根轨迹的基本条件和规则

152121801801804.11gK∞→021Ssπ)12()()(11g11K=ig)(−−∏∏nnpsps1K)(11+⎥⎥⎦⎤⎢⎢⎣⎡−−−====−=∑∑−=−==∏∏kjpszsjjjijjieezszsnjjmiimmi∏∏∏∏∏====⇒−=−⇒=−mjjiinjipszsps1g1g1gKK1K∏−nmizs==ij11⎡m=−−injjmzsps1−−−∑∑==kkpszsnjjii2)12()()(11πππ+=+=⎥⎥⎦⎤⎢⎢⎣,2,1,0±±=k2)(Es)(Cs)(sR)(sG)(sH551K1=jj1g=−−∏∏=niipszs=⎦⎤⎣==njim2)()(=⎥⎥⎢⎢−−−∑∑πkpszsji0110⎡m,2,1,0±±=k080100+∞≤gK001800=gK∞=gKmnmn≥mnmn−mnmn≥nmnmn−∞→gKmna−k+=πϕ)12(k1,,2,1,0−−=mnmnzpnjmiija−−=∑∑==11σ55616221801800184-14-24-936)()()()()(G11KsDsKNpszsKsnjjmii=−−=∏∏==0)()()(0)()(1=+=⇒=+sKNsDsfsDsKNK⎪⎪⎪⎩⎪⎪⎪⎨⎧===+=0])()([00)]()([)(sNsDdsddsdKdssKNsDddssdf0)(=sDBωjs=0)(=ωjDB)(ωjDB[)](Re[0)](Im=+ωωjB⎧=0)](Re[ωjDBDjjDB⎨=0)](Im[ωjDB⎩ω)5)(1()(++=sssKsGgK575,1,0312−=−==pp0,3p==mn5,1,0321−=−==ppp⎪⎩⎪⎨====−=1,18030kmnaπϕ⎧===++2,300353)12(12(0kKKππππ=0,600k)23321−=++=−−=∑∑pppmnzpijaσ∞0)5)(1(=+++sssKg)5)(1(++−=sssKg05123)5)(1(2=++=++−=ssdsssdsdsdKg52.3,473.021−=−=ss2s473.01−=s000902180180===kdθ05623=+++gKsssωjs=0)(5)(6)(23=+++gKjjjωωω0)5()6(32=−+−ωωωjKg⎪⎩⎪⎨⎧=±=⇒⎪⎩⎪⎨⎧=−=−30,05,1050632ggKKωωωω⎪⎩⎪⎨⎧=±=305gKωgggKKKssss06306510123−30=gK1s2s06)(2=+=gKssF5js±=)5,30(jsKg±==∑∑≠==−∠−−∠++=nxjjjxmiixpppzpkx11)()()12(πθxp1+xpxxppθθ−=+1ReIm-4-3-2-1058∑∑−∠+−∠−+=nmpzzzk()()12(πϕ=j1≠=jxxiiixzx1)xz1+xzxxzzϕϕ−=+1)22()(2++=sssKsGgKjpjpp−−=+−==1,1,00,3=321=mn10,3==mn32jpjpp−−=+−==1,1,032133⎪⎩⎪⎨⎧=−===+=−+2),300,60(351),180(0),60(33)12()12(0000kkkkmnkπππππ=aϕ3231103321−=−−+−=++=jjpppaσ4560-∞,jpjp−−=+−=1,1335,3ππϕ=a27+gs3=++Kss02220)(2)(2)(23=+++gKjjjωωωωjs=⎪⎩⎪⎩=−023Kωω⎪⎨=±=⇒⎪⎨=−420ggKωω45)]1(1[()1(180)(−=−−−+−∠−+−∠−=−∠jjjpp⎧⎧220032120)(−−∠−pp1802=pθ0345=pθ9959-1121-1-1121-1()n1121211212()(()()()()()()(1)()(1)mmmmmggnnnnmmmmmgnnnmnszszszsbsbsbGsKKspspspsszzzszzzKspppsppp−−−−−++++==−−−−+++++−=−+++++−1m1saasa++++121mimizzzzb==+++=−∑121(1)mmimizzzzb===−∏121njnjppppa==+++=−∑n121(1)nnjnjppppa===−∏-1-11-11-1()()0nnmmBnngmmDssasasaKsbsbsb=+++++++++=sni,,2,1=i1111nns−−+121((-)0nnnnBiniDssssCsCsCC−−==++++=∏1i=)=1nisc1=−∑2(1)nnngmmnmigjij2≥−mngK∞→0ngKgK1inni11(1)(1)()(1)(1)nnngmnscaKbz−===−=−+−∏1mjjz=∏aKbpK=−+−=+∏∏=0=na11(1)[(1)]nmnmnmigjgijsKzK−−===−=−∏∏60