第02章自控理論

1、數(shù)學(xué)模型數(shù)學(xué)模型 圖圖2-1 R-L-C電路dtdiLidtc1iRrcuudtdiLiRidtcuc1rucudtcduRCdtcudLC22（2-1） 圖圖2-1 R-L-C電路圖圖2-2 R-C濾波網(wǎng)絡(luò)ruRidtiiC11211)(1dtiiCRidtiC)(112112222cudtiC2211i2ircccuudtduCRCRCRtdudCCRR)(212211222121（2-2）例例2-3 )(tkydttdyf)(22)(dttydm22)()()()(dttydmdttdyftkytF)()()()(22tFtkydttydmdttdyf0)()(sFdtetfst01)(

2、dtstetfL0,10,0)(tttf01tstes0)(1stdessts10)(dteetfLstatatetf)(0)(dtetas0)(1ttaseasas 10)(dttetfLstdteseststtst00101dtesst21s0)(1stetds2)(ttf02)(dtettfLst02)(1stedtsdtetseststtst00221dttesst0232212sssttf0sin)(00sin)(dttetfLst00000cossindtteseststtstsin2200cos20sin0000tLsttsteststest 02)cossin(sin22100

3、000tstesttstLs20200sinstL0)(dtetfst00)(1)(1dtedttdfsetfssttst0)(1)0(1dtedttdfsfsst0)()(dtetfsFst0)()(dtedttdfdttdfLst)0()()(fssFdttdfL)()(ssFdttdfL001ttdttfdttfdttftf)()()()()()(tftfdtd1)()()(sFftfsL011ssFtfL)()(1nnnnmmmmasasasabsbsbsbsG11101110)(nnnnasasasasQ1110)( ).()().()(srxxqpxxbxaxb220axAaxAa

4、xAsG .)()()(121bxBbxBbxB .)()(121qpxxNxMqpxxNxMqpxxNxM21222211 .)()(srxxSxRsrxxSxRsrxxSxR21222211.)()(6532xxx)(323xxx32xBxA)()(233xBxAx)()(BAxBAx2333231)(BABA65BA6532xxx)(323xxx32xBxA)()(233xBxAxdtduCiccruRiurccudtduRCu)(sUc)(sRCsUc)(sUr11)()()(RCssUrsUcsG)()()()()()()()(111011110trbdttdrbdttrdbdttr

5、dbtcadttdcadttcdadttcdammmmmmnnnnnn因為控制理論著重分析系統(tǒng)的結(jié)構(gòu)、參數(shù)與系統(tǒng)因為控制理論著重分析系統(tǒng)的結(jié)構(gòu)、參數(shù)與系統(tǒng)的動態(tài)性能之間的關(guān)系，所以，為簡化分析，設(shè)的動態(tài)性能之間的關(guān)系，所以，為簡化分析，設(shè)系統(tǒng)的初始條件為零。系統(tǒng)的初始條件為零。)()()()()()()()(11101110sRbssRbsRsbsRsbsCassCasCsasCsammmmnnnn在零初始條件下，對上式取拉普拉斯變換得在零初始條件下，對上式取拉普拉斯變換得 )()()()(11101110sRbsbsbsbsCasasasammmmnnnnnnnnmmmmasasasabsb

6、sbsbsRsC11101110)()(nnnnmmmmasasasabsbsbsbsG11101110)(01110nnnnasasasarccudtduRCu11)()()(RCssUrsUcsG01 RCsRCs1dtduCiccruRiudtdudtdiRdtducrCidtdiRdtdur)(1)()(sICsRsIssUr01RCs1)()(RCsCssUrsI0s R-L-C電路rcccuudtduRCdtudLC22)()()()(2sUrUsRCsUcsUcLCsSC11)()()(2RCsLCssUrsUcsG012 RCsLCs)()()()(22tFtkydttdyfd

7、ttydm)()()()(2sFskYsfsYsYmskfsmssFsYsG21)()()(02kfsms11)()()(2RCsLCssUrsUcsGkfsmssFsYsG21)()()(niimjjsTsTKsG1111)(niimjjpszsKsG11)()()(KKsRsCsG)()()(1TsKsRsCsG)()()()()()(sGsRsC11TsKs)/()(TssKsC111)1 ()(/TtceKtx111TsBsATsKssC)()()(11TssBsTsAKTBKAsKsRsCsG)()()(4）微分環(huán)節(jié)）微分環(huán)節(jié)sTsRsCsGc)()()(rcccuudtduCRdt

8、udLC22112sTsTTsRsCsGCCL)()()(22222211111nnnCLLCLssLCsLRsLCTTsTsTTsG /)(角頻率振蕩環(huán)節(jié)的自然振蕩LCn1 振蕩環(huán)節(jié)的阻尼比。LCR21 )( txxrcsKesRsCsG )()()( ： 0( )fZUoG sUiZ RsUsUsICr)()()()()(sICssUC1111RSUsUsICr)()()(212RSUsUsICC)()()(sCSIsIsUC1211)()()()()(SIsCsUC221)()()(sRsGsU11)()()(sUsGsU122)()()(sUsGsC23)()()()()(sRsGsG

9、sGsC321)()()()()()(sGsGsGsRsCsG321)()()()(sCsCsCsC321)()()()()()(sRsGsRsGsRsG321)()()()(sRsGsGsG321)()()()()(sGsGsGsRsC321)()()(sEsGsC)()()(sBsRsE)()()(sCsHsB)()()()()(sHsGsGsRsC1)(1sG)(2sGRC)(1sG)(2sGRC)(1sGRC)(2sG)(1sG)(2sGRC)(sGRCY)( sGRCY)( sG序號 法則 原來的框圖 等效的法則 4 相加點的 前移 5 引出點的 后移 6 引出點的 前移 7 化簡反

10、饋 回路)(sGRCY)( sG)(1sGRCYRCR)(sG)(sGRR)(1sGRCC)(sG)( sGRC)( sGC)(1sG)(2sGRC)()(1)(211sGsGsGRC)()(sRsC343431HGGGGsG)(3434321HGGGGGsG)(42343432343432111GHHGGGGGHGGGGGsG)(2323434321HGGHGGGGG1121221122121sCRCRCRsCCRRsUsUrC)()()()()()()()(sHsGsGsEsB21)(sCR)(sER)(sCR)()()()()()()(sHsGsGsGsGsRsCR21211)()()()()(sHsGsGsRsER2111)()()()(sGsGsEsCRR21)()()()()()()(sHsGsGsG