自动控制原理(8-2)

1、tsinAtx=)()(=xfy1=01=0)+(+=)+(+=)(nnnnnntnsinYAtnsinBtncosAAtynnnBAarctan =22+=nnnBAY20)(1=ntdtncostyA20)(1=ntdtnsintyB)21=(,n200)(21=tdtyAAjABeAYeANANjANj111)(+=)(=)(1)+(=+)(1111tsinYtsinBtcosAty)+(=(=)(t)tsinAfty)(+)(21=)(21=02200tdtytdtytdtyA=)(+)(21=)+(+)(21=00000dytdtydytdtyA)(=)(xfxf)(=)(=)(=)

2、(=)+(=)+(=)+(tyxfxftsinAftsinAftsinAfty0201)(2=)(1=tdtcostytdtcostyA0201)(2=)(1=tdtsintytdtsintyB0=)(+)()(1=)(+)(1=)(1=)(1=0000201tdtcostytdtcostytdtcostytdtcostytdtcostytdtcostyA)(=)(tyty2001)(4=)(2=tdtsintytdtsintyB)(=)(tyty( )sinx tAt(0)( )(2 )Mty tMt01( )(cossin)nnny tAAn tBn t11( )siny tBt21000

3、1( )sin()2( )sin()24sin()By ttdty ttdtMMtdt14( )0YMN AAAsin ()( ) ()sin ()kXtty tkatkXttsinXa )/arcsin(Xa)(sin4)(sin4)(sin)(12/02201ttdkattdkXttdtyB)(sin)(2)2cos(142/0ttdatdtXkcoscossin2124aXXk)/arcsin(XaXa /sin2/1cosXa211arcsin2XaXaXakXB0=10AA211120arcsin1YBkaaaNXXXXX 22arcsin1 () ()kaaaXaNXXXkXa0

4、() ( )(sin) ()0 () ty tk XtattsinXa )/arcsin(Xa10A )(sin)sin(4)(sin)(12/201ttdatXkttdtyB)()sin(2)2cos(142/tdtatXk)/arcsin(XaXa /sin2/1cosXa22111arcsin224XaaXaXaXaXkB21arcsin22XaXaXakX21111arcsin20XaXaXakkXBXYN22arcsin1 ()0 ()kaaakXaNXXXXaAarcsin=12)(),(00,=)(2211taKttsinAKtty，Aaarcsin =2222212122222

5、201)(1)(1+2=)(+24+24)(24=)(+)2412(4=)(+)(4=)(+)(4=)(4=22121212212AAAaAaAarcsinAaarcsinKAcosacoscossinAsinAAKtcosatcostsintAKtdtsinatdtsintsinAKtdtsinaKtdtsintsinAKtdtsintyB)(122=)(2A,AAAarcsinKANaA 22)(1)(1+2=)(AAAaAaAarcsinAaarcsinKANttMtty0,00,=)(2211，Aharcsin =1Amharcsin=221) 1(2=2=)(2=01mAMhtdtc

6、osMtdtcostyA)(1+)(12=2=)(2=220121AhAmhMtdtsinMtdtsintyB22222( )1 ()1 ()(1)()MmhhMhN AjmAhAAAA4( )MN AA0 h1 m1 m24( )1MhN AAA2244( )1jMhMhN AAAA0=)(+1jKG0+1=)(jKjG0=)()(+1jGAN)(1=)(ANjG22arcsin1 () () kaaaXaNXXXkXa211TT22arcsin1 () ()kaaaXaNXXXkXa2222214=)11+11(2=)(ukuuuukduudN0.5=1=)(kXN=)(N7.07=2010=.x=20+1015200=)(.jG0=)()(Im=)()(ImANjGANjG1)(=)()(R=)()(R