[工程科技]线性控制课件 module 2 08-4-3-english.ppt

The application of Laplace transform (拉普拉斯变换） in control system. - A lot of transfer functions are described by differential equation. Therefore, the differential equation is the fundamental tools to analyses control system. - The Laplace transform is a powerful differential equation solving method. The Review of Laplace Transform Brief of Laplace transform - A generalization of the Fourier transform, and it allows “complex frequency” analysis. - Lapalce transform allows us to analyze a “linear system” problem in the frequency domain in stead of in the time domain. - It can convert a set of differential equations into a corresponding set of algebraic equations, which are much easier to solve. - Laplace transform allow us to find both the steady- state and “transient” responses of a linear system. The Review of Laplace Transform 2 Solving linear differencing equations Defining Ex.2 Inductance: 电感 Torque: 力矩 Armature windings: 电枢线圈 Back electromotive force: 反电动势 Viscous friction: 摩擦阻力 bearing: 轴承 The differencing equation of electrical variables. The differencing equation of mechanical variables. Ki is the motor torque constant Taking the Laplace transform of both sides, and assume the initial conditions be zero. Eliminate I The transfer function between θ and Vi The motor speed ω and θ are related by: Taking the Laplace transform The transfer function Transfer function is dependent on the construction and parameters of the system. 2 Bode form 5. Error transfer function for the disturbance Sample Problem 2.3 Simplify the block diagram and determine the closed loop transfer function C/R. Sample Problem 2.3 Simplify the block diagram and determine the closed loop transfer function C/R. Moving G1 to the left of summing junction s2 (rule5) Moving block G1 to the right of pickoff point p1(rule7) Fig.2.6 Reduction of feedback loop C R Fig.2.5 General fee