自動(dòng)控制原理教程三

2.2傳遞函數(shù)與系統(tǒng)結(jié)構(gòu)圖1,串聯(lián)G1(s)G2(s)U(s)Y(s)2,并聯(lián)G1(s)G2(s)U(s)＋＋Y1(s)Y2(s)Y(s)G1(s)+G2(s)U(s)Y(s)結(jié)構(gòu)圖的變換和簡化：(按代數(shù)運(yùn)算規(guī)則，原則：保持變換前后輸入輸出關(guān)系不變)G1(s)G2(s)U(s)Y(s)U1(s)2愈.派2密傳責(zé)遞風(fēng)函來數(shù)悠與賽系媽統(tǒng)宵結(jié)相構(gòu)渾圖G1(s)G2(s)U(s)Y(s)E(s)＋－4招，節(jié)必點(diǎn)永移論動(dòng)E(s)=戀U(s)–蒸G2(s)Y(s)Y(s)=煎G1(s)E(s)Y(s)=摸G1(s)[U(s)–餅G2(s)Y(s)]=美G1(s)U(s)–麥G1(s)G2(s)Y(s)[目1女+G1(s)G2(s)構(gòu)]Y(s)=介G1(s)U(s)3友,也負(fù)碰反肅饋U(s)Y(s)2括.摟2懷傳翠遞宇函遼數(shù)剪與足系圣統(tǒng)松結(jié)賀構(gòu)刃圖R1R2C1C2eeieoi1i2iI1II2－＋EIEoI2EiEEoI1II2++－－試叫探核：縣從荷輸貴入膽到盟輸靜出礎(chǔ)，恢先姨元捷件工后衰聯(lián)楚成升系株統(tǒng)例貧：壩求崇傳粥遞跪函損數(shù)EiI1＋－EEI2＋－EoR1C2S+++---EiEo2翅.啄2波傳闖遞潑函落數(shù)襖與超系琴統(tǒng)妙結(jié)挖構(gòu)棟圖例：求閉傳椒遞劇函亮數(shù)EiEEo++－－R1C2s+－R1C2S+-EiEoEiEo2繩.沈2效傳屠遞春函仁數(shù)芽與綁系碼統(tǒng)泛結(jié)罪構(gòu)株圖R1C2S+-EiEo例酒：互求頃傳標(biāo)遞秒函淘數(shù)Gc(s)Gp(s)F(s)+-+－R(s)Y(s)D(s)控制器被控對象測量元件開康環(huán)屑傳啞遞之函錯(cuò)數(shù)緊：G0＝Gc(s)Gp(s)F(s)閉講環(huán)拴傳務(wù)遞族函翅數(shù)氏:當(dāng)F(s)與=黑1時(shí)偽，容為窩單底位焰反鐘饋間系耍統(tǒng)殿，筍此選時(shí)對勸擾炮動(dòng)屈輸墳入說的壁傳湊遞步函嚴(yán)數(shù)蒸：2字.助2棵傳椅遞潑函駛數(shù)宏與迫系亭統(tǒng)睡結(jié)六構(gòu)仁圖閉紗環(huán)什控候制躬系隊(duì)統(tǒng)讀的襯基點(diǎn)本闊結(jié)姨構(gòu)2誕.萄3丟信烘號(hào)恐流系圖咽及M思a娛s燒o昆n公瓣式例哭1薪:x2=萬a1映2x1

a12x1x2

a12x1x2方敘框跟圖信母號(hào)轟流比圖例放2運(yùn):x2=a1站2x1+a3雄2x3x3=a1個(gè)3x1+a2飼3x2+a3卻3x3x4=崖a2斃4x2+廊a3別4x3x1輸特入舊節(jié)筋點(diǎn)x4輸柴出睛節(jié)炊點(diǎn)x2，x3中喜間憤節(jié)游點(diǎn)往（總混灶合活節(jié)估點(diǎn)厘）EiEEoI1II2++－－2栽.學(xué)3休信此號(hào)汽流身圖方及M附a占s牽o破n公么式由緒方利框纏圖妖到蹈信冤號(hào)畏流憐圖印，瘦有扯些脹中寧間舒變始量疑可箭以揀不遇表庸示善出尾來魚，眨如I1。有呼些扯中憐間今變械量令（屑位戲于族綜迅合規(guī)點(diǎn)遞前請，房誠有鴉輸項(xiàng)出狠）和必特須蓬表虎示捎出壓來仆，歐如Ei和E，用臘單喬位筐增罪益紐奉支沫路真將榨它危們逐分芹開后。2吃.蹈3居信泛號(hào)罪流頓圖騎及M煮a貸s盒o朗n公廣式

G1

G2RE1UYE1+－+－1-111-1RE1UE1Y2終.稠3調(diào)信顆號(hào)斬流彼圖酬及M毫a蜓s妥o(hù)第n公脖式KM手a起s允o嗚n公眾式：G—描—從米輸基入貼節(jié)菜點(diǎn)鞋到古輸擱出量節(jié)吹點(diǎn)鴨的尾總撫增紫益淘（欣系頑統(tǒng)懶傳綠遞賀函首數(shù)揉）Δ=助1沃－Σ沾Li+ΣLaLb-Σ匯LαLβLγ+先…Li—汪—一及個(gè)瓜回瓶路請的恨總真增構(gòu)益LaLb—城—因兩啟兩童互辭不親接手觸榨的蟲回貸路樂的孕總買增惱益LαLβLγ—卸—三晝個(gè)犯互眉不占接裹觸疏的網(wǎng)回氧路快的春總清增煉益Gk—圍—從溉輸妻入舒到柱輸凱出漿第k條厚通刮道境的蘋總升增吧益Δk—標(biāo)—Δ中雁去艦掉通與龍第k條疼通清道斬接向觸鉆的粒部層分回魂路找—唐—鵝沿林信螺號(hào)拔方突向箱每照一航個(gè)刃節(jié)遮點(diǎn)摟只惕通棗過按一稅次御的誦閉尋路擊。通邁道榨—硬—助從傳輸野入進(jìn)到初輸獎(jiǎng)出遙沿低信馬號(hào)肉方犯向阻每抬個(gè)燭節(jié)搏點(diǎn)戲只宗通偏過糕一忘次嫁的蜜通耐道掉。接葵觸籌—舌—溉指突有武公礎(chǔ)共談的雁節(jié)閣點(diǎn)家和報(bào)支模路膜。abcdefb克e嚴(yán),c皆f回?fù)犯?b秀e培c察f不騙是筑回島路a管b盞c吼d是篩通糖道岡，a門e井c四d和a江b云e猜c竄d不叢是2緒.拾3窗信渴號(hào)辣流權(quán)圖啟及M皇a錦s杠o忍n公鍛式2泰.菠3換信懇號(hào)激流穴圖壓及M鹿a法s捐o椒n公襪式