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自动控制原理习题分析第三章3-9
11s(0.5s?1)'局部闭环:Φ(s)??11?τss(0.5s?1)?τss(0.5s?1)系统开环88/(1?τ):G(s)??s(0.5s?1)?τss(0.5s/(1?τ)?1)传递函数G(s)816??21?G(s)s(0.5s?1)?τs?8s?2(1?τ)s?16ωn?4不变;2(1?τ)?2?ωn?2?0.5?4?4?τ?1Φ(s)?此时:σ%?e?100%?16.311ts??1.5秒,或ts?ln?1.57秒2?ωn?ωnΔ1??幻灯片16
自动控制原理习题分析第三章3-11(1)
??π/1??2
已知单位反馈系统的环闭传递函数:7.6(s?2.1)Φ(s)?.试估算σ%和st2(s?8)(s?2)(s?s?1) 幻灯片17
自动控制原理习题分析第三章3-11(1)
Φ(s)?7.6(s?2.1)(s?8)(s?2)(s?0.5?j0.866)(s?0.5?j0.866)闭环零点?s??2.1和闭环极点?s??2很靠近(构成闭环偶极子)可忽略其影响.又另一闭环极点?s??8的模(8)比共轭复数极点?s??0.5?j0.866的模(1)大8倍故,?s??8为非主导极点,可忽略其对动态性能响.影7.6?2.1?Φ(s)?2(s?8)(s?0.5?j0.866)(s?0.5?j0.866)7.6?2.10.9975??;主导极点ω??0.5,σ%?16.3%,n?1,228?2(s?s?1)s?s?1311ts??6秒,或ts?ln?6.28秒(Δ?0.05)2?ωn?ωnΔ1??幻灯片18
自动控制原理习题分析第三章3-11(1)
17.6(s?2.1)1c(s)?Φ(s)???2s(s?8)(s?2)(s?s?1)s0.99750.96s?1.133340.00163890.0211111????2ss?s?1s?8s?21s?2?ωn?0.9975(?)2ss?2?ωns?ωn?20.0986743ω1??n1222(s??ωn)2?(ω1??)ω1??nn??0.50.01638880.0211111??;式中:ωn?1s?8s?2幻灯片19
自动控制原理习题分析第三章3-11(1)
?0.5tc(t)?0.9975(1?1.1547esin(0.866t?60?))?0.5t?0.1139392esin0.866t?8t?2t?0.0163888e?0.0211111e
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自动控制原理习题分析第三章3-11(2)
已知单位反馈系统的环闭传递函数:6Φ(s)?2.试估算σ%和sts?7s?6
1661Φ(s)????127s?s?1(s?1)(s?6)6(s?1)s?166117?,2?T??T?1/6,ωn?6;??1.429,?σ%?02T66ts求法1:由图3?19:ts/T?7.8,ts?7.8T?3.184s法2:由主导极点T?1s,?ts?3T?3s16111.20.2c(s)?Φ(s)????s(s?1)(s?6)sss?1s?6c(t)?1?1.2e?t?0.2e?6t,c(3.17)?0.9496幻灯片21
自动控制原理习题分析第三章3-14
某单位反馈系统的闭环传递函数为:Φ(s)?C(s)a1s?a0?.设系统闭环稳定,试分别求nn?1R(s)ans?an?1s???a1s?a0(1)r(t)?(1?2t)?1(t);(2)r(t)?(1?2t?t2)?1(t)时,系统稳态误差.
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自动控制原理习题分析第三章3-14
a1s?a0G(s)Φ(s)ansn?an?1sn?1???a1s?a0Φ(s)?,G(s)??a1s?a01?G(s)1?Φ(s)1?ansn?an?1sn?1???a1s?a0a1s?a0a1s?a0??2nn?12ans?an?1s???a2ss(ansn?2?an?1sn?3???a2)a0a1a(s?1)ν?2,K?0a2a0a2?;?;a0an?1n?32ann?2K??,K??,K?s(s?s???1)pvaa2a2a2幻灯片23
自动控制原理习题分析第三章3-14
a1s?a0Φ(s)ansn?an?1sn?1???a1s?a0G(s)??a1s?a01?Φ(s)1?ansn?an?1sn?1???a1s?a0a0a1(s?1)a1s?a0a2a0?n?;n?12ans?an?1s???a2ss2(ansn?2?an?1sn?3???1)a2a2
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自动控制原理习题分析第三章3-14
r0v0a0a0R0?1(1).ess????0ν?2,K?KpKvKaa2;V0?2Kp??,r0v0a02a2a0Ka??2?(2)(2).ess????KpKvKaa0Kv??,a2A0???0?(1)幻灯片25
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