * ( jω ) ⎪ ⎪
⎪ ⎪ ⎪ ⎪
⎪ a ) − >> Π = ⎨ lm ( ω )< η ⎬
−1
η l m ∞ = sup η l m < 1 ; ,∀ω ⎪
(8.55) ⎪ ⎪ ω ⎪ ⎪ .
⎨ ⎪ ⎪ ⎬
⎪ ⎪ e s ∞ = sup e y < 1 ; 0
η lm + e y 0
< 1 ,∀ω ⎪ ⎪
⎪ ⎩ ω ⎭ ⎪
⎪ ⎪
π
⎪ b ) − >> arg β ( j ω ) = − n ′
⎪⎩ u , ∀ ω u ( l a , l m )∈ ω I A , ω D B [
; c ) − >> σ = const ] ⎪
⎪⎭
2
Ine ( p ) u1 ( p ) ν ( p ) ξ(p)
y 0( p )
ε (p) u2 ( p ) y (p)
Dne ( p ) G ( p ,ξ )
фиг.8.7
-
Използвани са означенията:
● k 0 (8.58) - коефициент на реалния апроксимиращ интегро-диференциатор ( ID ) app с
честотно ограничена предавателна функция за диапазона ( ω IA ÷ ω DB ) , определен
от множеството (l a ,lm ) параметрични смущения върху OOA с номинален модел
G ∗;
● ∆ ω u = ( ω DB − ω IA ) - широчина на честотната лента на ограничителния диапазон
(фиг.8.8);
● ω I b , ω D h - долна, горна прагова честота на ∆ ω u ;
● α , ( 0 < α < 1 ) - ред на фракталния интегриратор и ред на фракталния диференциа-
тор (нецяло, дробно число) апроксимирани с ( ID ) app ;
● α , α > 1 ( α e + α n = α ) - ред на фракталния интегро-диференциатор с α e - цяло
число, α n - не цяло, дробно число, апроксимирани с ( ID ) app ;
● N (цяло число) - ред на полиномиалната апроксимация в ( ID ) app ;
● ω 0 , ω I i и ω ′I i - срязващи честоти на полиномиалната рекурсивна апроксимация с
N + 1 броя нули ω ′I i и N + 1 броя полюси ω I i на фракталния интегратор в ( ID ) app ;
● ω D i и ω ′D i - срязващи честоти на полиномиалната рекурсивна апроксимация с N
броя нули ω ′D i и N броя полюси ω D i на фракталния диференциатор в ( ID ) app ;
● ω c - срязваща честота на G ∗ ;
∗
● n - ред на номиналния модел G ;
● n ′ - ред на модела на отворената система β (p)
⎧ ⎡ N
( 1 + jω ( ω ) −1
) ( 1 + jω ( ω ) ) −1 N
( 1 + jω ( ω ′ ) ) −1 ⎤⎫
⎪ ⎢
∏ ∏ ⎥⎪
Ii 0 Di
⎪ ( I D ) app = k 0 +
(8.56) ⎪
⎪
⎢
⎣⎢ i =1
( 1 + jω ( ω ′ ) ) Ii
−1
( jω ( ω ) ) 0
−1
i =1 ( 1 + jω ( ω ) )
Di
−1 ⎥⎪
⎦⎥ ⎪⎪ ;
⎨
⎪
[
∀ω ( l a , l m ) ∈ ω I A , ω DB ] , {0< α < 1 } ; ⎬
⎪
⎪
⎪
(ω′ )Ii
−1
> (ω Ii ) > (ω ) ; (ω′ ) > (ω )
−1
0
−1
Di
−1
Di
−1
; ⎪
⎪
⎪
⎩ (ω′ )Di
−1
> (ω Di ) >(ω′ ) > (ω ) > (ω )
−1
Ii
−1
Ii
−1
0
−1
⎪
⎭
α
⎧ ⎛ jω ⎞
e
⎫
⎪
⎪
⎜ 1+
⎜ ωb
⎟
⎟ ⎡ N
(1 + jω ( ω ) −1
) ( 1 + jω ( ω ) )
−1 N ⎛ 1 + jω ( ω ′ ) −1 ⎞ ⎤⎪
⎪
⎢
∏ ∏ ⎜ ⎟ ⎥⎪
i 0
⎪ ( I D ) app = k 0
Di
⎜ ⎟ +
(8.57) ⎪
⎪
⎜
⎜ 1+
jω ⎟
⎟
⎢
⎢⎣ i =1
(1 + jω ( ω ′ ) ) ( jω ( ω ) )
i
−1
0
−1
i =1
⎜⎜
(
⎝ 1 + jω ω D i ) −1 ⎟⎟
⎠
⎥⎪
⎥⎦ ⎪
⎨ ⎜ ωh ⎟ ⎬
⎝ ⎠
⎪ ⎪
⎪ ∀ω (l a ,lm )∈ ω IA , ω [ ] , { α > 1 , α +α = α };
DB e n ⎪
⎪ ⎪
⎪ (ω′ ) Ii
−1
> (ω Ii ) > (ω ) ; (ω′ ) > (ω ) ;
−1
0
−1
Di
−1
Di
−1
⎪
⎪
⎩ (ω′ ) Di
−1
> (ω Di ) >(ω′ ) > (ω ) > (ω )
−1
Ii
−1
Ii
−1
0
−1 ⎪
⎭
⎧⎧ α ⎫ ⎧ αe 1 ⎫ ⎫
⎪⎪ ⎛ 2
⎞ ⎪ ⎪ ⎛ ⎛ ωu ⎞ ⎟ 2
2
⎞ ⎡ ⎛ ωu ⎞
2
⎤ 2 ⎪ ⎪
⎪⎪ ⎜ ⎛ ωu ⎞ ⎟
2
⎪ ⎜ ⎜ ⎟ ⎢ 1+ ⎜ ⎟ ⎥ ⎪ ⎪
⎜ ⎟ ⎪ ⎜ 1+ ⎜
⎪ ⎪ ⎜ 1+ ⎜ ⎟ ⎟ ⎪ ⎪ ⎜ ω ⎟ ⎟ ⎢ ⎜ ω′ ⎟ ⎥ ⎪ ⎪
(8.58) ⎝ ω Dh ⎠ ⎪.
N
⎟
∏
⎪⎪ ⎜ ⎟ ⎪ ⎪⎪ a ⎜ ⎝ D h ⎠ ⎢ ⎝ Ii ⎠ ⎥ ⎪⎪ 1
⎪ a ⎜ ⎟ ⎟ ⎪
k0 =⎨⎨ 2 ⎬;⎨ ⎜ 2 ⎢ 2 ⎥ ⎬ ; a= ⎬
⎪⎪ ⎜ ⎛ ωu ⎞ ⎟ ⎛ ωu ⎞ ⎟ ⎛ ωu ⎞
⎜ ⎟ ⎪ ⎪ ⎜ ⎜ ⎟ ⎟
i =1 ⎢
⎜ ⎟ ⎥ ⎪ G ∗ ( jω u ) ⎪
⎪ ⎪ ⎜⎜ 1 + ⎜ ⎟
⎟
⎟ ⎪ ⎪ ⎜ 1+ ⎜ ⎟ ⎟ ⎢ 1+ ⎜ ⎟ ⎥ ⎪ ⎪
⎪⎪ ⎝ ⎝ ω Ib ⎠ ⎠ ⎪ ⎪ ⎝ ⎝ ω Ib ⎠ ⎠ ⎢⎣ ⎝ ω Ii ⎠ ⎥⎦ ⎪ ⎪
⎪⎪
⎩⎪ ⎩
(
0< α <1 ) ⎪ ⎪
⎭ ⎪⎩ (
α > 1 ; α e +α n = α ) ⎪
⎪⎭
⎪
⎭⎪
ω ′I 1 ω I 1 ω ′I 2 ω I 2 ω ′I N ω I N ω ′D 1 ω D 1 ω ′D 2 ω D 2 ω ′D N ω D N
ω c ω0 ωIA ω IB ω DA ω DB
ω Ib фиг.8.8 ω Ih ≡ ω u ≡ ω Db ω Dh
Реализиращият алгоритъм на метода на дробно-рационалната рекурсия използва
принципите на:
● дробно-рационална апроксимация в честотната лента ω IA ÷ ω DB (фиг.8.8);
● симетричност на зоната на вертикалния профил на характеристиката на отворената
система в зоната ω IA ÷ ω DB спрямо ω u ;
Табл.8.5
алгоритъм на метода за синтез на ( ID ) app алгоритъм на метода за синтез на ( ID ) app
a (8.60) N ≥5 g (8.66) n′ = 2 1− ( π( ) − 1 Φ mnom )
ω u > 250 ω α = n − n′ = n − 2 ( π ) −1 a r c s i n (M m ) −1
b (8.61) c h (8.67)
ω I A = 0 .1 ω u ,
c (8.62)
ω D A = 1 .1 ω u
I (8.68) λ = ωh ω ( −1
b )( 0.1 + α )
( 0. 9 )
ω I B = 0 .9 ω u , ⎛ ⎞
−α
(ω )
1
d (8.63) j (8.69) η = ⎜⎜ ω −1
N ⎟
⎟
ω D B = 10 ω u ⎝
h b
⎠
1
ω b = 0 .2 ω A , ω ′i + 1 = ( λ η ) . η
i 2
ωb
e (8.64) k (8.70)
ω 0 = 0.85 ω Ib
1
ω i +1 = ( λ η ) . λ . η
i 2
ωb
k 0 = k 01 , ( 0 < α < 1 ) ,
f (8.65) ω h = 1 ,2 ω B l (8.71)
k 0 = k 02 , ( α > 1 )
yo(p) εs εQ
IDS ( p ) IDQ ( p ) A (p)
задание
фиг.8.10
- u ( p )= ur ( p )+ ud ( p )
(8.83) y = C x + E ( u r +u d )+ F ξ
(8.84) R * ( p ) ⇔ G* ( p )
● съответстващата на системата с “поглъщане” (фиг.8.10) “номинална” система е хипо-
тетична параметрически несмутена линейна система, синтезирана при зададения с
(8.82.c) ЛКК към номиналния модел G * на управлявания обобщен обект за автома-
тизация OOA ( G ) по традиционни класически методи, определена с “номиналния”
регулатор R * (8.84);
● съответстващата на системата с “поглъщане” (фиг.8.10) “класическа” (фиг.8.11) пара-
метрически смутена система с регулатора R * (8.84) и управлявания OOA , модели-
ран с помощта на G ( p , ξ ) , която в реални експлоатационни условия (или при
адекватна компютърна симулация) се характеризира от представителен тренд (по-
казан в първата колона на Табл.4.4) на грешката на системата (фиг.8.11), съдържащ
типичните вълнови форми на обобщеното смущение ξ с вълнова структура;
● y o , ν са сигнални външни смущения, обобщени по канала на задание y o и/или на
натоварване ν , а ξ са обобщени вътрешни адитивни или мултипликативни па-
раметрични и/или структурни смущения с вълнова структура в OOA ;
● { f ( t ) } е функционалният базис на моделиращото ξ ( t ) полудетерминирано въл-
i
ново уравнение;
● Q ( D ) ξ е моделът на състоянието на обобщеното смущение ξ с вълнова структу-
ра.
ν(p) ξ(p)
y 0( p ) ε(p) ur ( p )= u ( p ) y (p)
R* ( p ) G ( p ,ξ )
фиг.8.11
-
Използвани са означенията:
● ω πCLASS е ω π -честота на затворената класическа система;
[]
● ω πA е ω π -честота на затворената, смутена на най-горна граница система, “поглъ-
щаща” смущенията;
● G ∗ - номинален модел на OOA ,
● G [] - модел на смутения на най-горна граница OOA ;
[]
● Φ yCLAAS
0
ε
- предавателна функция на затворената, смутена на най-горна граница кла-
сическа система.
(8.85) A ( p )= k A
Q 2- 1 (p) ;
A
R
∗
( jω CLASS
π ) G ( jω ∗ CLASS
π )Q 2 ( jω ) π
A []
(8.86)* k = ;
( jω ) G ( jω )
opt
[] []
∗ A [] A
R π π
⎧ ⎡ ⎛ A
⎞ ⎤
−1
⎪ k opt
⇔ ⎢ 1 + ⎜ R ( jΩ ) G ( jΩ ) ⎟ ⎥
A ∗ []
⎪ k ≤1
opt
⎢ ⎜ Q2 ( jΩ ) ⎟ ⎥
(8.87)** ⎪ ⎣ ⎝ ⎠ ⎦ .
⎨
⎪ ⎧⎪ ⎛ d 1 d ⎞ ⎫⎪
⎪ ;⎜ω ( jω ) =0 ⎟⎬
[]
[] [] CLAAS
⎨ Ω = 0 .1 ω ⎜
⇔ = Φ y0ε
⎟⎪
⎪
⎩ ⎪⎩ ⎝ dω 1+ R
∗
( jω ) G [] ( jω ) dω ⎠⎭
(8.88) u ( p ) = R* ( p ) A( p )ε (p) , A ( ( p ,Q ( D ) ξ ) = k A
opt ( σ ) Q 2- 1 ( p,Q ( D ) ξ )) .
⎧ ⎡ N
( 1 + jω ( ω ) −1
) ( 1 + jω ( ω ) ) −1 N
( 1 + jω ( ω ′ ) ) −1 ⎤⎫
⎪ ⎢
∏ ∏ ⎥⎪
Ii 0 Di
⎪ ( I D ) app = k ID +
(8.92) ⎪
⎪
⎢
⎢⎣ i =1
( 1 + jω ( ω ′ ) ) Ii
−1
( jω ( ω ) ) 0
−1
i =1 ( 1 + jω ( ω ) ) Di
−1 ⎥⎪
⎥⎦ ⎪
⎪
;
⎨
⎪
[
∀ ω ( l a , l m ) ∈ ω I A , ω DB ] , {0< α < 1 } ; ⎬
⎪
⎪
⎪
(ω′ ) Ii
−1
> (ω Ii ) > (ω ) ; (ω′ ) > (ω )
−1
0
−1
Di
−1
Di
−1
; ⎪
⎪
⎪
⎩ (ω′ ) Di
−1
> (ω Di ) >(ω′ ) > (ω ) > (ω )
−1
Ii
−1
Ii
−1
0
−1
⎪
⎭
α
⎧ ⎛ jω ⎞ e
⎫
⎪
⎪
⎜ 1+
⎜ ωb ⎟
⎟
⎡ N
(1 + jω ( ω ) −1
) ( 1 + jω ( ω ) ) −1 N ⎛ 1 + jω ( ω ′ ) −1 ⎞ ⎤⎪
⎪
⎢
∏ ∏ ⎜ ⎟ ⎥⎪
i 0
⎪ ( I D ) app = k
Di
⎜ ⎟ +
jω ⎟ ⎢
(1 + jω ( ω ′ ) ) ( jω ( ω ) ) ⎜⎜
( ) ⎟⎟ ⎥⎪
ID −1
(8.93) ⎪ ⎜ −1 −1
⎪ ⎜ 1+ ⎟ ⎢⎣ i =1 i 0 i =1 ⎝ 1 + jω ω D i ⎠ ⎥⎦ ⎪
⎨ ⎜ ω h ⎟⎠ ⎬
⎝
⎪ ⎪
⎪ ∀ω (l a ,lm )∈ ω IA , ω [ ] , { α > 1 , α +α = α };
DB e n ⎪
⎪ ⎪
⎪ (ω′ ) Ii
−1
> (ω Ii ) > (ω ) ; (ω′ ) > (ω ) ;
−1
0
−1
Di
−1
Di
−1
⎪
⎪
⎩ (ω′ ) Di
−1
> (ω Di ) >(ω′ ) > (ω ) > (ω )
−1
Ii
−1
Ii
−1
0
−1 ⎪
⎭
⎧⎧ α ⎫ ⎧ αe 1 ⎫ ⎫
⎪⎪ ⎛ 2
⎞ ⎪ ⎪ ⎛⎜ ⎛ ωu ⎞ ⎟ 2
2
⎞ ⎡ ⎛ ωu ⎞
2
⎤ 2 ⎪ ⎪
⎪⎪ ⎜ ⎛ ωu ⎞ ⎟
2
⎪ ⎜ ⎟ ⎢ ⎜ ⎟ ⎥ ⎪ ⎪
⎜ ⎟ ⎪ ⎜ 1+ ⎜ 1+
⎪ ⎪ ⎜ 1+ ⎜ ⎟ ⎟ ⎪ ⎪ ⎜ ω D h ⎟⎠ ⎟
⎟ ⎢ ⎜ ω′ ⎟ ⎥ ⎪ ⎪
(8.94) ⎝ ω Dh ⎠
N
∏
⎪⎪ ⎜ ⎟ ⎪ ⎪⎪ a ⎜ ⎝ ⎢ ⎝ Ii ⎠ ⎥ ⎪⎪ 1 ⎪
⎪ a ⎜ ⎟ ⎟ ⎪
k ID =⎨⎨ 2 ;
⎬ ⎨ ⎜ 2 ⎢ 2 ⎥ ⎬ ; a= ⎬
⎪⎪ ⎜ ⎛ ωu ⎞ ⎟ ⎛ ωu ⎞ ⎟ ⎛ ωu ⎞
⎜ ⎟ ⎪ ⎪ ⎜ ⎜ ⎟ ⎟
i =1 ⎢
⎜ ⎟ ⎥ ⎪ G ∗ ( jω u ) ⎪
⎪ ⎪ ⎜⎜ 1 + ⎜ ⎟
⎟
⎟ ⎪ ⎪ ⎜ 1+ ⎜ ⎟ ⎟ ⎢ 1+ ⎜ ⎟ ⎥ ⎪ ⎪
⎪⎪ ⎝ ⎝ ω ⎠ ⎪ ⎪ ⎝ ⎝ ω ⎠ ⎠ ⎢⎣ ⎝ ω Ii ⎠ ⎥⎦ ⎪ ⎪
I b ⎠ I b
⎪⎪
⎪⎩ ⎩ (
0< α <1 ) ⎪ ⎪
⎭ ⎪⎩ α > 1 ; α e +α n = α( ) ⎪
⎪⎭
⎪
⎪⎭
(8.96) A ( p ) = k (p)
A
Q 2- 1 (8.97)* k
A
=
( ID ) app ( jω πA ) G ( jω )
opt
[] []
[] A
π
⎧ ⎡ ⎛ A
⎞ ⎤
−1
⎪ k opt
⇔ ⎢ 1+⎜ ( ID ) app ( j Ω ) G ( j Ω ) ⎟ ⎥
A []
⎪ k ≤1
opt
⎢ ⎜ Q2 ( jΩ ) ⎟ ⎥
(8.98)** ⎪ ⎣ ⎝ ⎠ ⎦ .
⎨
⎪ ⎧ ⎛ d 1 d ⎞⎫
⎪ ⎪
⎪ ; ⎜⎜ ω ( jω ) = 0 ⎟⎟ ⎬
[]
[] [] CLAAS
⎨ Ω = 0 .1 ω ⇔ = W y0ε
⎪ ⎪⎩ ⎜
⎝ dω 1 + ( ID ) app ( jω ) G [] ( jω ) dω ⎟⎪
⎠⎭
⎩
ω I A = 0 .1 ω u ;
c (8.101)
ω D A = 1 .1 ω u
I (8.107) λ= ωh ω ( −1
b )( 0.1 + α )
( 0. 9 )
ω I B = 0 .9 ω u ; ⎛ ⎞
− α
( )
1
d (8.102) j (8.108) η = ⎜⎜ ω h ω −1
N ⎟
⎟
ω D B = 10 ω u ⎝
b
⎠
1
ω b = 0 .2 ω A ; ω ′i + 1 = ( λ η ) . η
i 2
ωb ;
e (8.103) k (8.109)
ω 0 = 0 . 85 ω 1
ω i +1 = ( λ η ) . λ . η
Ib i 2
ωb
Табл.8.8
основни изисквания към ( ID ) app
(8.111) (8.112) (8.113) (8.114) (8.115)
ωu > ω c ω u ≥ 250 ω c ωA > ω c ω B >> ω c 0.5 ( ω A − ω B ) ≤ (ω u −ω c )
(8.116) (8.117) (8.118) (8.119) (8.120)
ωb > ω c ωb < ωA ωh > ωB ( λ η ) opt = 3.98 (ω h ωb ) opt
= 250 ÷ 600
Използвани са означенията:
● λ , η - коефициенти на дробно-рационалната рекурсия;
● Φ mnom - запас на устойчивостта по фаза;
● M m - показател на колебателността като σ (8.89.d);
● k D - коефициент на апроксимиращия интегро-диференциатор ( ID ) app с честотно
ограничена функция за диапазона ( ω IA ÷ ω DB ) , определен от множеството Π на
параметрични смущения върху обекта с номинален модел G ∗ ;
● ω I b , ω D h - долна, горна прагова честота на ∆ ω u ;
● α , ( 0 < α < 1 ) - ред на фракталното интегро-диференциране (нецяло число) апрок-
симирано с ( ID ) app ;
● α , α > 1 ( α e + α n = α ) - ред на фракталното интегро-диференциране с α e - цяло
число, α n - нецяло, дробно число, апроксимирано с ( ID ) app ;
● N (цяло число) - ред на полиномиалната апроксимация в ( ID ) app ;
● ω D i и ω ′D i - срязващи честоти на полиномиалната рекурсивна апроксимация с N
нули ω ′D i и N полюси ω D i на апроксимиращия интегро-диференциатор ( ID ) app ;
● ω c - срязваща честота на G ∗ ;
● n - ред на P ∗ (цяло число);
● ω πCLASS е ω π -честота на затворената “класическа” система;
[]
● ω πA е ω π -честота на затворената, смутена на най-горна граница система, “поглъ-
щаща” смущенията;
[]
● W y CLAAS
0
ε
- характеристика на затворената, смутена на най-горна граница класическа
система.
⎧ ∆ G ( jω ) = G ( jω ) − G * ( jω ) = l a ( jω ) ⎫
(9.1) ⎨ ⎬ ;
⎩ l a ( jω ) ≤ l a ( ω ) ⎭
⎧ la ( jω ) G ( jω ) − G * ( jω ) ⎫
⎪ ∆G ( jω ) = = = l m ( jω ) ⎪
(9.2) ⎨ G * ( jω ) G * ( jω ) ⎬ ;
⎪ ⎪
⎩ l m ( jω ) ≤ l m ( ω ) ⎭
R ( jω ) G ( jω )
〉α 〈
(9.3) η ( jω ) = = 1 − e ( jω ) = Φ y ( jω ) ;
( jω ) G ( jω )
o
〉α 〈 y
1+ R
1
(9.4) e ( jω ) = = 1 −η ( jω ) = Φ y ( jω ) ,
( jω ) G ( jω )
o
α〈 ε
1+ R 〉
⎧ G− G * ( jω ) ⎫ ⎧ G ( jω ) − G * ( jω ) ⎫
⎪∆ G: ≤ l m ( jω )⎪ ⎪∆ G: ≤ l m ( jω )⎪
⎪ G* ⎪ ⎪ G * ( jω ) ⎪
(9.5) ⎪ ⎪ ; (9.6) ⎪⎪ ⎪⎪ .
Π =⎨ η l m ∞ = sup η l m < 1 ⎬ Π =⎨ ey
o
= sup e y
o
<1 ⎬
∞
⎪ ω ⎪ ⎪ ω ⎪
⎪ lm ( ω )< η
−1 ⎪ ⎪ η lm + e y o < 1 ⎪
⎪ ⎪ ⎪ ⎪
⎩ ⎭ ⎪⎩ ⎪⎭
(9.7) l m (ω )< η −1
SNE
, ∀ω .
lm (ω )> η −1
SE
,∀ω ,
(9.10) .
η lm SE
+ e y
o
SE >1
Q ( jω , s t )
фиг.9.1
Q ( jω , s t ,ξ t )
фиг.9.2
D(ne)INE-ABS, I(ne)D(ne)
SNE
−1
l m (ω )< η SNE ( jω ) ,∀ ω
робастна устойчивост
без акустична шумова емисия
l m (ω )
фиг.9.3
D(ne)INE-ABS, I(ne)D(ne)
робастно качество
без акустична шумова емисия
η SNE l m < 1 , ∀ω
робастна устойчивост
без акустична шумова емисия SNE
фиг.9.4
D(ne)INE-ABS, I(ne)D(ne)
−1
l m (ω )< η SNE ( jω ) ,∀ ω
l m ( ω )+ b (ω )
фиг.9.5
D(ne)INE-ABS, I(ne)D(ne)
η SNE l m < 1 , ∀ω
робастна устойчивост
с акустична шумова емисия
SNE
фиг.9.6
⎧ ∆ E = ∆ P po Q v ,
⎪⎪
(9.11) ⎨ ⎡ m
3
m . kg m
3 2
m kg ⎤ ;
⎪ ⎢ Pa . = . = = W ⎥
⎪⎩ ⎢⎣ ⎥⎦
2 2 3
s s m s s
⎧ ∆ P po
(9.12) ⎪s = ; q=
Qv
[ (
= 1− s 1−σ
−2
)] − 0.5
;
⎨ ∆ P po max Q v max
⎪
⎩ 0≤ s≤1 ; 0≤q≤1
⎧ ∆ = ∆ P po Q v
(9.13) ⎪⎨ E
;
⎪⎩ ∆ E = ∆ P po max Q v max s [ 1 − s ( 1 − σ )] −2 −0.5
(9.14) ⎪⎨
⎧ [
∆ E = a s 1− s 1 − σ ( −2
)] − 0.5
.
⎪⎩ ∆ E = a s q , ( a = ∆ P po max
Q v max = const )
Максималните стойности на пада на налягане ∆ P po max
върху PO и на обемния разход
Q v max през PO са константни за конкретната хидравлична система.
хидродинамични загуби
SNE (s ) t
без акустична шумова емисия
SNE ⋅ ID ( s ) t
SE (s t ,ξ t )
фиг.9.7
хидродинамични загуби
с акустична шумова емисия SE (s t ,ξ t )
SNE (s t ,ξ t )
SNE ⋅ ID (s t ,ξ t )
фиг.9.8
хидродинамични загуби SE
SE (s t ,ξ t )
с акустична шумова емисия
SE (s ) t
фиг.9.9
хидродинамични загуби
SNE
SNE ⋅ ID (s t ,ξ t )
с акустична шумова емисия
SNE ⋅ ID (s ) t
фиг.9.10
SE (s )
t
SNE (s )
t
SNE ⋅ ID ( s )t
чувствителност
без акустична шумова емисия
фиг.9.11
чувствителност
без акустична шумова емисия
SNE ⋅ ID (s )t
SNE (s )
(s )
t
SE per t
фиг.9.12
SE (s t ,ξ t )
SNE (s t ,ξ t )
SNE ⋅ ID (s t ,ξ t )
чувствителност
с акустична шумова емисия
фиг.9.13
чувствителност
с акустична шумова емисия
SNE ⋅ ID (s t ,ξ t )
SNE (s ,ξ )
(s )
t t
SE t ,ξ t
фиг.9.14
SE (s )t
чувствителност
без акустична шумова емисия
SE nom
SNE (s ) t
SNE ⋅ ID ( s ) t
фиг.9.15
чувствителност
с акустична шумова емисия
SE (s t ,ξ t )
SE NOM
SNE (s t ,ξ t )
SNE ⋅ ID (s t ,ξ t )
фиг.9.16
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