自动控制原理教程三

2.2传递函数与系统结构图1,串联G1(s)G2(s)U(s)Y(s)2,并联G1(s)G2(s)U(s)＋＋Y1(s)Y2(s)Y(s)G1(s)+G2(s)U(s)Y(s)结构图的变换和简化：(按代数运算规则，原则：保持变换前后输入输出关系不变)G1(s)G2(s)U(s)Y(s)U1(s)2愈.派2密传责递风函来数悠与赛系妈统宵结相构浑图G1(s)G2(s)U(s)Y(s)E(s)＋－4招，节必点永移论动E(s)=恋U(s)–蒸G2(s)Y(s)Y(s)=煎G1(s)E(s)Y(s)=摸G1(s)[U(s)–饼G2(s)Y(s)]=美G1(s)U(s)–麦G1(s)G2(s)Y(s)[目1女+G1(s)G2(s)构]Y(s)=介G1(s)U(s)3友,也负碰反肃馈U(s)Y(s)2括.搂2怀传翠递宇函辽数剪与足系圣统松结贺构刃图R1R2C1C2eeieoi1i2iI1II2－＋EIEoI2EiEEoI1II2++－－试叫探核：县从荷输贵入胆到盟输静出础，恢先姨元捷件工后衰联楚成升系株统例贫：坝求崇传粥递跪函损数EiI1＋－EEI2＋－EoR1C2S+++---EiEo2翅.啄2波传闯递泼函落数袄与超系琴统妙结挖构栋图例：求闭传椒递剧函亮数EiEEo++－－R1C2s+－R1C2S+-EiEoEiEo2绳.沈2效传屠递春函仁数芽与绑系码统泛结罪构株图R1C2S+-EiEo例酒：互求顷传标递秒函淘数Gc(s)Gp(s)F(s)+-+－R(s)Y(s)D(s)控制器被控对象测量元件开康环屑传哑递之函错数紧：G0＝Gc(s)Gp(s)F(s)闭讲环拴传务递族函翅数氏:当F(s)与=黑1时伪，容为窝单底位焰反钟馈间系耍统殿，笋此选时对劝扰炮动屈输坟入说的壁传凑递步函严数蒸：2字.助2棵传椅递泼函驶数宏与迫系亭统睡结六构仁图闭纱环什控候制躬系队统读的衬基点本阔结姨构2诞.萄3丢信烘号恐流系图咽及M思a娱s烧o昆n公瓣式例哭1薪:x2=万a1映2x1

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a12x1x2方叙框跟图信母号轰流比图例放2运:x2=a1站2x1+a3雄2x3x3=a1个3x1+a2饲3x2+a3却3x3x4=崖a2毙4x2+廊a3别4x3x1输特入旧节筋点x4输柴出睛节炊点x2，x3中喜间愤节游点往（总混灶合活节估点厘）EiEEoI1II2++－－2栽.学3休信此号汽流身图方及M附a占s牵o破n公么式由绪方利框缠图妖到蹈信冤号畏流怜图印，瘦有扯些胀中宁间舒变始量疑可箭以拣不遇表庸示善出尾来鱼，眨如I1。有呼些扯中怜间今变械量令（屑位戏于族综迅合规点递前请，房诚有鸦输项出狠）和必特须蓬表虎示捎出压来仆，欧如Ei和E，用腊单乔位筐增罪益纽奉支沫路真将榨它危们逐分芹开后。2吃.蹈3居信泛号罪流顿图骑及M煮a贷s盒o朗n公广式

G1

G2RE1UYE1+－+－1-111-1RE1UE1Y2终.稠3调信颗号斩流彼图酬及M毫a蜓s妥o第n公脖式KM手a起s允o呜n公众式：G—描—从米输基入贴节菜点鞋到古输搁出量节吹点鸭的尾总抚增紫益淘（欣系顽统懒传绿递贺函首数揉）Δ=助1沃－Σ沾Li+ΣLaLb-Σ汇LαLβLγ+先…Li—汪—一及个瓜回瓶路请的恨总真增构益LaLb—城—因两启两童互辞不亲接手触榨的虫回贷路乐的孕总买增恼益LαLβLγ—卸—三昼个犯互眉不占接裹触疏的网回氧路快的春总清增炼益Gk—围—从溉输妻入舒到柱输凯出浆第k条厚通刮道境的苹总升增吧益Δk—标—Δ中雁去舰掉通与龙第k条疼通清道斩接向触钻的粒部层分回魂路找—唐—鹅沿林信螺号拔方突向箱每照一航个刃节遮点搂只惕通枣过按一税次御的诵闭寻路击。通迈道榨—硬—助从传输野入进到初输奖出遥沿低信马号肉方犯向阻每抬个烛节搏点戏只宗通偏过糕一忘次嫁的蜜通耐道掉。接葵触筹—舌—溉指突有武公础共谈的雁节阁点家和报支模路膜。abcdefb克e严,c皆f回搂路改,b秀e培c察f不骗是筑回岛路a管b盏c吼d是筛通糖道冈，a门e井c四d和a江b云e猜c窜d不丛是2绪.拾3窗信渴号辣流权图启及M皇a锦s杠o忍n公锻式2泰.菠3换信恳号激流穴图压及M鹿a法s捐o椒n公袜式