[工程科技]线性控制课件 module 4 08-4-11-english_new.pptVIP

Terminology: described in a qualitative manner 定性描述 bipolar voltage 双极性电压 Second-Order Systems Example DC motor position control system System analysis (1)Value set and feedback component , summing junction Set and feedback : potentiometer (2) Amplifier (3)Motor( includes electrical and mechanical portion) Electrical analysis The motor is field controlled. stator : 定子 rotor : 转子 Stationary magnetic field: 固定磁场 Motor field winding electrical circuit Take Laplace transform - Electrical - mechanical: the field current I establishes a magnetic flux(磁通量）that interacts with the armature field to produce a mechanical torque. - Mechanical analysis free-body diagram(自由体图） The torque τm need to overcome the armature inertia and viscous friction. Base on the Newton’s second law Apply above equation to the mechanical system Referring all variables to motor shaft The final equation Note: In here the gearbox reduce the load inertia and load shaft damping (阻尼) by a factor of N2. Usually N is several thousand, so that load inertia and damping may be neglected. The transfer function of torque τm to speed ωm . J is total inertia c is total damping (4)The tachometer (5)Position measuring The complete system block diagram. Transfer function Sample Problem 4.1 Problem: a closed loop transfer function Determine the undamped natural frequency, the damping ratio, and damped natural frequency. What is the steady-state output for a unit step input. Solution: the undamped natural frequency The damping ratio The damped natural frequency If the input is a unit step Based on final-value theorem Sample Problem 4.2 Problem: a spring-mass damper system subject to a external force p. - Show the transfer function between the input p and output distance x; - Develop expressions for the damping ratio and damped natural frequency. - Deter