自动控制原理(11J-23)

1、12111111)( TsTsKTsTskTsTskpszsksGcciicc )1( 相同相同与教材的与教材的注注 :3pizi)(p )(z 0)()( pzc pdzd)(z)(p 0)()( pzc 41111)(1 TjTjTjTjKjGKc 212222)/(1)/(1)(1)(1)(TTjGc212221)()/(1log20)/(1log20)(arctgarctgLcc)(2121111TTTmT11T12m6最大滞后相角最大滞后相角: 取取: =10 时：时： m= 55，Lc (m) = 10lg = -10(dB) 11arcsinmmm sin1sin1 7)(21c

2、远小于、自动化系8c 0 c 10c )(18000c)155(00 )()(18000ccc值。式解出新穿越频率由0)(cc00180）（于是：cc )(cc11c ;)(0值可由原幅频特性确定cL0)()(0cccLL)lg20()( ccL2)51101(1cT 211T1111)(12ssTsTssGc13)15 . 0)(1(1)( ssssG145)()(lim:0 KsGssGKcsv令令111111)( TsTsKTsTskTsTsksGccc 自动化系15) 12)(1(5)(0jjjjG0160)2(1lg201lg205lg20)(220ccccL令：000006 .21

3、290180)(180cccarctgarctg02lg20lg205lg20ccc171281240180180)(0c382128290)(0cccccarctgarctgarctgarctgc 性性满满足足：点点，校校正正前前开开环环相相位位特特在在新新穿穿越越频频率率c )(18000c)/(5 . 0sradc用试探法求得：自动化系1819c 10;0lg20200lg20)(0得：）（）（令：由于：cccccLLLc 2205lg20)2(1lg20)(1lg205lg20)(cccccLc c 2020)/( 1 . 051)10151(12sradTcc )/(01.0101

4、.011sradT 11001101111)(12ssTsTssssGc21) 15 . 0)(1(5) 1100() 110()()(ssssssGsGocc c自动化系22自动化系23Step ResponseTime (sec)Amplitude0510152025303500.20.40.60.811.21.4System: sysSettling Time (sec): 22System: sysSettling Time (sec): 16System: sysPeak amplitude: 1.35Overshoot (%): 34.8At time (sec): 6.23Sys

5、tem: sysPeak amplitude: 1.39Overshoot (%): 38.9At time (sec): 4.07自动化系24051015202530051015202530 Compensated systemUncompensated system2515 . 15 . 01)()(23 ssssRsC1 . 003. 201. 31 . 055 .1015 .15050550)()(234234sssssssssRsC2627)1)()1)(1()1)(1()1)(1()(21212121TsTsTsTsksTsTsTsTksGccc 1 ，本教材：本教材：2829)1

6、()1()1()1()(3201sssssGc0 1 2 3 转折频率关系：3031) 2)(1()(sssKsG32102)()(lim0 KsGssGKcsv)1)()1)(1()1)(1()1)(1()(21212121TsTsTsTssTsTsTsTsGc 33) 12)(1(10)2)(1(20)(0sssssssG) 12)(1(10)(0jjjjG290)(00arctgarctg1)2(lg201lg2010lg20)(220L3401)2(lg201lg2010lg20)(220L令：则：设：,2c)/(71. 2; 02110lg20sradcccc00003 .33290

7、180cccarctgarctg）（0000.383.333-50-）（)(不稳定！自动化系3536c 180)(0cc 00180290)(cccarctgarctg令：0902ccarctgarctg得：)/(42. 1sradc用试探法求得：37c c c 38165. 03705. 647. 45 . 110Tc)(13lg203dBc 0 1 2 3 39) 17 . 6() 167. 0()(1sssGc）（一般取：106705. 010705. 6324015.0101:21cT令) 1015. 0() 115. 0()(2sssGc015. 01:,10:20T则由于41)17

8、 .6()167.0()1015.0()115.0()1()1()1()1()(3201 sssssssssGc 0 1 2 3 c 42)2)(1(20)7 . 6()67. 0()015. 0()15. 0(sssssss)2)(1(20)17 .6()167.0()1015.0()115.0()()(0ssssssssGsGc自动化系也可用计算法检验校正后系统的指标：也可用计算法检验校正后系统的指标：44)12)(1(10)17 .6()167.0()1015.0()115.0()()(0jjjjjjjjGjGc222222)7 . 6(1lg20)2(1lg20)(1lg20)015. 0(1lg20)67. 0(1lg20)15. 0(1lg2010lg20)(L27 . 6.015076 . 05.1090)(0arctgarctgarctgarctgarctgarctg45设计滞后超前校正，使满