计算机控制技术第2版姜学军课后答案1-5章

Ch1: 1. 2. 7. DDC A/D DDC SCC DDC SCC DDC DDC SCC 8. 9. DDC DDCDDC SCC DCS DCS FCS DDC SCC CIMS/CIPS 11. 13. f (KT) “2 1 ()|()()()()() 2! tKT ftfKTfKTtKTfKTtKT f (t) f (KT) KT t (K 1)T ZOH Zero-OrderHold f (KT KT ( ) ) KT KT “2 “2 ()|()()()()() ()|()()()()() “2 ()|()()()()() ()|()()()()() ()|()()()()() “2 KT KT t t1 z 1 ()1 at fte ()* 1 at zz Fz zze 2 ()(1/4) k ft 12 00 ()()(1/4)(1/4)(1/4)(1/4) nk nkkk nn Fzfktz z zz 1 1 (1/4)(1/4) 11 kk z zz 3 6 () (2) Fs ss 633 () (2)2 Fs ssss 2 2222 333(1) 1(1) T TTT zzez Fz zzezeze 4 2 () (1)(3) s Fs ss 3 33 112 () 222()() TT TTTT zzzzee Fz zezezeze 2111 ()() (1)(3)213 s Fs ssss 2 1 1 12 10 () (1) z Fz z 1 12 10 (0)lim0 (1) z z f z 1 ()lim()(1) z fFzz 2 12 123 143 () 1262.5 zz Fz zzz 2 333(1) 333(1) 2 1(1) 1(1) T 333(1) 2222 2222 2222 2222 2222 zzez zzez 333(1) 333(1) 333(1) 1(1) 1(1) 333(1) 2222 2222 2222 2222 333(1) 333(1) 333(1) 1(1) 1(1) 1(1) 2222 2222 2222 2222 zzezeze 1(1) 1(1) 1(1) ()() ()() 222()() 222()() 222()() 222()() TTT 2222 zzezeze 2222 33 33 112 112 222()() 33 TTTT 33 33 222()() 33 zzzzee zzzzee 112 112 112 222()() 222()() 33 zzzzee 33 TTTT 33 222()() 222()() 2111 2111 ()() ()() 2111 2111 2111 (1)(3)213 (1)(3)213 ()() ()() ()() (1)(3)213 (1)(3)213 ()() ()() ()() ()() ()() (1)(3)213 (1)(3)213 (1)(3)213 (1)(3)21312 123 143 (0)lim1 1262.5 z zz f zzz 1 ()lim()(1)0 z fFzz 3 2 5 () 43 z Fz zz 2 5 (0)lim0 43 z z f zz 1 ()lim()(1) z fFzz 4 22 22 (1) () (0.81)(0.8) zzz Fz zzzz 22 22 (1) (0)lim1 (0.81)(0.8) z zzz f zzzz 1 ()lim()(1)0 z fFzz 3 z 1 () 0.5 z Fz z 1 0.5 0.5 k z L z ()0.5 k fkT 0 ()0.5() k k fttkT 2 2 () (0.1)(0.8) z Fz zz 1 2 1 ()Re (0.1)(0.8) k i z fkTs zz 11 0.80.1 (0.8) |(0.1) | (0.1)(0.8)(0.1)(0.8) kk zz zz zz zz zz 11 1 (0.80.1) 7 kk 11 0 1 ()(0.80.1)() 7 kk k fttkT 3 2 0.5 () (1)(0.5) z Fz zz 0 0 ()0.5() ()0.5() k k ()0.5() ()0.5() ()0.5() ()0.5() ()0.5() ()0.5() ()0.5() ()0.5() ()0.5() ()0.5() ()0.5() ()0.5() ()0.5() ()0.5() ()0.5() ()0.5() (0.1)(0.8) (0.1)(0.8) (0.1)(0.8) k z0.5 () 10.5 zz Fz zz 11 0.5 10.5 10.5 k zz L zz 1 0 ()(10.5)() k k fttkT 4 () (1)(2) z Fz zz 2 1 ()Re (1)(2) k i z fkTs zz 12 (1)|(2)| (1)(2)(1)(2) kk zz zz zz zz zz 21 k 0 ()(21)() k k fttkT 5 1 y(k) 0.5y(k 1) u(k) u(t) 1(t) k 0 y(k) 0 z 1 ()0.5()() YzzYzUz u ( t ) 1(t) 1 ()0.5() 1 z YzzYz z 1 12 2 2 () 10.510.51211121 zzzzzzz Yt zzzzzzzz z ()2(1/2) k yk (2) y(k) 4y(k 1) 3y(k 2) u(k) 5u(k 1) u(t) d (t) k 0, y(k) 0 z 12 1 ()4()3()()5() YzzYzzYzUzzUz 12 122 15 52 () 1434313 zzzzz Yz zzzzzz z ()2(1)(3) kk yk 6 Z (1) y(k) 2y(k 2) 3y(k 4) u(k) u(k 1) k k 10.510.51211121 10.510.51211121 10.510.51211121 10.510.51211121 y ( ( k k ) ) k0 0 1 ()0.5() ()0.5() 1 ()0.5() ()0.5() ()0.5() 1 ()0.5() ()0.5() ()0.5() ()0.5() ()0.5() ()0.5() 12 12 12 12 12 10.510.51211121 10.510.51211121 10.510.51211121 10.510.51211121 10.510.51211121 10.510.51211121 ()2(1/2) ()2(1/2) ()2(1/2) ()2(1/2) ()2(1/2)z 241 ()2()3()()() YzzYzzYzUzzUz 143 2442 ()1 () ()12323 Yzzzz Gz Uzzzzz (2) y(k) y(k 3) u(k) 2u(k 2) z 32 ()()()2() YzzYzUzzUz 23 33 ()122 () ()11 Yzzzz Gz Uzzz 7 G sZ 1 2 () (0.11) Gs ss 222 () (0.11)10 Gs ssss 11011101 220(1/10)22 () 1111 TT Gz zezzez 2 2(1) () (0.11) Ts e Gs ss 2(1)22 ()(1)() (0.11)10 Ts Ts e Gse ssss 1 10 10 2222 ()(1)()2 1 TT zzz Gzz zzeze 8 2.1 Z () () () Yz Gz Uz 1 1 () 1 Gs s 2 1 () 0.11 Gs s 2.1 12 1011 ()()()() 9110 GsLGzGzL ss 11011101 11011101 220(1/10)22 220(1/10)22 11011101 11011101 11011101 11011101 11011101 zezzez zezzez 1111 1111 1111 11011101 11011101 11011101 11011101 11011101 11011101 zezzez zezzez zezzez 1111 1111 1111 1111 11011101 zezzez 11011101 2(1)22 2(1)22 ()(1)() ()(1)() ()(1)() 2(1)22 2(1)22 (0.11)10 (0.11)10 ()(1)() ()(1)() (0.11)10 (0.11)10 ()(1)() ()(1)() ()(1)() (0.11)10 (0.11)10 (0.11)10 (0.11)10 (0.11)10 (0.11)10 10 2222 2222 ()(1)()2 ()(1)()2 10 10 1 TT ()(1)()2 2222 2222 2222 2222 2222 2222 zzeze zzeze 10 1 ()(1)()2 ()(1)()2 ()(1)()2 10 ()(1)()2 ()(1)()2 ()(1)()2 ()(1)()2 zzeze zzeze zzeze 1 () Gz Gz ()10 10 10 9 TT zz zeze 12 10 10 ()()() TT zz GzGzGz zeze 9 2.2 2.2 121 ()()()()()() EzRzGzGzGzEz 2 12 () () 1()() Rz Ez GzGz 12 2 12 ()()() ()()() 1()() GzGzRz YzEzGz GzGz 12 2 12 ()() () () ()1()() GzGz Yz Wz RzGzGz 21 ()()() YzGzEz 1121 ()()()()() EzEzGzGzEz 12 2 ()() () () ()1() GzGz Yz Gz EzGz 2.2 2.2 121 121 ()()()()()() ()()()()()() 121 121 ()()()()()() ()()()()()() ()()()()()() 121 121 121 ()()()()()() ()()()()()() ()()()()()() 2 2 12 12 () 1()() 1()() 2 2 12 12 12 () 1()() 1()() 1()() 2 2 12 12 12 12 1()() 1()() 1()()11 2 212 ()()() () 1()1()()() GzGzGz Wz GzGzGzGz: 1. 3.1 () y t 20 () (10) Gs ss T 0.1s E(z) R(z) E(z)G(z) Y (z) E(z)G(z) () () 1() Rz Ez Gz () ()() 1() Gz YzRz Gz 20111 ()() (10)2110 Gs ssss 10 1.264 ()2()2() 110.36810.368 T zzzzz Gz zzezzzz () 1 z Rz z 2 2 1.264 1.264 () 110.3681.2641(0.1040.368) zzz Yz zzzzzzz 12 1.2640.258 zz ()1.264()0.258(2) yttTtT 2. 3.1 1 () (0.11) Gs ss T 0.1s 1011 () (10)110 Gs ssss 0.632 () 10.368 z Gz zz 0.632 lim(1)1 10.368 V z z Kz zz ()0.1 V V T e K 5 3.1 10 () (1) Gs ss T 1 s (1) 110.3681.2641(0.1040.368) 110.3681.2641(0.1040.368) zzz zzz 110.3681.2641(0.1040.368) 110.3681.2641(0.1040.368) 110.3681.2641(0.1040.368) 110.3681.2641(0.1040.368) 110.3681.2641(0.1040.368) 12 2 2 1.264 1.264 110.3681.2641(0.1040.368) 110.3681.2641(0.1040.368) 2 zzz zzz 1.264 1.264 110.3681.2641(0.1040.368) 110.3681.2641(0.1040.368) 2 110.3681.2641(0.1040.368) 110.3681.2641(0.1040.368) 110.3681.2641(0.1040.368) ()1.264()0.258(2) ()1.264()0.258(2) ()1.264()0.258(2) ()1.264()0.258(2) ()1.264()0.258(2) ()1.264()0.258(2) ()1.264()0.258(2) ()1.264()0.258(2) ()1.264()0.258(2) ()1.264()0.258(2) T T 0.1 1011(2) Routh (1) z 1011 ()10() (1)1 Gs ssss 6.32 ()10()10() 110.36810.368 T zzzzz Gz zzezzzz () 6.32 6.32 () 1()10.3686.32(0.076)(4.876) Gz z z Wz Gzzz zzz 1 0.076 z 2 4.876 z 2 |1 z (2) () (1) k Gs ss z ( z 1)(z 0.368) 0.6321kz 0 w 2 0.6321.264(2.7360.632)0 kww k Routh Routh 2 1 0 w w w 0.632 1.264 2.7360.632k 2.7360.632 0 0 k k 04.3 k k 10 6 32 45117119390 zzz 32 45117119390 zzz w 32 230254254820 www Routh Routh 3 2 1 0 w w w w 230 254 (23082) 254 254 82 254 82 0 7 0.6321.264(2.7360.632)0 0.6321.264(2.7360.632)0 0.6321.264(2.7360.632)0 0.6321.264(2.7360.632)0 0.6321.264(2.7360.632)0 0.6321.264(2.7360.632)0 0.6321.264(2.7360.632)0 0.6321.264(2.7360.632)0 2.7360.632 2.7360.632 0 0 0 2.7360.632 2.7360.632 2.7360.632 0.6321 0.6321kz kz 0 0 0.6321.264(2.7360.632)0 0.6321.264(2.7360.632)0 0.6321.264(2.7360.632)0 0.6321.264(2.7360.632)0 0.6321.264(2.7360.632)0 0.6321.264(2.7360.632)0 2.7360.632k k 04.3 04.3 k k 04.3 04.3 04.3 04.3 04.3 04.3(1) 11 () (10.5)(12) k Gz zz (2) 12 () (1) k Gz z Routh k (1) 11 () () 1()(10.5)(12) Gz k Wz Gzzzk z 2 (1)2.510 kzz w 2 (0.5)24.50 kwkwk 2 1 0 w w w 0.5 2 4.5 k k k 4.5 0 k 0.5 k 0.5 k (2) 12 () () 1()(1) Gzk Wz Gzkz z 2 (1)210 kzz w 2 240 kwkwk Routh Routh 2 1 0 w w w 2 4 k k k 4 0 0 k 0 k 0 k 12 1()(1) 1()(1) 12 (1)210 (1)210 (1)210 (1)210 (1)210 (1)210 (1)210 (1)210 (1)210 (1)210 240 240 240 240 240 4 04.1 4.2 4-1 0 1 () (10.1)(10.05) Gs sss 0.1s 4-1 1 2 1 1 10.150.020.0025 () (1) (10.1)(10.05) 10.110.05 Ts e GzZzZ Ssssssss 1 1 12111 0.05 (1) (1)110.36810.135 z z zzzz m 2,u 1,v 0, N 1 111 1 ()(1)(11.536) Wzkzczz 121 1 ()(1)(1) e Wzzdz ()1() e WzWz 123123 11111 (2)(21) (1.536)1.536 dzdzdzkzkczkcz : 1 11 11 2 21(1.536) 1.536 dk dkc kcd 1 1 1.027 0.973 0.617 k d c 111 12 1 ()1.027(10.617)(11.536) ()(1)(10.973) e Wzzzz Wzzz 4-1 4-1 1 1 (10.1)(10.05) (10.1)(10.05) GzZzZ GzZzZ 1 1 (10.1)(10.05) (10.1)(10.05) GzZzZ GzZzZ GzZzZ (10.1)(10.05) (10.1)(10.05) (10.1)(10.05) ()(1)(1) 121 1 10.150.020.0025 (1) (1) 1 (10.1)(10.05) (1) (1) 1 Ssssssss Ssssssss (1) (1) (10.1)(10.05) (1) (1) (1) (1) (1) (1) (1) (1) 1 Ssssssss Ssssssss (10.1)(10.05) 0.05 0.05 (1) (1) 12111 12111 0.05 0.05 (1)110.36810.135 (1)110.36810.135 12111 12111 12111 12111 12111 12111 (1)110.36810.135 (1)110.36810.135 12111 12111 12111 (1) (1) (1) 12111 12111 (1)110.36810.135 (1)110.36810.135 (1)110.36810.135 1 111 111 1 ()(1)(11.536) ()(1)(11.536) 1 ()(1)(11.536) ()(1)(11.536) 111 111 1 111 111 111 ()(1)(11.536) ()(1)(11.536) ()(1)(11.536) ()(1)(11.536) 111 111 1 1 121 121 121 121111 111 1() 60.4(10.617)(10.368)(10.135) () ()()(10.482)(1)(10.973) e e Wz zzz Dz GzWzzzz 234 ()()()0.1030.30.4 YzWzRzzzz 4.3 1111 1 ()(1)(11.536)(10.482) Wzkzczzz 1212 12 ()(1)(1 ) e Wzzdzdz ()1() e WzWz 1234 11 1 123 4 112212 (2.018)(0.742.018)0.74 (2)(21)(2) kzkczkczckz dzddzddzdz 1 11 2 121 12 (2) (2.018)(21) (0.742.018)(2) 0.74 kd kc dd kcdd ckd 1 2 1 0.78 1.22 0.38 0.658 k d d c 1111 ()0.78(11.536)(10.428)10.658 Wzzzzz 12 1 2 ()(1)(11.220.38) e Wzzzz 111 121 1() 45.882(10.658)(10.368)(10.135) () ()()(11.220.38)(1) e e Wz zzz Dz GzWzzzz 1111 1111 ()(1)(11.536)(10.482) ()(1)(11.536)(10.482) ()(1)(11.536)(10.482) ()(1)(11.536)(10.482) 1111 1111 1111 1111 1111 1111 1111 ()(1)(11.536)(10.482) ()(1)(11.536)(10.482) ()(1)(11.536)(10.482) 1111 1111 1111 112212 112212 112212 112212 123 123 11 11 123 123 11 11 11 11 11 11 123 123 123 123 123 1234 1234 1111 1111 ()(1)(11.536)(10.482) ()(1)(11.536)(10.482) 1111 1111 ()(1)(11.536)(10.482) ()(1)(11.536)(10.482) ()(1)(11.536)(10.482) 1111 1111 1111 1111 1111 1111 1111 ()(1)(11.536)(10.482) 1111 1212 12 ) Wzzdzdz Wzzdzdz 1212 1234 1234 1234 1234 1234 1234 123 123 (2.018)(0.742.018)0.74 (2.018)(0.742.018)0.74 (2.018)(0.742.018)0.74 (2.018)(0.742.018)0.74 1234 1234 1234 11 11 11 11 11 (2)(21)(2) (2)(21)(2) (2)(21)(2) 123 123 112212 112212 112212()()()()()() e UzDzEzDzWzRz 111 1 1() 45.882(10.658)(10.368)(10.135) () ()()(1) e e Wz zzz Dz GzWzz 12345 4.5885.2996.5896.5926.592 zzzzz 4.4 4-1 11 () 1 Ts e Gs ss r ( t ) 1(t) T=1s 1111 ()1() 11 Ts Ts e GzZZe ssss 1 11 11 (1)() 110.368 z zz 1 1 0.632 10.368 z z m=1 u=v=0 N=1 1 () Wzkz 1 ()1 e Wzz 1 ()1 e Wzz K=1 1 1 ()1.582(10.368) () ()()1 e Wz z Dz GzWzz 110.368 110.368 Gs 1111 1111 ()1() ()1() 1111 1111 11 11 ()1() ()1() ()1() ()1() ()1() 1111 1111 1111 1111 ssss ssss ()1() ()1() ()1() 11 11 ssss 11 11 11 11 (1)() (1)() (1)() (1)() 11 11 11 11 110.368 11 (1)() 11 11 110.368 (1)() 11 11 110.368 (1)() (1)() (1)()4.5 2 ()1(),(),()/2 rttrttrtt2 1 1 0.633 () 10.368 z Gz z 11,0,1 muvN 1 () Wzkz 1 ()1 e Wzz K=1 1 1 ()1.582(10.368) () ()()1 e Wz z Dz GzWzz 22,0,1 muvN 11 12 1 ()(1),()(1) e WzkczzWzz ()1() e WzWz 1112 11 1 (1)22, 2 kczzzzkc 11 12 ()1.582(1)(10.368) () ()()(1) e Wz zz Dz GzWz z 33,0,1 muvN 121 13 12 ()(1 ),()(1) e WzkczczzWzz ()1() e WzWz 121123 12 12 1 (1)3332,1, 3 kczczzzzzkcc 121 13 1 1.582(1)(10.368) () 3 () ()() (1) e zzz Wz Dz GzWzz 1 1 1 ()1.582(10.368) ()1.582(10.368) 1 1 ()1.582(10.368) GzWzz ()1.582(10.368) ()1.582(10.368) ()1.582(10.368) 22,0,1 22,0,1 22,0,1 ()(1),()(1) ()(1),()(1) 11 11 12 12 ()(1),()(1) ()(1),()(1) 12 12 ()(1),()(1) ()(1),()(1) ()(1),()(1) 1112 11 11 (1)22, (1)22, 1112 1112 1112 11 11 (1)22, (1)22, (1)22, 1112 1112 11 11 11 ()1.582(1)(10.368) ()1.582(1)(10.368) ()()(1)1()1() rtt 2() rtt 2 3()/2 rtt 4.6 4-1 0 5 () (1) Gs ss 0.1s D z 15 () (1) Ts e GzZ sss 11 11 0.025(10.9) (1)(10.9052) zz zz 12 12 ()2,()(1) e WzzzWzz 12 1 (1) 1() 1 e z Wz cz , 12 1 (2) () 1 e czz Wz cz z z 1523 12 (2) ()()() 1(1) e czz YzWzRz czcz 12 11 (1) ()(1()() (1)(1) e z EzWzRz czz 1 1 ()lim(1)()0 z ezEz 23 123 (2) ()()() 1(2)(12) e czz YzWzRzT czczcz 121 112 (1) ()(1()() (1)(1) e zTz EzWzRz czz 1 1 ()lim(1)()0 z ezEz c =0 0.2 0.5 0.8 10 c 1234 ()1():()2 rttYzzzzz 234 ():()234 rttYzTzTzTz 20.2 c 1234 ()1():()321.0064 rttYzzzzz 234 ():()1.82.963.992 rttYzTzTzTz 30.5 c 123456 ()1():()031.0631.0311.016 rttYzzzzzzz 23456 ():()1.52.753.8754.9365.969 rttYzTzTzTzTzTz 40.8 c 123456 ()1():()281.1021.0821.066 rttYzzzzzzz 23456 ():()1.22.363.4884.595.672 rttYzTzTzTzTzTz c=0.5 11 11 60(10.905)(10.667) () (10.9)(1) zz Dz zz 1234 1234 rttYzzzzz rttYzzzzz 1234 1234 1234 1234 1234 1234 1234 1234 1234 rttYzzzzz rttYzzzzz rttYzzzzz 1234 1234 1234 234 234 ():()234 ():()234 234 234 rttYzTzTzTz rttYzTzTzTz 234 234 234 ():()234 ():()234 234 234 234 234 234 234 234 234 234 234 rttYzTzTzTz rttYzTzTzTz 234 234 234 ():()234 ():()234 ():()234 ():()234 234 234 234 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