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New Approaches in Automation and Robotics part 6

Tham khảo tài liệu 'new approaches in automation and robotics part 6', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Nonparametric Identification of Nonlinear Dynamics of Systems Based on the Active Experiment 143 R A2 A4 A6 A-8 Co C1 C2 Th Tn 1 -0.189 0.137 -0.207 0.547 1.773 0.21 -0.983 1.139 0.686 2 -0.131 0.061 -0.058 -0.091 1.878 0.251 -1.129 0.89 0.54 3 -0.099 0.034 -0.023 0.025 1.977 0.265 -1.242 0.75 0.447 4 -0.08 0.022 -0.011 0.009 2.013 0.316 -1.329 0.648 0.4 5 -0.067 0.015 -0.006 0.004 2.108 0.29 -1.398 0.589 0.346 6 -0.057 0.011 -0.004 0.002 2.119 0.330 -1.449 0.533 0.323 Table 1. The coefficients A and corrector parameters C and T for the Nuttall window of 1st to 6th order. Figure 5 shows the variability of the slack variables x y and thereby the time constants T1 and T2. The minimum of function h y is for y 0.29 or 0.10 and consequently T2 0.53 and 0.32. The time constant T1 obtained from Equations 41 and 36 is T1 0.32 or 0.53. Because the product of the time constants and the width d of the averaging interval expressed in the samples must be integer so they have to be recalculated using the following relation Trdi round Tdi d d 42 The correction procedure of 2nd order corresponds to the change of the basic window spectrum to the following form Gz G o Gk G o Introducing the auxiliary variable 2 C0 V Ci cos Ti i 1 the definition 15 can be rewritten in the following form 43 44 G Q d fg u cosi Q u du 45 and the spectrum of the corrected window assumes the form GZ Q 4 zV d C0 E Ci cos Tui f g u cos Q u du i 1 J 0 46 The relation 46 allows to obtain the maximum normalised frequency t A which can be transferred with the assumed accuracy a through the corrected window solving the following equation a 1 - Gz Q 47 The evaluation of the corrector parameters Ci and Ti should be done on the basis of two criteria the minimisation of the deviation G jQ from 1 in the pass band and the magnitude n v u - - 2 d 144 New Approaches in Automation and Robotics QnG jQ in the stop band. The application of the procedures is a trial of the window approach to the ideal window with wall .