自动控制原理 习题答案 任彦硕 主编 习题解答-第5章.pdfVIP

5 5-1 10 (1) G(s)H(s) (s +1)(0.2s +1) 5(s +1) (2) G(s)H(s) 2 (s 3)(s 2s 2) + + + 100 (3) G(s)H(s) (s +1)(s +3)(s +4) 5-6 5-1 10 10−12 ω−2ω2 j (1) ( ω) ( ω) G j H j 2 2 ω ω ω ω (j +1)(0.2j +1) (1+ )(1+0.04 ) 10−2ω2 P (ω) 2 2 (1+ω )(1+0.04ω ) 12 − ω ( ) Q ω 2 2 (1+ω )(1+0.04ω ) ϕ(ω) =−arctan ω−arctan 0.2ω Nyqist ω 0 ⇒P (0) 10 Q(0) 0 ϕ(0) 0 ω=∞⇒P(∞) 0 Q(∞) 0 ϕ(∞) −180 P(ω) 0 ⇒ω 2.236 ⇒Q(ω) −3.73 Nyqist 1 1 1ω 1 2 ω 5 T T 1 2 2 2 L (ω) 20 lg A(ω) 20 lg 10−20 lg ω +1−20 lg (0.2ω) +1 ϕ(ω) =−arctan ω−arctan 0.2ω Bode 5(1+j ω) (2) G( jω)H (j ω) 2 ω ω ω (3 +j )(2 − +2j ) 2 2 2 2 5(3 +ω )(2 −ω ) +20ω −2(1+2ω )j ω 2