机械工程控制基础-第二章

1、2021/3/111 2021/3/112 2021/3/113 ),.,2 , 1 , 0(mjb j )()(.)()( )()(.)()( 01 )1( 1 )( 01 )1( 1 )( txbtxbtxbtxb txatxatxatxa ii m im m im oo n on n on )(txi、)(txo 、),.,2 , 1 , 0(niai oooii ( ) 3 ( ) 7 ( ) 4 ( ) 5 ( )x tx tx tx tx t oooii ( )3( )7( )4( )5 ( )tx tx tx tx tx t 2 ooooii ( ) 3( ) 7 ( ) 4(

2、) 5 ( )x tx tx tt x ttxx 2 2021/3/114 2021/3/115 ( )(1) o1o1o0o ( )( )( )( ) nn nn a xtaxta x ta x t ()(1) i1 i1 i0i ( )( )( )( ) mm mm b xtbxtb x tb x t 2021/3/116 21 FbvF v2v1 b 21 d d v Fm t F v2 v1m 21d ktvF v2 v1 F k 一）机械系统一）机械系统 21 1 di t C v 21 d d i Lv t v2v1 iC v2v1 i L 21 vRi v2v1 i R 2021

3、/3/117 m f x k c kx f m cx fkxcxmx mx cx kxf 2021/3/118 d1 d d i u LiRi t Ct d d q i t . 1 Lq Rqq u C u i LR 2021/3/119 r T m fx J k 1 k2 B1 B2 1( )Tk 11 ()rkBfJ 22 . fmx B x k x xr 122 222 . ()()J mrxBBrx k r x rT 0 2021/3/1110 i1 i2 u1u2 R2R1 C2C1 11121 1 1 ()di Riitu C 22212 21 11 d()di Ritiit CC

4、 22 2 1 ditu C 2 22 112211221221 2 dd () dd uu RCRCRCRCRCuu tt 2021/3/1111 a ada d d i Li Reu t dd ek L d d JMM t m a Mk i m amdm dmd 1 , TLRJ TTCC Rk kkJ 令 2 ammdmam 2 L aL ddd ddd T TTCC TC tt uM t M LR iaua i2=const ML 励磁电流 负载力矩 M L 电动机 ua 2021/3/1112 LR iaua i2=const ML 励磁电流 负载力矩 damL C uC M a0L

5、0 uM(,) da0mL0 C uC M aa0a uuu LL0L MMM amm da0amaL0LmL0L ()() () ()()() T TT C uuC T MMCMM ammdamaLmL ()()()TTTCuC TMCM 2 L ammdamamL 2 ddd ddd M T TTC uC TC M ttt 2021/3/1113 2021/3/1114 油池 高压油 油池 阀芯 负载 油缸 qq A x y m c p2p1 12 ppp mycyAp qAy d ( , )c/qf pxxp 000 (,)qq xp 0,0 0,0 00 ( ,)(,) x p x p

6、 qqx qq x pxp xp p 2021/3/1115 油池 高压油 油池 阀芯 负载 油缸 qq A x y m c p2p1 mycyAp qAy d ( , )c/qf pxxp 000 (,)qq xp 0 ,0 0 ,0 00 (,)(,) xp xp qqx qq x pxp xp p q q ccc 1 () K K KK pxxqy K A mycyAp 2 cqc (/) (/)mycAKyAKKx 整理得整理得 2021/3/1116 2021/3/1117 mx cx kxf u i LR m f x k c . 1 Lq Rqq u C 21 Fbv 21 d d

7、 v Fm t 21d ktvF 21 1 dvt C i 21 d d vL i t 21 viR 2021/3/1118 )()()(.)()( )()(.)()( 01 )1( 1 )( 01 )1( 1 )( mntxbtxbtxbtxb txatxatxatxa ii m im m im oo n on n on )().()().( 01 1 101 1 1 sXbsbsbsbsXasasasa i m m m mO n n n n )( . . )( )( 01 1 1 01 1 1 mn asasasa bsbsbsb sX sX n n n n m m m m i o )(

8、. . )( )( )( 01 1 1 01 1 1 mn asasasa bsbsbsb sX sX sG n n n n m m m m i o 2021/3/1119 11 ooi ( )( ) ( )( )x tLXsLG s X s 2021/3/1120 12 ,., m z zz 12 ,., n p pp 120 120 ()().() ()().() (0) m n zzzb K pp G pa ii ( ),( )/x tkX sk s oo 0 lim( )lim( ) ts x tssX i 00 lim( )( )lim( )(0)/ ss G s X sGssss

9、kGk 12 12 ()().() ( ) ()().() n m K szszsz G s sppssp 2021/3/1121 1 u 2 u 11121 1 1 ()di Riitu C 22212 21 11 d()di Ritiit CC 22 2 1 ditu C 12 1 11 1 II R IU C s 212 2 2 21 III R I C sC s i1 i2 u1u2 R2R1 C2C1 2 2 2 I U C s 2021/3/1122 i1 i2 u1u2 R2R1 C2C1 2 112211221221 ()1RC R C sRCR CRCsUU 2 112211

10、2212 1 ( ) ()1 G s R C R C sR CR CR Cs 12 1 11 1 II R IU C s 212 2 2 21 III R I C sC s 2 2 2 I U C s 2021/3/1123 u (t) i u (t) o R1 R2 oi ( )( )x tKx t ( )G sK K o( ) Xs i( ) X s 1. 1. 比例环节比例环节 mm L L N 2 N1 输出正比于输入输出正比于输入 2021/3/1124 o o i d( ) ( d ( )Tx tKx x t t t 1 ( ) 1 G s RCs ( ) 1 K G s Ts i

11、oo ()k xxcx o i 11 ( ) 1 1 Xk G s c XcskTs s k ooi cxkxkx 2021/3/1125 io ()xtT xt ( )G sTs o( ) Xs i( ) X s Ts o1i uRCu R1 R2 uo i i i1 C o 1 i ( ) ( ) ( ) Us G s U s RCs oi 1 0d d uu iC tR 2021/3/1126 R q p1 p2 A k xixo 21o ()A ppkx 21 io () pp qA xx R ioo 2 k xxx A R ooi 2 ( )( )( ) k XssXssX s A

12、R ( )G sTs 2021/3/1127 oi 1 ( )( ) dx tx tt T 1 ( )G s Ts o( ) Xs i( ) X s 1 Ts o 2 111 ( )Xs Ts sTs 1 oo 1 ( )( )x tLXst T xi(t)=1 xo(t) 0T t x(t) 2021/3/1128 12 ( )( )( )Q tQ tQ t 控制阀 Q (t) 1 负载阀 2 Q (t) h(t) )()(tAhdttQ AssQ sH sG 1 )( )( )( oi d( )( ) d utu t C Rt o i ( )11 ( ) ( ) Us G s UsRCsT

13、s u (t) i u (t) o R C TRC 2021/3/1129 2 22 ( ) 2 n nn G s ss (0) 22 1 ( ) 21 G s T sTs 或 o( ) Xs i( ) X s2 22 2 n nn ss m f x k c mx cx kxf 2 1 ( )G s mscsk 2 22 ( ) 2 n nn G s ss n , 2 kc mmk 2021/3/1130 M J c k JckM 2 1 ( ) ( ) s G s M sJscsk 2 1 ( ) 1 G s L LCss R L R a b c d o u (t) u (t) i R i

14、(t) i (t) C i (t) L 2021/3/1131 e s o( ) Xs i( ) X s oi ( )()x tx t ( )e s G s x(t) t0 xi(t) xo(t) x(t) t0 xi(t) xo(t) x(t) t0 xi(t) xo(t) A L vB 1 h+h2h+h 21( ) ( )e s hh t G s 2021/3/1132 2021/3/1133 2021/3/1134 mycyApqAy q c 1 ()pK xq K 2 q c , 1 (),()mscs YAPQAsYPK XQ K 油池 高压油 油池 阀芯 负载 油缸 qq A x

15、 y m c p2p1 2021/3/1135 a ada di Li Reu dt dd ek L d JMM dt m a Mk i adama Ldd (),LsR IEUMk I JsMMEk , LR iaua i2=const ML 励磁电流 负载力矩 M L 电动机 ua 2021/3/1136 2021/3/1137 o( ) Xs 1( ) G s 2( ) G s i( ) X s i( ) X s 1( ) G s 2( ) G s o( ) Xs i( ) X s o( ) Xs 1( ) G s 2( ) G s o1( ) Xs o2( ) Xs 1( ) G s

16、2( ) G s i( ) X s o( ) Xs 2021/3/1138 o ( )( )/( )G sXsE s o ( )( )/( )H sB sXs k( ) ( )( )( )/( )G sG s H sB sE s Xi(s)Xo(s) G(s) H(s) E(s) B(s) iio ( )( )( )( )( )( )E sX sB sX sXs H s oio ( )( ) ( )( )( )( )( )XsG s E sG sX sXs H s ioo ( )( )( )( )( )( )G s X sG s XsXs Hs o B i ( )( ) ( ) ( )1( )

17、( ) XsG s Gs X sG s H s 2021/3/1139 Xi(s)Xo(s) G(s) E(s) 1+G(s) G(s) Xo(s)Xi(s) 2021/3/1140 分支点 X1X2 X3 (=X2) G(s) X1 G(s) X2 X3 (=X2) G(s) X1 X2 X3 (=X1) G(s) X1X2 X3 (=X1) G(s) G(s) 1 2021/3/1141 相加点 （ X1 X2 X3 G(s) （ ） X1X3 X2 G(s) （ X1X3 X2 G(s) G(s) （ ） X1X3 X2 G(s) G(s) 1 2021/3/1142 1( ) X s

18、2( ) Xs 3( ) Xs 4( ) Xs1( ) X s 2( ) Xs 3( ) Xs 4( ) Xs ( )X s ( )X s ( )X s ( )X s ( )X s ( )X s ( )X s ( )X s 2021/3/1143 ( )R s 1( ) G s 2( ) G s 3( ) G s 2( ) Hs 1( ) H s 3( ) Hs ( )C s 简化步骤：简化步骤：消除交叉回路，对嵌套回路，从里到外逐步化简消除交叉回路，对嵌套回路，从里到外逐步化简 ( )R s 1( ) H s 1( ) G s 2( ) G s 3( ) G s 3( ) Hs 2( ) H

19、s ( )C s 1 1 ()Gs 3 1 ()Gs 2021/3/1144 ( )C s 1 11 ( ) 1( )( ) G s G s Hs 3 32 ( ) 1( )( ) Gs Gs Hs 2 13 ( ) ( )( ) Hs G s Gs 2( ) Gs ( )R s 123 1122331133 ( )( )( ) ( ) 1( )( )( )( )( )( )( )( )( )( ) G s G s G s G s G s H sG s H sG s H sG s H s G s H s ( )R s 1( ) H s 1( ) G s 2( ) G s 3( ) G s 3(

20、 ) Hs 2( ) Hs ( )C s 1 1 ()Gs 3 1 ()Gs 2021/3/1145 i X ( )E s ( )B s 1 G 2 G 1 H 3 G 2 1 H G o X i X( )E s ( )B s 1 G 2 G 3 G 1 H 2 H o X 2021/3/1146 i X 2 1 H G ( )E s ( )B s 3 G o X 12 121 1 G G G G H i X ( )B s ( )E s o X 123 121232 1 GG G GG HG G H i X ( )E s ( )B s 1 G 2 G 1 H 3 G 2 1 H G o X 2

21、021/3/1147 i X o X 123 121232123 1 GG G GG HG G HGG G i X ( )B s ( )E s o X 123 121232 1 GG G GG HG G H 123 GG G 123 GGG、相加点处“ ” 121 GGH、 232 GGH、相加点处“ ” 相加点处“+” i X( )E s ( )B s 1 G 2 G 3 G 1 H 2 H o X 2021/3/1148 123 GG G 123 GGG、相加点处“ ” 121 GGH、 232 GGH、相加点处“ ” 相加点处“+” i X( )E s ( )B s 1 G 2 G 3 G 1 H 2 H o X B( ) 1 Gs 前向通道的传递函数之积 每一反馈回路开环传递函数 2021/3/1149 i X 1 G 2 G 1 H 3 G o X 2 H 5 G 4 G 5 G o X i X 1 G 2 G 1 H 23 H G 34 1 G G 12534 B 12134125232 1 ( ) 1 GG GG G Gs GG HG GGG GG G H （） 1+（） 2021/3/1150 i( ) X