Лабораторна робота №2

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: . , ., .
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:
: :
1.
;
2. , ,
, ;
3. MATLAB .
: ,
1, 2, MATLAB.
1.
, ,
, 1:
1. .
2. .
;
3. ;
4. :
) .2;
)
FSOLVE MATLAB.
;
5.
, .4,
, .1, .
ODE23 ODE45;
~ ~ ~ ~
6. Q h (Q Q QH ; h h hH );
7.
, .3 .
:
) DE23 ODE45;
) MATLAB STEP
~ ~
Q h ;
~ ~
8. - h( t ) Q( t ) ,
.6, 7 ;
9.
;
10. .
. 1,2,3, script-
, ,
.
2.
:
PD PD
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1) ;
2) ,
;
3)
;
4) script- ,
;
5) ;
6) .
3.
-
.
( ),
- ,
( ). -
, , , -
. ,
. ,
,
.
, ,
.
, .
( )
. , , ,
.
,
, , ,
, ,
‘ ’, ‘ ’.
, f i ( y10 , y 20 , p10 , p 20 , l10 , l 20 ) fi H
f( )
y, p l.
, n
, z0,
z( , -
) z0. , z- ( ) ,
xi, pj lk .
:
y f (z )
z0
:
df 1 d2 f 1 dn f
y f (z0 ) (z z0 ) 2
(z z0 ) 2 (z z0 ) n (3.1)
dz z z0 2! dz z z n! dz n z z0
0
~
z (t ) z (t ) z 0 (3.1),
. z
. ~
z (t ) z (t ) z 0
,
PD PD
!
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df ~
y f ( z0 ) z.
dz z z0
z0 y0=f(z0),
~
z y y0 ~
y:
~ df ~ ~ df ~
y0 y f ( z0 ) z, y z.
dz z z0 dz z z0
, ,
( ) z0 ,
~ df
y a~
z, a ,
dz z z0
:
y y0 ~
y.
y f ( z1 , z 2 , zn )
~
y a1 ~
z1 a2 ~
z2 an ~
zn ,
f f
: ai z1 z10 , ~
zi zi z i 0 , i=1,2…n.
zi z 2 z 20 zi H
zn zn 0
dy (t )
f ( y (t ), u (t )) .
dt
, u(t)=u0=const t y(t)=y0. ,
, , (y0,u0) .
u(t) u0.
u (t ) u0 u~ (t ) y (t ) y0 ~
y (t ) .
:
d ( y0 ~y (t )) f ( y, u) f ( y, u )
f ( y 0 , u0 ) ~
y (t ) u~ (t ) ,
dt y y0 u y0
u0 u0
dy 0
, , f ( y 0 , u0 ) 0,
dt
d~
y
a~
y bu~ ,
dt
f f f f
: a ,b .
y y0 y H
u y0 u H
u0 u0
u(t)
dx 1
f 1 ( x 1 x 2 u)
dt (3.2)
dx 2
f 2 (x1 x 2 u)
dt
PD PD
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y(t)= (x1,x2,u)
(x10,x20,u0).
d~x1 f1 ( x1x2u ) ~ f1 ( x1 x2u ) ~ f1 ( x1x2u ) ~
x1 x2 u
dt x1 H
x2 H
u H
d~
x 2 f 2 ( x1x2u ) ~ f 2 ( x1 x2u ) ~ f 2 ( x1x2u ) ~
x1 x2 u
dt x1 H
x2 H
u H
~ ( x1 x 2 u ) ~ ( x1 x 2 u ) ~ ( x1 x 2 u )
y (t ) x1 x2 u~ ,
x1 H
x2 H
u H
f i ( x1 x 2 u ) ( x1 x 2 u )
xi H
xi H
( ) ( x10,x20,u0).
,
,
.
:
d~x1
a11 ~x1 a12 ~
x2 b1 u~
dt
d~
x2
a 21 ~
x1 a 22 ~
x2 b2 u~
dt
~
y (t ) c1 ~x1 c 2 ~
x2 d u~ ,
f i ( x1 x 2 u ) f i ( x1 x 2 u ) ( x1 x 2 u ) ( x1 x 2 u )
: aij , bi , ci , d .
xj H
u H
xi H
u H
:
X AX BU
, (3.3)
Y CX DU
:
a11 a12
X [~
x1 ~
x 2 ]T ; U u~; Y ~
y; A ;B [b1 b2 ]T ; C [c1 c 2 ]; D d.
a 21 a 22
(3.3)
.
, n ( n ), s
, m ,
(10) – (11), :
PD PD
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d~x1
a11 a12 a1n ~
x1 b11 b12 b1m p1 c11 c12 c1k l1
dt
d~
x2 a 21 a 22 a2n ~
x b21 b22 b2 m p2 c 21 c 22 c2k l2
2
dt
d~
x n a n1 an2 a nn ~
xn bn1 bn 2 bnm pm c n1 cn 2 c nk lk
dt
d~y1
dt a11 a12 a1n ~
y1 b11 b12 b1m p1 c11 c12 c1k l1
d~
y2 ~ p2
a 21 a 22 a2n y2 b21 b22 b2 m c 21 c 22 c2k l2 ,
dt
an an2 a nn ~
yn bn1 bn 2 bnm pm c n1 cn 2 c nk lk
d~
y n
dt
fi fi fi
: aij , bik , c ir , i, j 1,2 n, k 1,2 m, r 1,2 k,
xj H
pk H
lr H
i i i
d ij , eik , g ir , i 1,2 s, j 1,2 n, k 1,2 m, r 1,2 k.
xj H
pk H
lr H
,
,
. ,
.
- ~
xi (t ), ~
y j (t )
. :
x i (t ) xi 0 ~
xi (t ); y j (t ) y j0 ~
y j (t ) .
4. FSOLVE STEP
FSOLVE - ,
) .
:
X = fsolve ('name', X0),
: 'name' - - ( ),
. m ,
;
0 - ,
.
.
- , ( ).
4.1.
F(x,y,z)=0, F(x,y,z)=[f1(x,y,z) f2(x,y,z) f3(x,y,z)]T
f1(x,y,z) =sin(x) + y^2 + log(z) - 7 = 0
f2(x,y,z) =3*x + 2^y - z^3 + 1 = 0
f3(x,y,z)]=x + y + z - 5 = 0
PD PD
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, MATLAB !) m
fi(x,y,z). , , XYZ.
, ,
MATLAB FUNCTION :
function f = xyz(x)
% 4.1.
% f=[f(1) f(2) f(3)] , x=[x(1) x(2) x(3)]T
T
% , x(1)=x; x(2)=y; x(3)=z

f=[sin(x(1))+ x(2)^2+log(x(3))-7; 3*x(1) + 2^x(2) - x(3)^3 + 1; x(1)+x(2)+x(3)-5];
xyz.
, , x=1, y=1, z=1, 0=[1 1 1]T ,
. , ,
, :
» x0=[1 1 1]';
» x=fsolve('xyz',x0)
, .
fsolve:
» x=fsolve('xyz',[1 1 1]’)
, , ,
:
function q = xyz(p)
x = p(1); y = p(2); z = p(3);
q = zeros(3,1);
q(1) = sin(x) + y^2 + log(z) - 7;
q(2) = 3*x + 2^y - z^3 + 1;
q(3) = x + y + z - 5;
X = FSOLVE (F, X0), F- . F=’F(x)’.
:
«f='[sin(x(1))+ x(2)^2+log(x(3))-7; 3*x(1) + 2^x(2) - x(3)^3 + 1; x(1)+x(2)+x(3)-5]';
«x0=[1 1 1]';
«x=fsolve(f,x0)
x=
0.5991
2.3959
2.0050
. FSOLVE
- .
.
.
- ( - ).
STEP - -
.
PD PD
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N ( s)
H ( s) ,
D (s )
X AX BU .
Y CX DU
A C B D .
:
[Y,X] = STEP(NUM,DEN,T), Y = STEP(NUM,DEN,T),
[Y,X,T] = STEP(NUM,DEN), [Y,T] = STEP(NUM,DEN),
STEP(NUM,DEN),
Y– – ( );
–
. – .
.
.
NUM, DEN -
.
2s 3 4 s 2 1 2s
: H ( s) , H ( s) ,
5s 4 4 s 3 3s 2 4s 2 1
NUM=[2 4 0 1]; DEN=[5 4 0 3 2]. NUM=[2 0]; DEN=[4 0 1].
, .
( STEP(NUM,DEN)),
(
MATLAB for WINDOWS).
.
, ,
:
[Y,X] = STEP(A,B,C,D,IU,T), [Y.X,T] = STEP(A,B,C,D,IU),
Y = STEP(A,B,C,D,IU,T), [Y.T] = STEP(A,B,C,D,IU),
STEP(A,B,C,D,IU),
, , IU - (
U), .
.
X AX BU .
Y CX DU
X [X(1) X (2)]T ; U [U (1) U (2)]T
A 1 2 ; B 1 0 ;C 0 1; D 0 0.
1 1 0 1
, U(1) U(2)
Y.
, , [Y.X,T] = step(A,B,C,D,1),
- [Y.X,T] = step(A,B,C,D,2).
: A,B,C D : B
D, B D .
PD PD
!
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( )
.
,
.1.
.2. , ,
2
1
2
3
: =0.9, =1000 , =1e-5 .
1 2 3 4 5 6 7 8 9 10 11 12
. 1 2 3 4 5 6 7 8 9 10 11 12
p1, 30 25 13 -- 15 40 4 12 50 -- 8 50
p2, 1 -- 0 0.1 0.2 0.6 0.3 0 0.4 0.1 0 0
L1, 100 95 104 -- 102 6 8 115 100 -- 5 110
r1, 0.05 0.1 0.05 -- 0.09 0.06 0.04 0.08 0.01 -- 0.07 0.1
L2,, 6 -- 5 90 3 107 98 7 6 95 100 4
r2,, 0.06 -- 0.09 0.08 0.07 0.11 0.09 0.06 0.05 0.1 0.12 0.11
kB, 2 -- -- -- -- -- -- -- -- 0.006 0.008 0.007 0.005
l1 - - - - -- -- -- -- 0.2 -- -- 0.3
l2 -- -- -- -- -- -- -- -- -- 0.4 0.8 0.6
d, 0.5 0.5 0.5 0.5 .25 .25 0.5 0.5 0.5 0.5 .25 .25
Q, -- 5 -- 8 -- -- -- -- -- 10 -- --
1 2 3 4 5 6 7 8 9 10 11 12
. 1.1 1.2 1.3 1.4 1.5 1.6 1.7 1.8 1.9 1.10 1.11 1.12
p1, 25 20 50 6 20
p2, -- -- 0.5 0.7 0.8 -- -- -- -- -- -- --
l1 -- -- -- -- -- -- -- -- 0.6 -- -- 0.7
l2 --- -- -- -- -- -- -- -- -- 0.8 0.2 -
PD PD
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ac ac
h
h
r1,L1 r2,L2 r1,L1
P1 P2 Q
P1
1) 2)
h h
r1,L1 r2,L2 Q r2,L2

P1 P2
P2
3) 4)
r1,L1
P1
h
h
r2,L2 r1,L1 r2,L2
P2 P1 P2
5) 6)
r1,L1 r1,L1
P1 P1
h h
r2,L2
P2 r2,L2
P2
7) 8)
PD PD
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ac ac
h h
r2,L2 P2
Q
P1
P2
l1 l2
9) 10)
r1,L1
P1
h
KB P2 P2
P1
l2 l1 l2
11) 12)
1. ( 13)
,
h .
r1,L1 r2,L2 :
P1 P2 d=0.5 , r1=0.06 , L1=4 ,
Q1 Q2 l2
r2=0.14 , L2=110 , k =1 -02 2,
=0.9;
:
: P1=40 ,
P2=0.2 ;
: l2=0.3;
: P1=25 .
2.
(
, =const), ,
dh
S Q1 Q2 . (1)
dt
PD PD
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S= d2/4 - , 2
;
h- , ;
3
Q- , /c.
:
2 5
P1 gh 4 r
1
Q1 k1 , k1 . (2)
L1
:
2 2
dQ2 k k
A 1 2
2 2
Q22 2
gh P2 , (3)
dt k l
4 r23 4 2 5
r 2
A , k2 2
,g- , g=9.81 .
L2
(1), (2), (3) ,
:
dh
S Q1 Q2 ;
dt
2
P1 gh 4 r15
Q1 k1 , k1 ;
L1
dQ2 k 22 k 22 (4)
A 1 2 2
Q22 gh P2 ,
dt k l
4 r23 4 2
r25
A , k2 .
L2
dh P gh
S k1 1 Q2 ;
dt
(5)
dQ k 22 k 22
A 2 gh P2 1 Q22 .
dt k 2l 2
(5), - h Q2
.
. , h.
3.
3.1.
Q2 h.
Q 2 = Q20 =const, h=h0=const. , (5)
P10 gh0
0 k1 Q20 ;
(6)
k 22 k 22
0 gh0 P20 1 2 2
Q202 .
k l0
PD PD
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P10 gh0
(6) Q10 Q20 k1 . (7)
k 22
B 1 (7) (6),
k B2 l 2
P10 gh0 k 22
Bk12 gh0 P20 ,
Bk12 P10 k 22 P20

h0 .
(k 22 Bk12 ) g
(8)
h0 Q10 , Q20 , (7), (8) script- .
,
, script- pu1.m:
%
%
ro=1000; g=9.8; dz=0.9; kv=1e-2;
d=0.5; r1=0.06; L1=4; r2=0.14; L2=110;
l=0.3; p1=40000; p2=200;
% -------------------------------------------------
k2=sqrt(4*pi^2*r2^5/(L2*dz));
k1=sqrt(4*pi^2*r1^5/(L1*dz));
B=1+(k2/kv/l)^2;
% -------------------------------------------------
disp( ' ')
h0=(B*k1^2*p1+k2^2*p2)/(B*k1^2+k2^2)/ro/g
Q20=k1*sqrt((p1-ro*g*h0)/ro)
:
h0 = 2.3498, Q20 = 0.0120
3.2.
h0 Q 20 ,
(7) (8), (6)
MATLAB FSOLVE. (6) pu2.m :
function y=pu2(x);
h=x(1); Q2=x(2)
ro=1000; g=9.8; dz=0.9; kv=1e-2;
d=0.5; r1=0.06; L1=4; r2=0.14; L2=110;
l=0.3; p1=40000; p2=200;
% -------------------------------------------------
k2=sqrt(4*pi^2*r2^5/(L2*dz));
k1=sqrt(4*pi^2*r1^5/(L1*dz));
B=1+(k2/kv/l)^2;
% -------------------------------------------------
y=[ k1*sqrt((p1-ro*g*h)/ro)-Q2;
k2^2*(ro*g*h-p2)/ro-B*Q2^2 ];
PD PD
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«x0=[ 1; 0.1 ] ; y=fsolve(‘pu2’,x0)
h0 = 2.3517, Q20 = 0.0120.
4.
.
, 10 , 20 , Q20=Q10=QH, h0=hH, l0=lH.
.
(5) (3.2):
dh 1 P gh
k1 1 Q2 ;
dt S
(9)
dQ2 k 22 B 2
gh P2 Q2 .
dt A A
:
dh f1 f1 f1
h Q2 P1 ,
dt h H Q2 H
P1 H
(10)
dQ2 f2 f2 f2 f2
h Q2 P1 l,
dt h H Q2 H
P2 H
l H
1 P gh k 22 B 2
f1 k1 1 Q2 , f 2 gh P2 Q2
S A A
, aij bij,
dh
a11h a12 Q2 b11 P1 ,
dt
(11)
dQ2
a21h a22 Q2 b21 P1 b22 l .
dt
,
~ ~
1 . ( l , P2 0 ),
(11) :
~
dh ~ ~ ~
a11 h a12 Q2 b11 P1 ,
dt (12)
dQ2 ~ ~
a 21 h a 22 Q2 .
dt
(12) :
f1 k1 g f1 1
a11 , a12 ,
h H 2S P1H gh Q2 S
f1 k1
b11 ;
P1 H
2 S P1H ghH
(13)
f2 2B f2 k 22 g
a22 Q2 H , a21 .
Q2 H
A h H A
PD PD
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(12) ,
STEP IMPULSE, :
h a11 a12 h b11
P1 ,
Q2 a21 a22 Q2 0
(14)
, ,
X A X B P1 ,
a11 a12
= – ,
a 21 a 22
~
X = ~h – ,
Q2
b11
b= – .
0
(3.3) , ,
,
:
X A X B P1 ,
Y=C·X+D·U
=[1 0], D=[0].
5.
5.1.
1,
(9) ODE23.
(9) pu2.m ,
. , Norton Editor MATLAB for DOS,
Notepad MATLAB4, M-file Editor/Debugger MATLAB5
pu2.m nelmod.m nelmod.m :
function y=pu2(x); function y=nelmod( t , x);

h=x(1); Q2=x(2) h=x(1); Q2=x(2)
ro=1000; g=9.8; dz=0.9; kv=1e-2; ro=1000; g=9.8; dz=0.9; kv=1e-
2;
d=0.5; r1=0.06; L1=4; r2=0.14; d=0.5; r1=0.06; L1=4; r2=0.14;
l=0.3; p1=40000; p2=200; L2=110; l=0.3; p1=40000; p2=200;
L2=110;
% ------------------------------------------------- % -----------------------------------------
--------
k2=sqrt(4*pi^2*r2^5/(L2*dz)); k2=sqrt(4*pi^2*r2^5/(L2*dz));
k1=sqrt(4*pi^2*r1^5/(L1*dz)); k1=sqrt(4*pi^2*r1^5/(L1*dz));
B=1+(k2/kv/l)^2; B=1+(k2/kv/l)^2;
% ------------------------------------------------- S=pi*d^2/4; A=4*pi*r2^3/dz;
y=[ k1*sqrt((p1-ro*g*h)/ro)-Q2; y=[ (k1*sqrt((p1-ro*g*h)/ro)-Q2)/S;
k2^2*(ro*g*h-p2)/ro-B*Q2^2 ]; (k2^2*(ro*g*h-p2)/ro-B*Q2^2)/A
];
PD PD
!
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h(t) Q(t) , nelmod.m

1 =25 :
» x0=[2.3498 0.012];
» [t,y]=ode23('nelmod',0,200,x0,1e-4)
» plot(t,y(:,1)); pause; plot(t,y(:,2))
,
h(t), - Q2(t).
5.2.
STEP.
~
P1 P1 P1H , ,
~
STEP, P1 .
b, STEP, matr.m.
, , nelmod.m.
ro=1000; g=9.8; dz=0.9; kv=1e-2;
d=0.5; r1=0.06; L1=4; r2=0.14; L2=110;
l0=0.3; p2=200;
p10=40000; h0=2.3498; Q20=0.012;
% -------------------------------------------------
k2=sqrt(4*pi^2*r2^5/(L2*dz));
k1=sqrt(4*pi^2*r1^5/(L1*dz));
B=1+(k2/kv/l0)^2;
S=pi*d^2/4; A=4*pi*r2^3/dz;
% -------------------------------------------------
a11=-k1*g*sqrt(ro/(p10-ro*g*h0))/(2*S); a12=-1/S;
b11=k1*sqrt(ro/(p10-ro*g*h0))/(2*S*ro);
a21=k2^2*g/A; a22=-2*B*Q20/A;
a=[a11 a12; a21 a22], b=[b11; 0]
matr.m :
a= -0.0177 -5.0930
0.0055 -2.1191
b= 1.8067 -6
0
~ ~
h (t ) Q2 ( t ) grafrez.m
%
1=25000; P10=40000; Px=P1-P10;
a=[ -0.0177 -5.0930 ; 0.0055 -2.1191]; b=[ 1.8067e-6; 0];
c=[1 0]; d=[0];
t=[0:200];
[y,x]=step(a,b,c,d,1,t), pause
x=Px*x;
plot(t,x(:,1)); grid; ylabel('h,m'); xlabel('time,sec');
pause;
PD PD
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plot(t,x(:,2)); grid; ylabel('Q,m.kub/sec'); xlabel('time,sec');
6. ,
~
h (t ) - , h (t ) - , ,
~
Q2 (t ) - , Q2 ( t ) - .
, grafrez.m:
%
%
% -----------------------------------------------------
%
x0=[2.3498 0.012];
[t1,y1]=ode23('nelmod',0,200,x0,1e-4)
% -----------------------------------------------------
%
a=[ -0.0177 -5.0930 ; 0.0055 -2.1191]; b=[-0.0271; 0];
c=[1 0 ]; d=[0];
t2=[0:200];
[y2,x2]=step(a,b,c,d,1,t), pause
% -----------------------------------------------------
%
plot(t1,y1(:,1),'--',t2,x2(:,1)+2.3498); grid;
ylabel('h,m'); xlabel('time,sec'); pause;
plot(t1,y1(:,2),'--',t2,x2(:,2)+0.0120); grid;
ylabel('Q,m.kub/sec'); xlabel('time,sec');
pause;close
~ ~
: h (t ) , Q2 (t )
h(t ) , Q2 (t ) , h =2.3498,
Q =0.012.
grafrez.m
, .13, 14.
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.13. ( ) (1) (2)

.
1 2
.14. (1)
(2)
7.
, , 2.5%. ,
5%,
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1. .
2. .
3. ? ?
~ ~
4. h, Q h Q?
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5. ,
.

Лабораторна робота №2

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Copyright:

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Лабораторна робота №2

Cargado por

Copyright:

Formatos disponibles

F -X C h a n ge F -X C h a n ge

% , x(1)=x; x(2)=y; x(3)=z

X = FSOLVE (F, X0), F- . F=’F(x)’.

r1,L1 r2,L2 Q r2,L2

Bk12 P10 k 22 P20

«x0=[ 1; 0.1 ] ; y=fsolve(‘pu2’,x0)

h0 = 2.3517, Q20 = 0.0120.

function y=pu2(x); function y=nelmod( t , x);

h(t) Q(t) , nelmod.m

plot(t,x(:,2)); grid; ylabel('Q,m.kub/sec'); xlabel('time,sec');

.13. ( ) (1) (2)

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