CH-differentialequations.ppt

Homogeneity: Example 2.1：Linear systems ? 依据：电学中的基尔霍夫定律 Utilizing the following physical laws： 1. Newton’s second law of motion(牛顿第二定律): the summation of the forces acting on a mass M is equal to the product of the mass and its acceleration. 2. Hook’s law(虎克定律): the elasticity force of an ideal spring is linear proportional to the relative displacement. 3. Viscous friction law(粘性摩擦定律): the friction force is linear proportional to the velocity of the mass. Ch.2 Mathematical Modeling of Dynamic Systems 2-1 微分方程 2-2 传递函数 2-3 动态结构图及等效变换 2-4 信号流图及梅逊公式 2-5 控制系统的传递函数 拉普拉斯变换 Mathematical model (数学模型) is defined as a set of equations that represents the dynamics of the system. It reveals the relationship between structure, parameters and the dynamical performance(揭示了系统结构、参数与动态性能之间的关系). What is? Why? To control complex systems suitably, one must understand the systems thoroughly. It’s the basis of analyzing or designing the control systems. Introduction Introduction 1. Inherent laws: The equations describing the dynamic performance of a physical system are obtained by utilizing the physical laws (such as Newton’s second Law ) of the process. It is more suitable for simple system modeling. How to get? Introduction 2. Experiment: Using typical test signals as inputs to stimulate the system, and then develop the input-output relationship by analyzing the measured output. This approach is usually adopted when we have no idea about the systems in advance. Black Box Input Output Actually, we may know something about the systems, so a mixed modeling strategy is often used in engineering. 1) Differential equations (微分方程) 2) Transfer function (传递函数) 3) Block diagram (方框图) 、signal flow graph (信号流图) 4) Frequent response (频率响应) 5) State variables (modern control theory) (状态变量) Types of mathematical model: Introduction Simplicity vs. Accuracy In obtain a mathematical model