[工学]北航自控原理课件2英文版.pptVIP

Main contents Differential Equations of Physical Systems. The Laplace Transform and Inverse Transform. 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 Inverse Laplace Transformation Important Theorems of Laplace Transform 6. The method of the transfer function has some limitation. (1). It only applies to the SISO system. (2). It only can reflect the relationship of input and output. (3). It only can analyze the motion characteristic of zero initial conditions. 5. A certain transfer function correspond a certain portrait of zero- poles distribution. set Poles: The roots of the denominator polynomial D(s). Zeros:The roots of the numerator polynomial N(s). The transfer functions of some components 1. Potentiometer. E U K 2. Potentiometer Bridge. 3.Gear train 4.armature-controlled dc motor Inertial=J Friction=b (1) Motor torque :load torque :disturbance torque where (2) (3) (4) We can obtain the transfer function(with ) The block diagram of dc-motor Components of block diagram Signal line: A line with arrow that indicate the direction of signal transform. 2. Block: It expresses the transfer function. 3. Derivation point (measuring point). 4. Synthesis Point (Comparing point). Example:Position slave system 1/i K1 Block Diagram Transformations (1) Combining blocks in cascade (2) Parallel Connection of Blocks (3)Eliminating a feedback loop H * * Chapter 2 Mathematical Models of Systems 重点掌握： 微分方程 传递函数 系统结构图及信号流图 梅逊公式 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 Equ