ech2_2011.ppt

Essential Demands Stability –Error decending with time Swiftness- Transient process Accuracy – Steady State Error Chapter 2 Mathematical Models of Systems The Laplace Transform and Inverse Transform. Differential Equations of Physical Systems. The Transfer function of Linear Systems. Block Diagram and Block Diagram Reduction. Signal-flow Graph and Mason’s gain formula Definition of Mathematical model of system Mathematical model:Descriptions of the behavior of a system using mathematics. Types of mathematical models 1、Differential Equation 2、Transfer Function 3、Frequency Response 4、State Equation 5、Difference Equation Examples Principle of superposition 液面系统线性化 The Laplace Transform Inverse Laplace Transformation Initial Conditions 二次的，二次方程 f(t)=t, g(t)=-exp(-st)/s Theorem Inverse Laplace transformation can be denoted or * 纸张定量：在造纸业，一标准令纸张的重量。 Control System Design Steps Control System Design Steps (cont’d) ? Define the control system objectives. ? Identify the system boundaries. – define the input, output and disturbance variables ? Determine a mathematical model for the components and subsystems. ? Combine the subsystems to form a model for the whole system. ? Apply analysis and design techniques to determine the control system structure and parameter values of the control components, to meet the design objectives. ? Test the control design on a computer simulation of the system. ? Implement and test the design on the actual process or plant. 描述系统的输入、输出变量以及系统内部各个变量之间的数学表达式。 Differential Equations of Physical Systems The differential equations describing the dynamic performance of a physical system are obtained by utilizing the physical laws of the process. How to get the differential equations of physical systems? Step1:确定系统中各元件的输入、输出变量。 Step2:按信号传递顺序列写微分方程。 Step3:化简（线性化、消去中间变量），写出输入、输出变量间的数学表达式。 Differential Equations for Ideal Elements (1) Electrical Resistance U i R (2) Electrical Capacitance C U i (3)Electrical Inductance L i (4