计算机控制技术Bch-精要.ppt

Chapter 5 Sampled-Data Systems (3) From state space to pulse transfer function （状态空间与传递函数） For Chapter 5 Sampled-Data Systems Frequency response of FOH: Chapter 5 Sampled-Data Systems The effect of hold: Chapter 5 Sampled-Data Systems First order hold: Predictive first order hold: Chapter 5 Sampled-Data Systems 5.4 Block-Diagram Analysis of Sampled- Data Systems. （采样数据系统的方框图分析） Chapter 5 Sampled-Data Systems If then not Chapter 5 Sampled-Data Systems The meaning of block diagrams: Chapter 5 Sampled-Data Systems Example 5.1 (P172) 建立下图离散输出 Y＊ 与离散输入之间的关系： Chapter 5 Sampled-Data Systems Sometimes, the ZOH of D/A also can be considered part of the plant. ZOH Chapter 5 Sampled-Data Systems z- transfer function from block diagrams: （由方框图得到z-传递函数） ZOH r(t) e(t) r(kT) u(kT) y(kT) Chapter 5 Sampled-Data Systems 5.5 (4.3) Discrete Models of Sampled-Data Systems （采样数据系统的离散模型） Chapter 5 Sampled-Data Systems 5.5.1 Polynomial form by using z-transform （用z-变换的多项式表达） The prototype sampled-data system: （采样数据系统的原型） Chapter 5 Sampled-Data Systems ZOH Chapter 5 Sampled-Data Systems Discrete Models from block diagrams: （从方框图得到离散模型） GP(s) U1(s) Y(s) Y(z) U(z) G(z) (1-e-sT)/s G(s) Chapter 5 Sampled-Data Systems The discrete transfer function G(z) is the z-transform of the samples of the output when the input samples are unit pulse at k=0. （ 离散传递函数G(z)就是对在k=0时的单位脉冲输入所产生的输出进行采样后的z-变换） Chapter 5 Sampled-Data Systems The discrete transfer function from input samples u(kT) to the output samples y(kT) picked up by the A/D converter is (从A/D转换器上得到的从对输入信号u(kT)的采样到对输出信号y(kT)的采样所得到的离散传递函数是) ZOH Chapter 5 Sampled-Data Systems Example 4.5, 4.6 (P98-99) 求下列离散传递函数，其对象是由零阶保持器处理 ① ② ZOH Chapter 5 Sampled-Data Systems Example 有一对象 , 及控制器 D