计算机控制系统离散控制数学模型-8学时

1、)()()()()(zRzCkTrZkTcZzG)() 1()()() 1()(101krbmkrbmkrbkcankcankcmn)()()(11110zAzBazazbzbzbzGnnnmmm0)(zA)(5 . 1) 1() 1()2(2)3(krkrkckckc213223215 . 125 . 1)(zzzzzzzzzG)(sG)(kTg)()(tgLsG)(zG)(tg)()(kTgZzG)(sG)(sR)(*sR)(*sC)(sCT)(zG0*)()()(nnTtnTrtr)()()()()()0()(nTtgnTrTtgTrtgrtC)()() 1()()()0()(Tnkgn

2、TrTkgTrkTgrkTC)()()()()(00nTrTnkgnTrTnkgkTCKnn)()()(zRzGzC)(1()1 (1)()(lim)(lim)(0aTaTaTsTassTsezzzeezzzzezzassaasezzassaszG0)()(nnznTgzG)(tg)(tg)()(assasG)()(sGZzG)()()()(2121zGGsGsGZzG)()(*sjksGsG)()()()(*sEsGsEsG)()()(21zGzGzG)()()()()(2121zGzGsGZsGZzG)()()()(2121zGGsGsGZzGasasGssG)(,1)(21)(1(1)(

3、)()(221aTaTezzazezazzzzGzGzG)(1()1 ()()()(21aTaTezzezassaZsGsGZzG)()()(2121zGGzGzG)()()(21zGzGzG)(tr)(*tr)(*tC)(tC)(0sGsesGsTh1)()(tr)(*tr)(*tC)(tCssG)(0sTe1)()()()(*00sRssGessGsCsT)()()()()(010zRssGZzzRssGZzC)()1 ()(01ssGZzzG)()(assasG)(1111)(2assasssG)(1()1 () 1(1)()1 ()(11) 1()(12aTaTaTaTaTezzeaT

4、ezaTeassGZzzGezzzzazTzssGZ)()()()()()(zEzGHzBzBzRzE)()()()(zEzGHzRzE)()(11)(zRzGHzE)()(1)()()()(zRzGHzGzEzGzC)(zE)(zC)(zR)(zE)(zE)(zC)(zR)(te)(*te)(*tC)(tC)(sG)(sH)(tr)(zC)(zE)(*te)(*tC)(tC)(sG)()(sHsG)(*tr)(zC)(zE)(tr)(*te)(sG)()(sHsG)(*tr)(zC)(zE)(tr)()(1)()(zRzGHzGzC)(*tC)(tC)(sG)(sH)(tr)(zC)(te)

5、(1)()(zGHzGRzC)(sG)()(sHsG)(tr)(zC)(sG)()(sHsG)(tr)(zC)(sG)()(sHsG)(tr)(zC)(sC)(2sG)(sH)(sR)(1)()()(2121zHGGzGzRGzC)(1sG)(sC)(2sG)()()(21sGsHsG)(sR)(1sG)(sC)(2sG)()()(21sGsHsG)(sR)(1sG)(*sC)(*sC)(*sCs平面平面 z平面平面极点：极点： 极点：极点： 虚轴：虚轴： 单位圆上：单位圆上：右半平面：右半平面： 单位圆外：单位圆外：左半平面：左半平面： 单位圆内：单位圆内： sTez jsjrezTerT,

6、js 0s0s1 z1 z1 zT2, 2 , 1 , 0 212NNTjssTsTsee210)()1()(1nkcakcakcnnikiiknnkkqAqAqAqAkc1 22111)(iAni, 2, 1)(kc iqnsss,21nsss,21nppp,21nppp,21)(1)(zGHzD0)3 . 0)(56. 01 . 0)(63. 0(22zzzzz3 . 0, 8 . 0, 7 . 0,618. 05 . 05432, 1pppjp11wwz11zzwwjvuwjyxz222212111yxyjyxjyxjyxw222211yxyxuzzz122 yx122 yx122 yx

7、04 . 025. 05 . 123zzz11wwz04 . 01125. 0115 . 11123wwwwww085. 195. 555. 035. 023www2461135721234312342121101nnnnnnnnnnnnaaaasaaaasAAAAsBBBBsDDsEsFs123145167123111131215131714123111nnnnnnnnnnnnnnnnnnnnnaaa aaaa aaaa aAAAaaaA aaAA aaAA aaABBBAAA，全零，全零 002210nnnazazazaazD) 1() 32(nnnnknzzzzzzz13210nnkna

8、aaaaaa1321001321aaaaaaaknnnn13210nknbbbbbb042211bbbbbbknnnn12345633210nccccc05432cccccnnnn3210pppp0123pppp52 n42 n32 n210qqq1, 1 , 00nkaaaabknknk；2, 1 , 0110nkbbbbcknknk；3, 1 , 0220nkccccdknknk；231001320103300,ppppqppppqppppq 0110nnzazaazD 132A300120112102020100n ,i ;A;aaqq,cc,bbaa)(nnD)(D)(in , i,

9、innn,n或为奇数为偶数0)(212azazzD210zzz112aa11n12122111aaaaa2a1a)(sC)1(ssK)(sRseTs1)s(sKZ)z()z(G1121)(1()1 () 1()(TTTTezzTeezTeKzG0)(1)(zGzD)1 ()1 () 1()(2TTTTTeTeeKzeTeKzzD0)368. 0264. 0()368. 1368. 0()(2KzKzzDsT14 . 2cK0)607. 009. 0()607. 1107. 0()(2KzKzzDsT5 . 037. 4cK)(sR)(*sE)(sCT)(sG)(zG( )1( )( )1( )

10、eE zzR zG z)(1)()(zGzRzE)(1)() 1(lim)()1 (lim)(lim)(111*zGzzRzzEzteezzsstsspzzssKzGzGzzRze1)(11lim)(1)() 1(lim)(111)()( 1)(zzzRttr)(1 lim1zGKzP)(lim1zGKzPPssKe1)(0)(ssevzzssKTzGzTzGzTe)(1lim)(1 1lim)(112) 1()()(zTzzRttrVsszvKTezGzK)()() 1(lim1)() 1(lim1zGzKzv0)() 1(lim1zGzKzv)() 1(lim1zGzKzvvzzssKTz

11、GzTzGzzTe2221221)(1lim)(112) 1(lim)(322) 1(2) 1()(21)(zzzTzRttrasszaKTezGzK221)()()1(limssaeK0assKTe20ssaeK)( 1)(ttrttr)(221)(ttr)(1)()()(1)(zzzzzRzCzzzR)(sC)1(ssK)(sRseTs1)(1)()() 1(1)1 ()(1zGzGzssZzzG32121632. 0632. 121264. 0368. 0)()()(zzzzzzRzzC11KsT2412%40%rpstststs1234567891011( )0.36470.8950.8020.8680.9931.0771.081C zzzzzzzzzzzznmpzzzabzDzMazazazabzbzbzbzRzCzknkiminnnnmmmm)()()()()()()(110011101110)()(1)()()(zDzMzzzRzzCkkkkkkpzdzzdDpDpDppMC)(