《机械控制理论》Chap3.ppt

3.6 Definition of time constant The transient terms have the exponential form Aemt. When m =-a is real and negative, the plot of Aemt has the form shown in Fig. 3.3. The value of time that makes the exponent of e equal to -1 is called the time constant T. -aT = -1 and T =1/a (3.40) FIG 3.3 Plot of the exponential e-at and the root location 3.6 Definition of time constant In a duration of time equal to one time constant the exponential e-at decreases from the value 1 to the value 0.368. Geometrically, the tangent drawn to the curve Ae-at at t=0 intersects the time axis at the value of time equal to the time constant T. When m=s±jwd is a complex quantity, the time constant is defined in terms of the parameter s that characterizes the envelope Ae-st. Thus the time constant T is equal to (3.41) 3.7 Examples: second-order system----mechanical (3.42) Consider the system to be originally at rest, xa(t)=u-1(t). xb(t) = xb,ss + xb,t k=0, w=0→q=k-w=0; xb=b0→D2xb=Dxb=0 xb,ss=b0=xa 3.7 Examples: second-order system----mechanical The characteristic equation is Putting this in terms of x and wn gives The transient solution depends on whether the damping ratio x is (1) x 1, (2) x=1, or (3) x1. 3.7 Examples: second-order system----mechanical (1) x1→real roots: m1=-a, m2=-b (3.44) (2) x=1→real and equal roots: m1=m2=-xwn (3.45) (3) x1→complex roots: (3.46) (3.47) 3.7 Examples: second-order system----mechanical When t=0, xb(0)=0, Dxb(0)=0, two simultaneous equations: 3.8 Examples: second-order system----electrical FIG 3.5 Electric circuit E=10V, R1=10Ω, R2=15Ω, R3=10Ω, L=1H, C=0.01F Known: The circuit, is in the steady state. At time t=0 the switch is closed. The problem: to solve for the current i2(t) through the inductor for t0. * School of Mechanical Engineering 湖南工业大学机械工程学院 Fundamentals of Control Theory Chap 3 Solution of differential equations Fundamentals