自控原理习题分析第三章(2009xu)

自动控制原理习题分析第三章3-17

某复合控制系统的结图如构图所示.在给定输入作用和扰动输入作用同时加,入且r(t)?n(t)?Bt?1(t)时,为使稳态误差e试求Kd的值.(KK2,K3,T1,T2,τ均为正数.)ss?0,1,

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自动控制原理习题分析第三章3-17

Φ(s)?C(s)(G1?Gc)G2?;令N(s)?0:ER(s)?R(s)?C(s)R(s)1?G1G2(G1?Gc)G21?G2Gc?R(s)?Φ(s)R(s)?R(s)?R(s)?R(s)1?G1G21?G1G2 幻灯片27

自动控制原理习题分析第三章3-17

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自动控制原理习题分析第三章3-17

1?G2Gc?essR?limsER(s)?limsR(s)s?0s?01?GG12K1Kds1?s(T(τs?1)B1s?1)?lims2s?0K1s1?K3s(T1s?1)(T1s?1)(τs?1)?K1KdB?K1KdB?limB?s?0s(Ts?1)(τs?1)?KK(τs?1)K3K1 131幻灯片29

自动控制原理习题分析第三章3-17

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自动控制原理习题分析第三章3-17

EN(s)?1令R(s)?0,?G3N(s)1?G1G2?1?essN?limsEN(s)?limsG3N(s)s?0s?01?G1G2K2B?K2(T1s?1)?BK2T2s?1?lims?limB?2s?0s?0K1ss(T(T2s?1)K3K11s?1)(T2s?1)?K3K11?K3s(T1s?1)?ess?essR?essN?

B?K1KdB?BK2B(1?K1Kd?K2)1?K2??,当Kd?,ess?0K3K1K3K1K3K1K1