现代飞机结构示意图

飞机示意图给定电位器反馈电位器给定装置放大器舵机飞机

反馈电位器

垂直陀螺仪θ0θc扰动俯仰角控制系统方块图飞机方块图液位控制系统控制器减速器电动机电位器浮子用水开关Q2Q1cifSM结除构芽图沈三牧种遣基加本罗形忌式G1G2G2G1G1G2G1G2G1G2G1G1G21+串总联并搁联反历馈2相邻综合点可互换位置、可合并…结恩构挂图肥等烟效涂变务换色方去法1三种典型结构可直接用公式3相邻引出点可互换位置、可合并…注意事项：1不是典型结构不可直接用公式2引出点综合点相邻，不可互换位置引项出姨点碍移蚂动G1G2G3G4H3H2H1abG1G2G3G4H3H2H1G41请碧你略写控出慕结摧果丧,绳行飞吗晕？G2H1G1G3综档合草点沸移读动G1G2G3H1错涉！G2无它用殃功向逢同稿类捡移耽动G1G1G4H3G2G3H1作淋用毁分红解H1H3G1G4G2G3H3H1Pk—队从节R征(溜s耕)毛到录C愉(佛s广)美的筒第糖k核条尊前乐向泻通蛮路放传层递姜函挠数梅用逊忽公屋式泡介氏绍博R倘-增CC(s)R(s)=∑Pk△k△:△称为系统特征式△肠=其瓶中茶:—所有单独回路增益之和∑La∑LbLc—所有两两互不接触回路增益乘积之和∑LdLeLf—所有三个互不接触回路增益乘积之和△k称为第k条前向通路的余子式△k求埋法欣:去掉第k条前向通路后所求的△-∑La+∑LbLc-∑LdLeLf+…1△k=善1积-斜∑摆LA+威∑绝LBLC-绸∑递LDLELF+复…R(s)C(s)L1=–G1H1L2=–G3H3L3=–G1G2G3H3H1L4=–G4G3L5=–G1G2G3L1L2=(–G1H1)(–G3H3)=G1G3H1H3L1L4=(–G1H1)(–G4G3)=G1G3G4H1

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G3(s)G4(s)G3(s)梅震逊诵公作式抚例嫌R计-密C

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G3(s)P2=G4G3P1=G1G2G3△1=1△2=1+G1H1C(s)R(s)=?请你写出答案，行吗？G1(s)G3(s)H1(s)G2(s)H3(s)H2(s)R(s)C(s)N(s)E(S)G1(s)G3(s)H1(s)G2(s)H3(s)H2(s)R(s)C(s)N(s)E(S)P1=可1△1=掉1担+话G2H2P1△1=方?E哗(杆s谋)有=1+G2H2+G1G2H3-G1H1G2H2-G1H1(己–救G2H3)R涂(胸s国)[]N嚼(娇s夕)(驱1且+欧G2H2)(们-罩G3G2H3)++R(s)E(S)G1(s)G3(s)H1(s)G2(s)H3(s)H2(s)C(s)N(s)R(s)E(S)G3(s)G2(s)H3(s)E(S)R(s)G1(s)H1(s)H2(s)C(s)P2=托-傍G3G2H3△2=烟1P2△2=无?梅佛逊崭公伯式帮求是E凯(仙s沉)P1=–咸G2H3△1=准1N(s)G1(s)H1(s)H2(s)C(s)G3(s)G2(s)H3(s)R(s)E(S)四个单独回路，两个回路互不接触e1abcdfghC摇(相s筑)R照(反s削)C印(经s散)R拌(瓜s春)=1––––++前向通路两条信颗号奶流枣图afbgchefhgahfced(1g)–bdabch(t)t时间tr上升峰值时间tpAB超调量σ%=AB100%动耍态呈性扯能为指驼标贩定馋义巧1h(t)t调节时间tsh(t)t时间tr上升峰值时间tpAB超调量σ%=AB100%调节时间tsh(t)t上贸升成时么间码tr调货节绸时饰间香ts动雹态缓性凶能率指渠标敌定幕义普2h(t)tAB动凶态驻性朴能章指请标辽定酿义横3trtptsσ%=BA100%一说阶材系月统港时奔域醉分婚析无零点的一阶系统Φ(s)=Ts+1k,T时间常数(画图时取k=1,T=0.5)单位脉冲响应k(t)=T1e-Ttk(0)=T1K’(0)=T12单炮位启阶样跃漫响趋应h娱(休t愤)惩=拨1抢-慌e-殃t吩/昼Th’(蹈0口)稀=处1螺/蔬Th盾(跌T剪)惑=薯0乔.帖6茫3钓2暮h五(冠∞舍)h含(政3伐T守)府=另0锈.也9骗5茶h瓶(躬∞内)h饰(沸2纱T敢)宁=志0哥.悔8疲6拢5悬h夺(骑∞悉)h叛(乱4址T脚)育=祥0砍.两9朱8绳2壤h辅(崖∞择)单纤位还斜眨坡蚀响索应T?c般(承t报)音=挤t俯-正T聚+夫T域e-老t钱/射Tr抛(微t挨)顺=δ叉(蜘t孔)r毫(测t喂)另=1湖(悲t足)r辣(杨t培)倾=t问1、3个图各如何求T？2、调节时间ts=？3、r(t)=vt时，ess=？4、求导关系k(0)=T1K’(0)=T12√ξ2-1S1,2=-ξωn±ωnS1,2=-ξωn-ωn=S1,2=±jωn0＜ξ＜1ξ动＝丙1ξ怪＝薯0ξ粪＞惊1j0j0j0j0二阶些系睡统鞋单讲位现阶懒跃它响革应电定栏性堵分示析2Φ渡(哀s攻)否=s2+揪2ξ诉ωns遵+瓶ωn2ωn2-±j√1-ξ2ωnS1,2=ωnξh(t)=1T2tT1T21e+T1tT2T11e+h(t)=1-(1+ωnt)e-ω

tnh(t)=1-cosωntj0j0j0j0T11T21ξ＞1ξ＝10＜ξ＜1ξ＝0sin(ωdt+β)e-ξωth(t)=√1-ξ211n过厚阻嘴尼临旅界登阻娱尼欠透阻歼尼零校阻拳尼β欠买阻辩尼受二俩阶傲系葡统苏动桂态逗性竞能泪分线析芽与端计愁算ωd=ωn√1-ξ2Φ(s)=s2+2ξωns+ωn2ωn2S1,2=-ξωn±j√1-ξ2ωnh(t)=1－√1-ξ21e-ξωntsin(ωdt+β)ωn-ξ哭ωnj00坟<蕉ξ拿<旧1时成：π-βωd得tr=令h(t)=1取其解中的最小值，令h(t)一阶导数=0，取其解中的最小值，得tp=πωd由σ%=h(∞)h(tp)－h(∞)100%（敏0﹤ξ≤0紧.鄙8惨）由包络线求调节时间eh(t)=1－√1-ξ21-ξωntsin(t+ωdβ)得σ%

=e-πξ100%设让系许统次特急征购方艇程踏为福：s6+达2唯s5+聚3悠s4+上4汪s3+演5诉s2+浩6喷s尖+惨7哪=访0劳吵斯冬表s6s5s0s1s2s3s41246357(稳6图－苦4鹿)变/过2麦=耗11(已1诵0医-遥6疲)抄/抛2冠=余227124635710(朵6壳-效1锹4取)叔/洁1鸟=循-鞠8-轻8412劳绪斯悲表主介码绍劳肯斯泼表金特润点4每泛两呈行碎个店数璃相次等1右絮移饶一希位敬降战两锁阶2行印列垒式行第恐一侨列公不窄动3次鹊对跳角夜线侵减怒主臭对日角俱线5分牲母喝总才是宝上偏一下行凉第邮一做个保元涉素7第一列出现零元素时，用正无穷小量ε代替。6一陪行池可有同杏乘值以盟或毫同房诚除去以季某名正辣数ε2+8ε7ε-8(2+8)-ε7ε27ε127

-8ε劳钢斯去判载据系乒统尖稳获定置的必音要条摄件届:有寇正渴有忆负啦一云定架不响稳羽定讽!缺暖项讽一暑定麻不荣稳尸定刘!系削统岸稳运定独的充扰分条宇件弓:劳司斯冤表注第饥一格列石元仰素不晓变中号!若事变墓号咸系双统垦不采稳毕定丢!变餐号嚷的次障数为谱特饼征础根锹在挪s右半下平量面敲的个迅数查!特征方程各项系数均偶大烈于吊零桌!-s2-5s-6=0稳定吗？劳钥斯飘表吗出真现仗零炕行设胡系典统雹特撇征当方泥程涛为枪：s4+拾5鉴s3+凉7豆s2+揉5即s屑+勤6记=棚0劳本斯嘴表s0s1s2s3s451756116601尿劳魂斯认表懒何采时缩慧会慈出摔现推零悦行年?2上出惩现捐零醉行极怎招么宾办蛇?3蛛如牢何陵求穗对冷称掏的萝根枕?②由零行的上一行构成辅助方程:①

有大小相等符号相反的特征根时会出现零行s2+膝1粱=遣0对长其衫求森导亭得北零足行盈系凡数喝:2夺s1211继处续蛮计粪算摇劳碍斯合表1第蹦一景列末全唉大拍于乏零乌,垒所滤以告系除统株稳邮定错信啦秆!突!滑!由溜综胃合文除污法运可愤得滩另捷两丸个顶根叠为s3齐,锁4=钢-看2氏,饿-绵3解辅助方程得对称根:s1,2=±j劳斯表出现零行系统一定不稳定误低差轮定宫义G(s)H(s)R(s)E(s)C(s)B(s)输入端企定左义罪：E抹(洗s旬)森=蒙R家(识s门)蜘-物B简(签s雷)川=臭R张(虚s乏)咬-纷C牌(痰s沈)丛H况(宵s柔)G(s)H(s)R(s)E(s)C(s)H(s)1R(s)ˊˊ输出端颈定戒义蚁：E(s)=C希-C实=-C(s)R(s)H(s)ˊG(s)R(s)E(s)C(s)C(s)E烛(垦s忠)浮=拾R较(少s搅)络-龄C债(己s做)G1(s)H(s)R(s)C(s)G2(s)N(s)En(山s看)遍=虫C希-批C实=眠–载Cn(路s芬)总误差怎么求？典凑型井输创入资下危的域稳拼态相误定差必与喊静枕态寇误妈差纺系究数G(s)H(s)R(s)E(s)C(s)E(s)=R(s)1+G(s)H(s)1若系统稳定,则可用终值定理求essess=lims1+ksνG0H0R(s)→0sR尊(冶s乔)嫂=子R值/棍sr馒(烈t栽)欣=挣R沫·路1渡(具t金)ess=1+ksνRlim→0sr坏(兼t虫)膀=乱V鬼·殖tR蒜(禽s御)责=例V彻/雕s2ess=

s·Vlim→0sksνr捧(莲t逗)系=输A切t2/职2R院(洗s翠)吓=帖A隙/图s3ess=

s2·Alim→0sksνkpkvka取州不闸同恼的νr役(拴t座)胖=即R共·厨1抓(居t弱)ess=1+ksνRlim→0sr朝(厘t荒)页=戏V耕·倾tess=

s·Vlim→0sksνr肌(蹄t哈)川=胃A暖t2/登2ess=

s2·Alim→0sksνⅠ酬型0尾型Ⅱ例型R磁·共1恢(伐t仓)R1+kV

kV容·抛t000∞Ak∞∞A铺t2/顾2R·1(t)V·tAt2/2kkk000∞∞∞静蠢态么误委差希系怠数稳慨态渠误乱差小球结饭：123Kp=?Kv=?Ka=?非韵单彻位象反讲馈掩怎衡么瓣办仓？啥纱时浩能讯用赶表缎格犬？表击中精误笨差柏为稳无掩穷否时治系箭统念还召稳哨定愤吗半?减减小流和撕消笔除嗓误爸差薯的督方延法舅(旁1藏,请2隙)1后按让扰挥动钻的全补乓偿N(s)R(s)Gn(s)T1s+1k1s(T2s+1)k2C(s)E(s)令晶R驰(应s备)滑=著0节,鸟En(掏s宰)腾=密-扬C针(艺s兼)咱=s(T1s+1)(T2s+1)+k1k2(T1s+1)+k1Gn(s)N(s)令陷分喉子享=珍0列，判得遥Gn(料s怖)皆=六-熔(T1s旷+兽1碌)镰/律k1这贤就瓶是陵按咐扰厉动锐的全补术偿全t旗从鱼0误→虽∞习全好过晒程各己种头干谨扰奴信蜜号2而按扰叼动的稳剑态补动偿设紧系品统辈稳恭定抽，静N手(遭s王)巡寿=膜1固/久s因,屈则essn=－limsC(s)=－lims→0s→0k1k21+k1Gn(s)∴Gn(果s希)往=-1启/赢k1令维N遣(唱s踢)尾=受0喂,宜Er(林s汁)攻=令荣分巴子幼=赴0跪，张得块Gr(盛s观)者=s佛(T2s断+番1弹)抗/酸k23桥按输碌入的全补援偿N(s)R(s)Gr(s)T1s+1k1s(T2s+1)k2C(s)E(s)设团系满统妙稳期定秋，时R体(德s科)咸=龄1搅/念s2则essr=limsEr(s)=lims→0s→01-k2SGr(s)k1k2k2S∴Gr(s)=4羽按输性入的稳尺态补吩偿s(T1s+1)(T2s+1)s(T1s+1)(T2s+1)+k1k2-k2(T1s+1)Gr(s)R(s)减炎小廉和垃消罗除贤误兄差金的剑方规法抖(惠3佩,株4绩)注营意：K临一凶变体，咽一成组役根财变；K君一涨停讯，搅一删组絮根饲停；一候组脉根穴对灿应主同帅一成个喷K；根拳轨耍迹杂概坟念-2-10jks(0.5s+1)K:0~∞特征方程：S2+2s+2k=0特征根：s1,2=－1±√1－2kk蠢=直0臭时敬，推s1=精0取,绒s2=扁－刻20川＜周k塞＜怨0翼.避5眯时技，啊两桨个恳负裁实豪根隐；呢若删s1=及－烧0辩.塔2乘5效,哨s2=惕?k浸=腿0误.食5湿时严，锻s1=及s2=蜘－霜10.5＜k＜∞时，s1,2=－1±j√2k－1演跟示搁r剥l脆t泊o芹o庙lGHG(s)=KG*∏(s-piqi=1);∏(s-zifi=1)H(s)=KH*∏(s-pjhj=1)j=1∏(s-zjl)Φ(s)=∏(s-piqi=1)hj=1∏(s-pj)∏(s-zifi=1)+kG*kH*∏(s-zjl)j=1∏(s-zifi=1)∏(s-pjhj=1)*KG结论：1零点、2极点、3根轨迹增益闭贫环悄零秃极师点诱与百开士环驻零肥极肚点祥的葵关缓系模投值载条旷件秩与购相予角菊条差件习的垃应叠用-片0盟.殃8赞2顷5ξ=聋0护.乡丰4艘6粉6ωn=歌2蠢.侨3慢4s1=蠢-稍0紧.模8进2隐5s2紫,方3=望-焦1荐.货0西9兽±钢j钢2刮.忍0其7-1.5-1-20.52源.律2节678.8o2玩.羞1广12.61127.53o92.49o2范.磨0向7骑2K*=2.26×2.11×2.612.072=碗6霸.绞0亦0符6钞89甚2降.倒4注9o-6剩6技.学2谷7o-粮7捏8款.争8o-狂1魄2比7兰.达5趟3o=班–滴1解8手0o-锅1适.并0扛9撑+蚂j互2酬.装0强766.27o求宴模垃求念角云例宵题根巾轨让迹括方梅程特枕征裕方唯程荐1阵+敲G沟H传=兼01+K*=0j=1m∏spi(-)pi开环极点“×”,也是常数！开环零点“○”,是常数！Zji=1n∏根轨迹增益K*，不是定数，从0~∞变化这宿种境形餐式的半特树征失方亡程就芳是根舍轨内迹冒方令程szj(-)根未轨令迹管的驾模萍值圣条鸭件内与伸相辟角膜条阻件j=1mn1+K*=0∏∏((ss--zjpi))i=1-歪1∑∠(s-zj)－∑∠(s-pj)=(2k+1)π

k=0,±1,

±2,…j=1i=1mnj=1mnK*=1∏∏︱ss--zjpi︱︱︱i=1K*=mnj=1∏︱s-zj︱∏s-pi︱︱i=1相角条件:模值条件:绘制根轨迹的充要条件

确定根轨迹上某点对应的K*值绘特制嘴根盛轨询迹夸的捐基执本权法客则1根仔轨栋迹淋的条敞数2根闭轨越迹喜对记称祥于举轴实就村是准特庆征验根内的个组数3根酿轨机迹决起芦始漆于,池终削止被于j=1mnK*=1∏∏︱ss--zjpi︱︱︱i=1j=1mn=∏∏︱ss--zjpi︱︱︱i=11K*开鞋环草极贪点开绞环乘零康点(n≠m?)举例()∞()∞4∣元n丽-垒m欢∣谢条借渐酬近均线劝对闪称潮于磨实巧轴教,兰均户起西于σa点轮,胁方向亲由φa确皆定零:∑pi-∑zj∣n-m∣i=1j=1nmσa=φa=(2k+1)πn-mk陡=牢0挣,伍1嚼,秆2散,定…5实巷轴捞上宴的村根蝴轨某迹6根慈轨雕迹冬的滚会娃合快与班分挨离1暖说毫明己什阀么2谈d排的夸推心导3慨分意离潮角括定始义实戒轴库上返某条段右侧就零考、读极单点个刻数凤之浮和为奇退数，事则铸该蜓段是根数轨氏迹j=1m∑i=1n∑d-pi11d-zj=k六=乖0瞧,歼1侨,凯2蓝,猛…λL=(2k+1)πL,无叫零帖点询时期右杀边唐为横零L虫为剑来点会厕合厌的荡根萄轨炼迹仁条洋数7与核虚惨轴鼻的腐交笋点可由劳斯表求出或令s=jω解出8起辰始赛角习与逆终万止咏角根弃轨划迹毫示造例瓣1j0j0j0j0j0j00j0j0jj00j同学们，头昏了吧？根盟轨埋迹示择例阵2j0j0j00jj0j0j0j00jj00jj0n炎=亭1缘瑞;痰d争=汁c疏o沾n踏v陪(窑[贷1躁2多0毒]灿,遗[吵1竹2慨2闯]件)唇;虹r纺l男o俊c姻u傍s至(鸟n方,膀d指)n歉=给[唉1押2迅]搅;诉d银=候c谈o些n票v林(害[技1棕2担5鼓]半,敏[恶[借1霞6燥1云0奥]工)带;凝r狂l杠o宵c赛u区s柄(份n订,舞d减)零址度根样轨赴迹特诵征败方精程溉为劲以水下誉形绣式弄时虏，绘面制零巾度根齐轨厉迹请连注绞意亡：G遍(添s团)聚H洪(凯s粱)绣的切分海子摸分伍母营均首搜一1、K*:0~+1–2、K*:0~–1+零坟度根河轨抽迹悉的笔模震值聚条装件澡与吐相岂角谋条日件K*=mnj=1∏︱s-zj︱∏s-pi︱︱i=1模值条件:∑∠(s-zj)－∑∠(s-pj)=(2k+1)π

k=0,±1,

±2,…j=1i=1mn相角条件:2kπ零妄度绘捐制零级度根戏轨裤迹拐的祥基妙本昏法衡则1根轨迹的条数就是特征根的个数不变！不变！2根轨迹对称于轴实3根轨迹起始于,终止于开环极点开环零点()∞()∞j=1mn=∏∏︱ss--zjpi︱︱︱i=11K*不变！4∣n-m∣条渐近线对称于实轴,起点∑pi-∑zj∣n-m∣i=1j=1nmσa=不变！渐近线方向:φa=(2k+1)πn-mk=0,1,2,…2kπ5实轴上某段右侧零、极点个数之和为奇数，则该段是根轨迹偶6根轨迹的分离点j=1m∑i=1n∑d-pi11d-zj=k=0,1,2,…λL=(2k+1)πL,不变！不变！7与虚轴的交点8起始角与终止角变了频姜率秒特案性夺的膏概械念设妹系纠统道结泊构垂如碰图铁，由恒劳唱斯肿判醒据义知刮系慨统歇稳防定待。给虫系瞧统歼输递入明一伶个幅沸值梨不炒变频调率不爸断恩增花大的鞭正渡弦显，Ar=忠1ω=六0区.势5ω=睁1ω=馅2ω=场2缠.照5ω=京4曲虽线豪如非下:40不结论给稳斤定的卖系煮统怠输净入图一勾个废正潜弦宗，异其稳深态柄输挂出是萄与钉输瓜入同挠频蹄率的糊正衡弦意，倚幅毙值靠随ω而变，井相壤角也善是ω的明函肃数捏。AB相厅角散问窄题①稳秘态扩输面出迟怒后存于输缝入释的烘角撤度打为检：②该幸角牢度甩与ω有BA360oφ=AB③该摆角头度太与无初康始关系∴为φ(ω),角度无关∴,…频言率午特递性设愤系茎统稳远定，趴则惊正锋弦陪输脱入忠时据输来出嫁为犹：C忆(免s叨)=Φ闭(哗s粗)R野(涝s搅)=s2+ω2Arω∏(s-si)∏(s-zj)kΦ*1nm1s-siai∑1n=++s+jωB1s-jωB2Cs(麦s听)=ct(t)=∑aies

tict(兴∞渴)=家0∵系集统品稳刷定泛，∴Φ(jω)Ar2j(s-jω)+=ArΦ(-jω)-2j(s+jω)Φ(jω)ejωt

Φ(-jω)e-jωtAr2jcs(t)=Φ(s)(s+jω)(s-jω)Arωs+jωB1+s-jωB2Φ(jω)=a(ω)+jb(ω)c(ω)+jd(ω)Φ(-jω)=c(ω)-jd(ω)a(ω)-jb(ω)Φ(-jω)Φ(jω)∠Φ(-jω)∠Φ(jω)Ar

Φ(jω)ej∠Φ(jω)ejωte-j∠Φ(jω)e-jωt2jAr

Φ(jω)sin(ωt+∠Φ(jω))频乌率诞特警性对裁数笑坐僻标怖系倒葛置释的款坐岭标锻系积葛分缴环察节甜L告(ω统)①G(s)=1s②G(s)=10s1③G(s)=5s100.2210.1L(ω)dBω0dB2040-40-2020100[滴-珠2斑0姿][半-她2互0贷][启-啄2利0君]①G(s)=s②G(s)=2s③G(s)=0.1s100.2210.1L(ω)dBω0dB2040-40-2020100[矛+俯2启0握][馅+则2笔0谦][艇+只2绵0哲]微态分环姐节L加(ω宫)惯微性之环乒节G医(膝jω鸽)G(s)=0.5s+110.25ω2+1A(ω)=1φ喉(逼ω笼)赞=匀-樱t衣g-得10用.均5缺ωj01Im[G(jω)]Re[G(jω)]ω00.51245820φo(ω)A(ω)01-1蛾4横.刃50刊.荡9柔7-2惧6泳.扔60降.猾8会9-4透50齐.送7烫1-获6民3穷.坝4虏-誉6搜8荷.相2进-川7兽6角-招8和40搅.捆4卷5伶0程.场3贷7搏0抵.朵2植4胀0谜.感0脱5①G(s)=10.5s+1100②G(s)=s+5100.2210.1L(ω)dBω0dB2040-40-2020100惯自性长环浆节L秋(ω勤)[背-毛2丛0完][肿-茶2纪0滑]2准6础d牧B0o-30o-45o-60o-90o①G(s)=0.5s+10.3②G(s)=(0.25s+0.1)L(ω)dB100.2210.1ω0dB2040-40-2020100一控阶恳微焰分L泡(ω孔)0o+30o+45o+60o+90o[状+离2剧0舌][武+绍2步0抚]振球荡愉环逃节半G宝(域j士ω逐)(深0泊<ξ滴<烦1竖)(祝0丛<ξ遍<霸0攻.裁7呆0被7饮)振慌荡茶环鞠节演G炸(烛j环ω流)落曲撞线（韵N牲y崭q纤u特i贫s棚t添曲闲线）0j1振锣荡齐环糖节糊L够(ω亚)100.2210.1L(ω)dBω0dB2040-40-2020100[认-购4歌0歼]振它荡拐环威节再分斩析0dBL(ω)dBω20lgkωnωr(仁0忘＜ξ＜臣0娇.巩7掏0犯7弟)[厌-粉4浪0究]0＜ξ＜0.5ξ=0.50.5＜ξ＜1友情提醒:φ(ωn)=-90o?2nn22nS2Sk(氧s版)Gw+x颈w+w=ω=

r二肿阶大微挡分j01幅灭相群曲度线对耗数性幅孔频尸渐丝式近壁曲新线0dBL(ω)dBω[熊+口4看0夏]ωn0神<ξ慕<飘0东.艇7拔0犹7时乖有诉峰宝值晨：几液点庄说惭明…绘辨制结L黄(ω梨)例捐题100.2210.1L(ω)dBω0dB2040-40-2020100[恭-罗2伶0侵][摧-垫4采0欠]绘制的L(ω)曲线低频段：时为38db时为52db转折频率：0.5230斜率：-20+20-20[舱-够2饺0赞][遥-造4筛0陕]0-25Im[G(jω)]Re[G(jω)]例极题柏1误：机绘傍制的剃幅滩相旱曲访线。解明：求窝交贸点刘：曲党线劈燕如告图谷所妥示晌：开腥环仇幅即相海曲父线太的头绘拒制令.064,056,0)]j(GRe[222=+w=w+w-=w无田实眉数霸解勉，则与开虚毅轴德无悄交点稳兰定裁裕吗度竟的羽定背义若z四=彼p如-2群N中p漆=子0,壮则转G探(提jω克)过(伶-版1坊,时j箱0王)点紫时油，系隶统临凤界这稳赵定抛，见扛下坊图迅：G赏(场jω绍)曲云线枯过(键-北1壮,容j概0盖)点惊时亩，G(jω)=1同起时秀成只立识！特萍点艺：∠G糊(母jω袄)=眯-1悲8降0o0j1-1G斜(辈jω垦)j01ωcωxγG博(蓄jω遍)G(jωx)∠床G元(邮j福ωc)∠吃G罗(蔽j僚ωc)会–γ=亦–续1晓8碗0oG(jωx)h=1幅值裕度h=G(jωx)1相角裕度=180o+∠G(jωc)γ稳膨定悲裕旨度疯的屈定肺义杰续舍1-鹿10dB-180ocωxωcx∠G腐(纸jωc)20lg–γ–180o=γ=180+∠

G(jωc)相角裕度:幅值裕度:hdB=－20lg稳赏定苗裕企度愉的瓣定注义毛续锈2Lc(ω)0dB0o1/aT1/T超巨前穿校贿正下网摇络Gc(s)=1+aTs1+Tsa﹥敢1低堵频代段咐：朱1委(俊0欢d琴B厦)转钞折妈频遵率柳：1aT1T斜击率抽：[盗+休2慕0矩][樱-单2今0岂]ω=0ω=∞0o+90o0o-90o0o0odφc(ω)dω=0令ωm=1aT1T=1T得ωm20lgaLc(ωm)啊=耳1娘0丽l腰g烂a10lgaφm=arcsina-1a+1关键思路：让ωm=

φm例矩6绣-崖3系阔统美如运图视,舅试浇设币计绪超叉前悦校抢正爆网竞络立，使动r住(僻t斧)四=聋t声时转折频率：1bT1T迟住后校校储正帐网桥络Gc(s)=1+bTS1+TSb姜＜愧1低志频晓段寒：琴1新(材0向d梁B党)斜率：[+20][-20]ω=0ω=∞0o+90o0o-90o0o0oω=101bT时Lc(ω)=20lgbc(ω)≈-5o~-9oj1bT例拌6视-扁4设牙计擦校我正形网友络动使雁图呼示监系室统

ω=2.7时φo(2.7)=–133oO虏K[-20][+20]迟宫后混-辨超剂前中校叠正渗网敢络-种1封0潜l坏gαφm-么2池0诊l匀gα例罚6树-孕5设各未慌校橡正薪系丢统烂开晚环础传歪递豪函筑数缘瑞如苹下异，郑试构设容计五校吸正泡网辱络尽使宣：1近）在序最嘉大半指丝式令司速圣度涨为胖1葡8贞0烂/黑s增时矮，选位株置脏迟停后室误下差绑不漂超绩过膨1o;2勉)相巩角懂裕稼度工为巩4任5o±乖3o;3博)幅炉值澡裕泳度蓝不顾低胆于甲1芦0放d森B哨;4羽)动渣态覆过心程夏调罚节趣时误间易ts不理超遣过挣3涨秒狡。0dB20406080-20-40-60-800.1110100ω[-20][-60]取=45o,ts=2.7s,由框(普6论-即8懂)树～恢(债6叠-避1兴0蔽)管求浸得3.5c=w¢¢j0(陵3垃.惭5生)牺=灿-体1滤8照0oL0(泉3喊.图5延)静=秀2满6编.端8蔬d裕B采扑用次滞胃后韵超奋前斥校横正3.5bw取=2降阶bwa=100,a=谱5买00.5s+10.01s+1=58.25o,3.5∴可取aw=1例带6湿-弱5威图认12捞6蹄.梅8例怪6梳-月5孩图猾2G(s)=180(s+1)s(s/6+1)(50s+1)(0.01s+1)3.29c=w¢¢=g¢¢42.8o¢¢h=27.7dBts=密1谱.沙6屯5汉s√嘿嘿ok!零婶阶祝保益持士器T=0.4T=0.8T=0.2T=3Z静域石等京效阁变篇换[1狮(错t扶)+t]*=负[1来(跃t客)]*+躺[t]*R(s)B(s)E(s)E*(织s稠)R(s)B(s)E*(s)R(s)B(s)E*(s)E*(s)采惹样裁信妙号重的烤频番谱δT(t)=ωs=由2罪π暑/断T为炒采亚样圈角少频临率块,Cn是捕傅难氏盲系茂数柿,图其扩值越为趟：δT(t)=连赚续尚信期号肆的茅频蹈谱拨为采踩样痰信禁号亩的锐频鞭谱活为ωh-规ωh0ωh-揭ωh0ωs2怎ωs3辨ωs-绝3群ωs-课2劣ωs-锹ωsωh-ωh0ωs-ωsωh-ωh0ωs2ωs3ωs-3ωs-2ωs-ωsωs=括2旅ωh滤瞒波劝器旁的淡宽泥度录满陈足摇什舰么条天件桂时剩能佩从得宝到?刚?绳!ωs≥励2绕ωh或型：T晚≤π炒/悲ωh脉期冲滨响末应2K(t)00.032r(t)1脉鱼冲冤响溜应脉勤冲篮响蠢应脉圆冲牧传号递翼函朱数参的蜂意免义G(s)r(t)r*(t)c(t)c*(判t助)G瞎(疮z片)r蹄*甚(鹊t仿)其=δ楚(震t南)翼,钥c跳(雀t顽)尾=偏K连(泻t山)r汉*兰(仰t遇)术=δ库(知t结-广T雀)骂,过c做(杂t匀)拆=阔K削(谦t蛾-促T舱)e*(t)=Σe(kT)δ(t-kT)k=0oooK[(k-n)T]δ(t-kT)r(nT)k=0oΣ=c*(t)r婆*渗(括t治)梨=r渡(nT)δ宪(司t脾-nT纽奉)板,礼c究(董t疼)凶=r退(nT)K扇(葱t上-nT转)线摧性行定己常倒离捎散泄系细统柜的岁位妨移贱不针变辰性ook=0c(kT)δ(t-kT)c*(t)=Σr(nT)K(kT-nT)δ(t-kT)ook=0∑=r*(t)=Σ

r(nT)δ(t-nT)n=0ooR(z)=n=0ooΣr(nT)z-nc*(t)=Σ

c(nT)

δ(t-nT)n=0oooK[(k-n)T]δ(t-kT)r(nT)k=0oΣn=0ooΣ=δ(t-nT)c*(t)根领