经典控制理论1第二章

1、结构图三种基本形式串联并联反馈G1G2G1G2G1G2G11+ G1 G2G2G2G1G1结构图等效变换方法 1三种典型结构可直接用公式 注意事项：2引出点综合点相邻，不可互换位置1不是典型结构不可直接用公式3相邻引出点可互换位置2相邻综合点可互换位置引出点移动1G4abH1H3G4G2G1G3H2H1H3G1G2G4G3H2综合点移G3G1H1G2G1G3H1G2G1同类移动作用分解G4H1H3H3H1G3G2G1G4H1H3G3G2G1Pkk C(s)R(s)梅逊公式介绍 R-C称为系统特征式:=1- La+ LbLc-LdLeLf+其中:所有单独回路增益之和LaLbLc所有两两互不接触回

2、路增益乘积之和LdLeLf所有三个互不接触回路增益乘积之和Pk从R(s)到C(s)的第k条前向通路传递函数k称为第k条前向通路的式求法: 去掉第k条前向通路后所求的GG11(s)(s)GG33(s)(s)GG22(s)(s)G1(s)G2(s)G3(s)G3(s)G4(s)G3(s)G4(s)梅逊公式例R-CG4(s)G1(s)R(s)G2(s)C(s)L1= G1 H1L5 = G1G2G3L1L4=(G1H1)(G4G3)=G1G3G4H1C(s) R(s) =?L1L2= (G1H1) (G3H3) = G1G3H1H3L4= G4G3L3= G1G2G3H3H1L2= G3 H3P2=

3、 G4G3P1=G1G2G32=1+G1H11=1H3(s)H1(s)G3(s)梅逊公式求C(s) N(s)E(S) R(s)L1= G1H1L2= G2H2L3= G1G2H3L1L2= (G1H1)(-G 2 H2 )R(s)G3G2(1-G1H1) +G1G2 + G2N(s)C(s)=1- G H + G H + G G H -G H GH11221231122H3(s)H1(s)H2(s)G1(s)G2(s)C(s)G3(s)梅逊公式求E(s) N(s)E(S) R(s)E(s)= 1- G H + G H + G G H -G H GH11221231122H3(s)H1(s)H2

4、(s)G1(s)G2(s)C(s)G3(s)梅逊公式求E(s) N(s) C(s) E(S) R(s)P1=1(1+G2H2)+1=1+G2H2P11= ?E(s)=1- G1H1+ G2H2+ G1G2H3-G1H1G2 H2H3(s)H1(s)H2(s)G1(s)G2(s)G3(s)梅逊公式求E(s)E(S) R(s)(1+G2H2)+E(s)=1- G1H1+ G2H2+ G1G2H3-G1H1G2 H2H3(s)H1(s)HG1(s)G2(s)2(s)C(s)G3(s)梅逊公式求E(s)E(S) R(s)P2= - G3G2H32= 1P22=? C(s) R(s) (1+G2H2)+

5、(- G3G2H3) E(s)=1- G1H1+ G2H2+ G1G2H3-G1H1G2 H2H1(s)H2(s)G1(s)H3(s)G2(s)G3(s)P2= - G3G2H32= 1P22=?梅逊公式求E(s) N(s)C(s)E(S) R(s)P1= G2H31= 1R(s)(1+G2H2) +(- G3G2H3)+(G2H3) N(s)E(s)=1- G1H1+ G2H2+ G1G2H3-G1H1G2 H2H3(s)H1(s)HG1(s)G2(s)2(s)G3(s)信号流图e gbacd1R(s)C(s)fh 四个单独回路，两个回路互不接触前向通路两条 C(s)= abcd+ ed (1bg) R(s)1 af bg ch ehgf+afch习题2-15(p72图2-63)30k20k10k+15v-15v10kuiu1uau2功放k3TGSM+10kuo10k-k1-k2ut+15v-15v位置随动系统原理图习题2-15方块图K0=30v/330