控制系統(tǒng)的設計jPPT課件

1、1234 56sthc%pkvkakrmrb(0)m721(0.707)21rm212(0.707)rn22412244bn421 42cn8(1sinrm0.160.4(1)(11.8)rrmm22 1.5(1)2.5(1)(11.8)scrrrktkmmm421 42arctg21%100%e3.57sc sntttg910( )( )(1)(0.01251)kg s h ss ss1.25rm 0j131100k 01k 2r1.25rm 022 1.5(1)2.5(1)(11.8)rrrkmmm11校正校正裝置裝置原有原有部分部分原有原有部分部分cr01( )g s02( )gs( )

2、cg s校正校正裝置裝置原有原有部分部分cr( )cg s0( )g s校正校正裝置裝置原有原有部分部分cr+( )cg s0( )g s校正校正裝置裝置原有原有部分部分原有原有部分部分cr+d01( )g s02( )gs( )cg s121314111( )11csatsatg satsst1221rrar1212r rtcrr150m0o90o1atm1t20/db dec10lga20lga( )ldb( ) 11()1cjatgjajt 1mta11sin1maa011(1)2amm1a11a11(1)2a111( )11csatsatg satsst161bt1tu u1 1u u

3、2 2r r1 1r r2 2c c 212121()rbtrr crr11( )11csbtsbtg sbtsst171t1bt20/db dec20lgb( )ldb( ) 0b11()1cjbtgjjt 11( )11csbtsbtg sbtsst18其中： baabtttt(1) (1)( )(1) (1)abcbat st sg stt ss無源網(wǎng)絡：11atrc122btr c112212battrcr crc且abtt傳遞函數(shù)：1at1at1at1at1u2u2r1r2c1c190()ldb20lgb20/db dec1at1at1btbt20/db dec0o-90o90o()

4、 (1) (1)()(1) (1)abcbaj tj tgjtjtj(1) (1)( )(1) (1)abcbat st sg stt ss20 21020/db dec11t21t020lggdb020/db dec11t21t020lgg2120lgrrdbdb020/dbdec20/dbdec11t21t31t41t020 lg gl) 1)(1() 1)(1(41320ststststg11120ststg11210ststg2223 *101()( )( )( )()miiniikszg sg s h ssp *11()()miiniizkkp11( )111cccsszatsatg

5、 saaatsspst11cczpatt 24*101()()( )( )()()mciicnciiszszg s g sakspsp11*11111micinciiszszakspsp111111()()(21)mnciiiicszszspksp1,2s1s25111*101111( )nicimciispszamspg sksz1011(21)( )ccszkg ssp011111( )()()mniiiig sszsp11*11111micinciiszszakspsp111111()()(21)mnciiiicszszspksp261sinsinccszz1sin()sinccspp1

6、111sin()sinccccccpszszamzspspsincostgmczcp1s01csp1cszj*kmm可求出1011(21)( )ccszkg ssp111*101111( )nicimciispszamspg sksz27sinsincnzsin()sin()cnparccos n1ctpccpazczcp1s01csp1cszj2829例例6-66-6 單位負反饋系統(tǒng)的開環(huán)傳遞函數(shù)為 *0( )(2)kg ss s21,2122 3nnsjj 5vk *210vkk11*22 322 3221.38610jjs smk 11(21)(2)1801209030kss 111*1

7、01111( )nicimciispszamspg sksz1011(21)( )ccszkg ssp1s20j2 3j30sinsin300.962cos1.386cos30tgm43.88arccos6018018043.886076.12sinsin43.884 0.69342.85sinsin76.120.971cnzsin()sin(3043.88 )4 0.9645.33sin()sin(76.1230 )0.72cnp2.85cz 5.33cp 1 5.330.19t 5.33/2.851.87a 即求出1.87(2.85)( )5.33cccszsg sasps31018.7(

8、2.85)( )( )(2)(5.33)csg s g ss ss1s20j2 3j1s2.855.333sj02 3j42s1,222 3sj 33.33s 3s 1,2s32*101()( )( )( )()miiniikszg sg s h ssp11( )111cccsszbtsbtg sbbbtsspst1s33czcp111( )cccszg sbbsp1( )0cg s*1110111()( )( )()miicniibkszg s g ssp1s*1110111()( )( )1()miicniibkszg s g ssp1/b1/b*k34( )ccccszg skspck*

9、kk1k1/b1/bk k0.01cp 1/czbt 1/cpt 3501.06( )(1)(2)g ss ss1,20.330.58sj 1.06/20.53k 0.330.67/nrad s15vks15k 1/0.53/50.1bk k15vks361/0.01cpt 1/0.1czbt (0.1)( )0.01cccccszksg sksps01.06(0.1)( )( )( )(0.01)(1)(2)cck sg sg s g ss sss 0.5 1,20.280.51sj 0.280.51(0.01)(1)(2)1.060.980.1csjs sssks0.925ck 371,2

10、0.280.51sj 14.9vks 。 0.98(0.1)( )(0.01)(1)(2)sg ss sss30.137s 42.31s 381)(1)( ),1(1)(1)abccabbat st sg sktttt ss（ck1,2s39at1ant11111aastst11101aastst10111( )1bcbstk g sst111bbststbt1)(1)( ),1(1)(1)abccabbat st sg sktttt ss（40at11111aastst111031aastst 1)(1)( ),1(1)(1)abccabbat st sg sktttt ss（4104( )(0.5)g ss s0.55/nrad s150vks1 20.251.98sj ，0.1252/nrad s18vks1 22.54.33sj ， 01)(1)4( )( )( )(0.5)(1)(1)abccbat st sg sg s g skts st ss（04lim( )500.5cvskksg s6.25ck 4201114( )235(0.5)g ss s 551114.775bbstst11155bbstst11011111114( )1(0.5)bbccbbssttk g sks ssstt435cos(55)