§3-6操纵系统稳态误差.pptVIP

误差定义 典型输入下的稳态误差与静态误差系数 取不同的ν 减小和消除误差的方法(1,2) * * G(s) H(s) R(s) E(s) C(s) B(s) 输入端定义： E(s)=R(s)-B(s)=R(s)-C(s)H(s) G(s) H(s) R(s) E(s) C(s) H(s) 1 R(s) ˊ ˊ 输出端定义： E(s)=C希-C实= -C(s) R(s) H(s) ˊ G(s) R(s) E(s) C(s) C(s) E(s)=R(s)-C(s) G1(s) H(s) R(s) C(s) G2(s) N(s) En(s)=C希-C实= –Cn(s) 总误差怎么求？ §3.6 控制系统稳态误差 Evaluation only. Created with Aspose.Slides for .NET 3.5 Client Profile 5.2.0.0. Copyright 2004-2011 Aspose Pty Ltd. G(s) H(s) R(s) E(s) C(s) E(s)=R(s) 1+G(s)H(s) 1 若系统稳定, 则可用终值定理求ess ess= lim s 1+ k sν G0H0 R(s) →0 s R(s)=R/s r(t)=R·1(t) ess= 1+ k sν R lim →0 s r(t)=V·t R(s)=V/s2 ess= s· V lim →0 s k sν r(t)=At2/2 R(s)=A/s3 ess= s2· A lim →0 s k sν kp kv ka Evaluation only. Created with Aspose.Slides for .NET 3.5 Client Profile 5.2.0.0. Copyright 2004-2011 Aspose Pty Ltd. r(t)=R·1(t) ess= 1+ k sν R lim →0 s r(t)=V·t ess= s· V lim →0 s k sν r(t)=At2/2 ess= s2· A lim →0 s k sν Ⅰ型 0型 Ⅱ型 R·1(t) R 1+ k V k V·t 0 0 0 ∞ A k ∞ ∞ At2/2 R·1(t) V·t At2/2 k k k 0 0 0 ∞ ∞ ∞ 静态误差系数 稳态误差 小结： 1 2 3 Kp=? Kv=? Ka=? 非单位反馈怎么办？ 啥时能用表格？ 表中误差为无穷时系统还稳定吗? Evaluation only. Created with Aspose.Slides for .NET 3.5 Client Profile 5.2.0.0. Copyright 2004-2011 Aspose Pty Ltd. 1 按扰动的全补偿 N(s) R(s) Gn(s) T1s+1 k1 s(T2s+1) k2 C(s) E(s) 令R(s)=0,En(s) = -C(s) = s (T1s+1)(T2s+1) + k1k2 (T1s+1)+ k1Gn(s) N(s) 令分子=0，得Gn(s) = - (T1s+1)/k1 这就是按扰动的全补偿 全 t从0→∞全过程 各种干扰信号 2 按扰动的稳态补偿 设系统稳定，N(s)=1/s ,则 essn= －limsC(s) =－lim s→0 s→0 k1k2 1+ k1Gn(s) ∴Gn(s)= -1/k1 Evaluation only. Created with Aspose.Slides for .NET 3.5 Client Profile 5.2.0.0. Copyright 2004-2011 Aspose Pty Ltd. 令N(s)=0, Er(s)= 令分子=0，得Gr(s)= s (T2s+1)/ k2 3 按输入的全补偿 N(s) R(s) Gr(s) T1s+1 k1 s(T2s+1) k2 C(s) E(s) 设系统稳定，R(s)= 1/s2 则 essr= limsEr(s)= lim s→0 s→0 1- k2 S Gr(s) k1k2 k2 S ∴Gr(s)= 4 按输入的稳态补偿 s (T1s+1)(T2s+1) s (T1s+1)(T2s+1) + k1k2 - k2 (T1s+1)Gr(s) R(s) 减小和消除误差的方法(3,4） Evaluation only. Created with Aspose.Slides for .NET 3.5 Client Profile 5.2.0.0. Copyright 2004-2011 Aspose Pty Ltd.