线性控制系统课件Module(免费).pptVIP

* Linear Control System Engineering Module 3 First-order System First-order system: a system is represented by a first order differential equation. Example 1 a mechanical system Taking the Laplace transform in zero initial conditions Then τ is called time constant, and has unit of second. Example 2 a R-C circuit Taking the Laplace transform in zero initial conditions Example 3 hydraulic tanks connected by a pipe containing a laminar restrictor transfer function: time constant: The Generalized First-Order Systems Transfer function Block diagram The response of First-Order System Some Common Inputs a. Impulse (脉冲) Signal b. Step (阶跃) Signal c. Ramp (斜坡) Signal d. Harmonic (谐波) Signal a unit impulse response (单位脉冲响应) Take inverse Laplace transform: Step response (阶跃响应) Take inverse Laplace transform: So we can determine if a system is a first order system or determine a value τ by experiment Ramp response (斜坡响应) Take inverse Laplace transform: a steady-state part a transient part Harmonic Response （谐波响应） Input: Output: Where c0 is usually a complex number, substituting into Three important points: The output will be modified in magnitude from the input Output will be shifted in phase compared to the input The above equation could be obtained simply by substituting s=jω directly into the transfer function The important characteristic of a linear system: 系统对输入信号微分（或积分）的响应，等于系统 对该输入信号响应的微分（或积分）。 First-Order Feedback Systems a. Open-loop control the response of a unit stem input b. Closed-loop control If input is a unit stem, R(s)=1/s then Let τ=1 and K=1, c(t)=0.5(1-e-2t) Let τ=1 and K=10, c(t)=0.909(1-e-11t) Important observations: 1. The feedback system has a steady-state error between the input and output. 2. The feedback system response is faster than the open loop system. If K is increased to 10, output is closed to 1. Steady-state error is less than 10% and 10 times the response speed. Poles and Zeros of First Order S