第5章6 线性系统频域校正

1、)S(Gc)S(Gc)S(Gp-串联校正反馈校正dBh66030 Cu2R1R2u1TsaTsTsaTsasUsUsGc11111)()()(12其中12122121RRR RaTCRRR 11)(TsaTssaGc11)(TsaTssaGc( )arctanarctancaTT 0ddc )(21(arctan )1xx aTm111arcsinaam0)(, cmdd0)(, ddcm11T1mm arcsin,()20lg|()|10lgcmcmLaGja1( )1caTsaG sTsm)(F20T1T1T1m( )L基本原理：利用超前网络的相角超前特性。c cm a10LLmcclg)

2、()( a1Tm )(cm rad10ess. srad44c/. 45dB10dBh 解 首先调整开环增益10K1ess. 取K=10则待校正系统开环传递函数)()(1ss10sG 11102cc 083c. 18090arctan17.9c校验系统性能指标-40-2002040Magnitude (dB)10-1100101-180-135-90Phase (deg)Bode DiagramFrequency (rad/sec)1 . 3 c 9 .17 srad44c/. 45dBLc6)( 4 . 4 c 10lga=6dB原系统校正网络新系统srad44cm/. dB61444410

3、20L2c .lg)(11404441a1Tm. s11401s45601sG4c.)( )(.().()()(s1s11401ss4560110sGsG4c 74927762690563180440tg441140tg90444560tg180111.).().(-40-2002040Magnitude (dB)10-1100101-180-135-90Phase (deg)Bode DiagramFrequency (rad/sec)1 . 3 c 9 .17 srad44c/. 45dBLc6)( 4 . 4 c 10lga=6dB 49 原系统新系统校正网络1Ts1bTssUsUsG1

4、2c )()()(其中CRRT1RRRb21212)( u2CR1R2u1)(L )( F F-20T1Tb1m lgb201Ts1bTssGc )(bT1m b1b1m arcsin10bT1c c )(L )( F F-20T1T 1m lg20)()(180ccc 6cc)(c 0Lb20c )(lgc10bT1 .)(c 对数坐标系-20-40-60c h-180o系统不稳定！对数坐标系-180o)()(180ccc 0Lb20c )(lgc10bT1 .)(c 期望值校正网络原系统)(c )(cL bT1c 20lgb 6cc)(T1校正网络新系统30KssGK0sv )(lim).

5、)(.()(1s201s10s30sG 77. 9c o2 .17 系统不稳定，且c远大于要求 40 6cc)()()(ccc 46c)()( srad72c/. ()180134c 77. 9c o2 .17 = 2.7时时(2.7)= 134odB21Lc )(srad72c/. dB21Lc )(0Lb20c )(lg09010b2021. c10bT1 .41b101Tc .)( 1s411s7 . 3) s (Gc 09010b2021. 41b101Tc .原系统原系统校正环节校正环节39. 2c o1 .45 dB2 .14h OK新系统新系统C1u2R1u1C2R211111)(2211sTsTsTsTsGc超前滞后21, 1TT 1)() 1)(1()(212211222112211sCRCRCRsCRCRsCRsCRsGcaTCR11bTCR22abTCR211)() 1)(1()(2sTTTsTTsTsTsGabbababacbaTTTT21babaTTTTTT21aTTTTba121)(L )( F F-2021T2T lg2011T