【物理】上交自控讲义第四五讲.pptVIP

Module 4, 5 and 7 Second-order systems Contents and Requirements on the Module Examples of Second-order systems Concept of second-order systems Modeling a DC electric motor positioning an inertia load through a gearbox Second-order electrical system Second-order step response Step response analytical solution Relationship between system poles and transient response Time-domain performance specifications Reduction to a lower-order system Conditions for system order reduction Effects for a closed-loop pole or zero Occurrence of closed-loop zeros Concept of Second-order systems Systems which are described by differential equations containing the second derivative of the output variable Generalized notations: A: where, ξ is the damping ratio ωn is the undamped natural frequency One possible closed-loop diagram B: Field-controlled permanent- magnet DC motor transfer function Apply Kirchhoff’s law on the field winding, Mechanical torque produced on the armature, Apply Newton’s second law on the mechanical aspects, Lead to the transfer function, DC motor to position an inertia load through a gearbox Second-order electrical system Apply Kirchhoff’s law, Eliminating the middle variable i yields the transfer function, Contents and Requirements on the Module Examples of Second-order systems Concept of second-order systems Modeling a DC electric motor positioning an inertia load through a gearbox Second-order electrical system Second-order step response Step response analytical solution Relationship between system poles and transient response Time-domain performance specifications Reduction to a lower-order system Conditions for system order reduction Effects for a closed-loop pole or zero Occurrence of closed-loop zeros Second-order step response Assumed that the system is underdamped, define damped natural frequency ωd as, Then, Second-order step response Second-order step response is summarized in Fig. 4.23 in P79 For the case, ξ 1 , it is c