北京理工大学810自动控制原理考研课件2.pptVIP

* * * * Approximation: or * * Example 2.4 Nonlinear differential equation Operating point:（T0，u0） Small change: * Linear approximation of differential equation * y depends upon several excitation variables: The approximation: * 2.4 The Laplace Transform 1. Definition of the Laplace transform 拉普拉斯变换是 f(t)从时域到复频域F(s)的积分变换。 f(t)：原函数；F(s)：f(t)在s域中的象函数。 拉普拉斯反变换：Inverse of Lapalace transform * 0 [s] s-plane * 2. Laplace transform theorems Theorem 1 Linearity Theorem 2 Complex differentiation Theorem 3 Real integration * Theorem 4 Delay theorem Theorem 5 Shifting theorem Theorem 6 Final value theorem Theorem 7 Initial value theorem * 常见函数的拉氏变换 1、指数函数 2、单位阶跃 3、正弦函数 4、余弦函数 5、冲激函数 Table 2.3 at page 51 * 3. Partial-Fraction Expansion Theorems Root of N(s)=0zeros Root of D(s)=0poles D(s)=0characteristic function 设法把F(s)分解成若干个较简单的、能够从表中查到的项的和，通过查表，可直接得到所求的原函数，这称为拉普拉斯反变换的部分分式法。 * 系数的确定： (1) 不等实根 D(s)=0的根有三种情况： * (2) 共轭复数根 * 设F(s)在s1处有三重根，则： (3) 重根 * * 4. Application of the Laplace transform 电阻元件： L[U]=L [Ri]，L[U]=U(s)，L[i]=I(s) ?U(s)=RI(s) * 电容元件: * UL(s)=sLIL(s)?LiL(0?) 电感元件: * 图(a) 图(b) * 2.5 Transfer function One of the most powerful tools for control system analysis and design is the transfer function. For a SISO system with input u(t) and output y(t), the transfer function is defined as (Zero initial conditions): Laplace transform of the input-output relation of a system.　 * Steps: Define the system and its components and identify the input and output of the system. Formulate the mathematical model and list the necessary assumptions. Write the differential equations describing the system. Linearize the differential equation.(*) Take Laplace transform with Zero initial conditions. Determine the ratio output/input which is called the Transfer Function. * Consider a linear time invariant system defined by: * The above transfer function can be written as: * n = l+k Order of the system zi Zeros of the system pi