计算机控制系统李华课后答案1-10章.pdf

1P131-11)2)1-21)2)3)4)5)1-31)22)PID3)4)DCS35)P422-1f(t)f(t)2-2f(t)ZF(z)1)mtf(t)=a-kmT-12mT-2k=0Zf(t)=Zf(t)=f(kT)z=1+az+az+.-mT-1azmT-11Zf(t)=1-az2)-atf(t)=1-e-aT-1-at-1-aT-1-1-aT-111(1-e)zF(z)=Z1-e=-=1-z1-ez(1-z)(1-ez)3)2f(t)=t223Tz(z+1)F(z)=Zt=(z-1)4)-atf(t)=te-aT-at-aT2TzeF(z)=Zte=(z-e)P583-1=-=1-aT1z1-ez1-ez1-aT1-aT1-aT1-22Tz(z+Tz(z+22+.aT-11-1-aT1(1-e)zez-aTaT(1-z)(1-ezz)(11-1-113+1)-1)1)43-2453-80NADTiADZF=123ZF=1k=NZF=2=0k=0Tikk+1Ti1Tikk-1ADAD+1TiADTiADAD-1TiYYNNNNNZF2ZF3YYYk=0AD=2NYYTiN5P944-1PIDKpKiKdKpKpKiKd4-2PIDPID:k0j=0Te(k)-e(k-1)u(k)=Kpe(k)+e(j)+Td+uTiTPID:u(k)=u(k)-u(k-1)=Kpe(k)-e(k-1)+Kie(k)+Kde(k)-2e(k-1)+e(k-2)1)2)3)4-4PIDPIDPID(k)-2e(k-1)+)-2e(k-164-5PIDT1)2)3)4)5)6)7)4-6PID1)PIDTiTd2)PIDKpKTTKpTiTd3)PIDPIDTmPIDK7TKpTiTd4-7D(z)4-84-9010G=s(0.1s+1)T=1s1D(z)y(kT)u(kT)e(kT)2D(z)y(kT)u(kT)e(kT)(1)G(z)010G=G=0s(s8-Ts-1-112-1-10-11-e10109z(1+0.11z)G(z)=Z=(1-z)Z=ss(0.1s+1)s(0.1s+1)(1-z)(1-ez)i=0p1=-0.11j=1z-1r=1-11R(z)=1-zp=1-1pe2-(r-1)-1-111(z)=(1-z)F(z)(z)=z(bz)(1+0.11z)F(z)F1(z)F2(z)F1(z)=1F2(z)=1+c1z-1-11e1-1-11(z)=(1-z)(1+cz)(z)=bz(1+0.11z)e(z)=1-(z)b1=0.9c1=0.1-11e-1-1(z)=(1-z)(1+0.1z)(z)=0.9z(1+0.11z)-10-1-1e(z)1-ezD(z)=(z)G(z)10+z-6-1(z)U(z)=D(z)E(z)=R(z)=0.1-4.5410zG(z)I0.1-4.5410-600-1-1-1-2-3-10.9z(1+0.11z)Y(z)=(z)R(z)=0.9z+z+z+1-z00.911D(z)10-1-10-1-1-1-ez1-ez-1010)=)=z)10+z)10+z)=)=0.1.1(z)(z)=R()=R)=(z)(z)z)z)=)=9-10-1-1-61-ezU(z)=E(z)D(z)=E(z)10+zu(k)=0.1e(k)-4.5410e(k-1)-0.1u(k-1)(2)-1-1-1-10-19z(1+0.11z)G(z)=(1-z)(1-ez)i=0p1=-0.11j=1z-1r=11-12zR(z)=(1-z)p=2-1pe2-(r-1)-12-1121(z)=(1-z)F(z)(z)=z(bz+bz)(1+0.11z)F(z)F1(z)F2(z)F1(z)=1F2(z)=1+c1z-1-121e1-12-112(z)=(1-z)(1+cz)(z)=(bz+bz)(1+0.11z)e(z)=1-(z)b1=1.89b2=-0.99c1=0.11-121e-12-1(z)=(1-z)(1+0.11z)(z)=(1.89z-0.99z)(1+0.11z)-1-10-1-1-1e(z)0.21(1-0.52z)(1-ez)D(z)=(z)G(z)(1-z)(1+0.11z)-1-2-10-1-1-1-2-34(z)(0.21z-0.11z)(1-ez)U(z)=D(z)E(z)=R(z)=G(z)1-z=0.21z+0.1z+0.1z+0.1z+-2-3-45Y(z)=(z)R(z)=1.89z+3z+4z+5z+12bz)(bz1212)12-12)=(1-z)()=(1-z)(-12-1212)=(1.89)=(1.8922(z)=1+cz)=1+c-111z)z)-11b11)(1+0.11z0.1189z-0.99zz-0.99-1z10001.89345D(z)-1-10-1-1-1-1-6-2-1-2-60.21(1-0.52z)(1-ez)U(z)=E(z)D(z)=E(z)(1-z)(1+0.11z)U(z)=0.21E(z)-0.11zE(z)+4.9910zE(z)+0.89zU(z)+0.11zU(z)u(k)=0.21e(k)-0.11e(k-1)+4.9910e(k-2)+0.89u(k-1)+0.11u(k-2)II4-10021G(s)=sT=1s1(z)D(z)2u(k)(1)-1-1-10-121z(1+z)G(z)=(1-z)ZG(s)=s2(1-z)-121e1-12-112(z)=(1-z)(1+cz)(z)=(bz+bz)(1+z)e(z)=1-(z)b1=1.25b2=-0.75c1=0.75-1-2-1-121e(z)=(1.25z-0.75z)(1+z)(z)=(1-z)(1+0.75z)-1-1e(z)2.5(1-0.6z)D(z)=(z)G(z)1+0.75z-12-1-1-2-1-1-1-12-1-2(z)U(z)=D(z)E(z)=R(z)G(z)2(1-z)z=(1.25z-0.75z)(1+z)z(1+z)(1-z)=2.5z-1.5z02.5-1.500-1-1-2-1-2-3-4-12zY(z)=(z)R(z)=(1.25z-0.75z)(1+z)=1.25z+3z+4z+(1-z)001.2534(2)121121.75z)75z)121121121121-12.5(1-0.6z5(1-0.6z-)=)=)1+0.75)1+0.75)=(z)c1=0.75=0.75-1z)75z)=R(z)=R(z)11112.5(1-0.6z)U(z)=E(z)D(z)=E(z)10.75u(k)=2.5e(k)-1.5e(k-1)-0.75u(k-1)z4-11-s0eG=(2s+1)(s+1)T=1sD(z)-s-2-1-1-1-1e0.155z(1+0.6065z)G(z)=(1-z)Z=s(2s+1)(s+1)(1-0.6065z)(1-0.3679z)s2N=1-1-2-1-1-1(1-)z0.3935z(z)=z=1-z1-0.6065z-1-1-1-1-1(z)12.5387(1-0.6065z)(1-0.3679z)D(z)=1-(z)G(z)(1-z)(1+0.3935z)(1+0.6065z)-2-2-3-4-5-1-10.3935zY(z)=(z)R(z)=0.3935z+0.6322z+0.7769z+0.8647z(1-0.6065z)(1-z)-1-1-2-34-1-1Y(z)2.5387(1-0.3679z)U(z)=2.5387+0.0650z+1.5653z+0.6554z+1.2072z+G(z)(1-z)(1+0.6065z)(1+0.6065z-1)1.6065-1-1-1-11.5803(1-0.6065z)(1-0.3679z)D(z)=(1-z)(1+0.3935z)-2-1-1-2-3D(z)G(z)0.2449z(1+0.6065z)(z)=1+D(z)G(z)1-0.6065z-0.1486z+0.1485z-2-1-1-2-3-1-2-3-4-5-6-70.2449z(1+0.6065z)Y(z)=(z)R(z)=(1-0.6065z-0.1486z+0.1485z)(1-z)=0.2449z+0.5420z+0.7585z+0.8976z+0.9701z+1.0025z+5387(1-0.36795387(1-0.3679)=)=)=5387(1-0.36795387(1-0.36791-z)(1+0-z)(1+0-1-11)=)=111)3935z+0.6322z+0.6322-2-22z)z)-11)=2.5387)=2)=3679z)z)6065z)z1-111)=)=11.60651.606512-1-1-1-2-3-1-1-2-3-4-5Y(z)1.5800(1-0.6065z)(1-0.3679z)U(z)=G(z)(1-0.6065z-0.1486z+0.1485z)(1-z)=1.5800+0.9987z+1.2335z+1.0549z+1.0678z+1.0142z+4-13-s0eG(s)=s+114-27u(k)2D(z)u(k)(1)1e(k)=r(k)-y(k)y(k)=ay(k-1)+bu(k-1)-u(k-N-1)fT-T-Ta=e=efT-T-Tfb=K1-e=1-e1N=TT21e(k)=e(k)-y(k)u(k)p22i2d222u(k)=u(k-1)+u(k)=u(k-1)+Ke(k)-e(k-1)+Ke(k)+Ke(k)-2e(k-1)+e(k-2)(2)s1N=1T=1s-s-2-1-10-11e0.632zG(z)=(1-z)ZG(s)=(1-z)Z=ss(s+1)1-0.368z-2-2-1-1T-1(1-)z0.632z(z)=1-z1-0.368z=e=e=0.368-1-1-1(z)1-0.368zD(z)=G(z)(1-(z)(1-z)(1+0.632z)-1-1-11-0.368zU(z)=D(z)E(z)=E(z)(1-z)(1+0.632z)2222)-e(k-1)+)