线性控制课件 module 3 08411english.pptVIP

Linear Control Systems Engineering线性控制系统工程 Module 3 First-order Systems (一阶系统) Fig.3.2 Electricalfirst-order system Fig.3.4 First-order system transfer function Fig.3.6 step response Fig.3.7 Ramp response Harmonic response (频率响应） - Steady-state response of the Linear time invariant system( 线性时不变系统) - Input: harmonic signal - Output: substituting into(代入） Sample Problem 3.1 A first-order open loop system: Input: Requirement: Plot the amplitude ratio and phase as a function of frequency(与频率ω的函数关系）,and find the value of ω that make phase –π/4 and the corresponding amplitude. Solution Hence Substitute into below equations Results in Amplitude ratio and phase φ If phase φ= –π/4 Fig.3.11 Step response of feedback system Fig.3.13 Two-pole system 3. The above argument could be applied to both complex poles and real poles. Sample Problem 3.3 Fig.SP3.3.1 ? closed-loop pole  ? open-loop pole Fig.SP3.3.2 Solution: 1. The open-loop transfer function Time constant τ =0.2, open loop pole s=-5; 2. Since time constant τ=0.2 does not meet the requirement, it is necessary to form a feedback system by measuring speed with a tachometer(测速计). Closed loop poles s=-5-2.5G * ? First-order system: a system is represented by a first order differential equation. Example 1 a mechanical system Taking the Laplace transform in zero initial conditions: Then τ is called time constant(时间常数）, and has unit of second. Example 2 a RC circuit ?The Generalized First-Order Systems: Transfer function Block diagram ? The Response of First-Order System Some Common Inputs: a. Impulse（脉冲） Signal b. Step （阶跃） Signal c. Ramp （斜坡）Signal d. Parabola（抛物线 ）Signal e. Harmonic （谐波）Signal ? a unit impulse response （单位脉冲响应） Take inverse Laplace transform Input: outp