自控理论教学课件Temperature control system.ppt

Solving differential equations Example Solution Solving differential equations L x(t) X(s) H(s) Y(s)=H(s)X(s) L -1 y(t) /article/2012-3-7/34084-1.htm /article/2012-3-7/34084-1.htm Filters HF circuit model Ideal model of a filter Transfer Functions and Block Diagram Algebra(cont) MODULE 2 2.4 Block Diagram Algebra G2 G1 H G3 (Vi -H?)?G1G2= ? ? ?G3=θ rule 1# Serial element Y =G2 X2= G2 G1X1 x1 G1 G2 y T x1 G1 G2 y x2 Note: When blocks are connected in series, there must be no loading effect. Block Diagram Algebra (Page 26) x G1 ±G2 y T x G1 G2 y ± + rule 2# Parallel element Block Diagram Algebra (Page 26) T x G H y - + + x G 1 ±GH y E B open-loop transfer function: closed-loop transfer function: rule 3# Feedback element If H=1, it is called Unity feedback Block Diagram Algebra (Page 26) Moving a summing junction Rule 4#,5# Z = G · x ± y x G y ± + Z x G + Z y ± 1/G Z= (x ± y/G) · G Z = ( x±y) · G x G y ± + Z Z = G· x ±G· y x G + Z y ± G Block Diagram Algebra (Page 26) y = G · x x G y y x G y y G Block Diagram Algebra (Page 26) x G x y x = (1/G) · y x G y x 1/G Moving pick-off point Rule 6,7# When manipulating block diagrams, the original relationships relating the various variables must remain the same. View Fig. 2.7. How to simplify the block diagram? Moving Steps (1) Move summing junctions to the closed summing junctions or pick-off points to the closed pick-off points . (2) Close all inner loops (3) Combine all serial blocks (4) Combine all parallel blocks SHOW SP 2.3 View Page 31 Move a summing junction past a block G2 G3 H1 H3 H2 - - R C G1 G1 G1 G1-1 H2 G2 G3 H3 - R C G1 (G1-1)H1 Closing a feedback loop H2 G3 H3 - R C G1 G2 (G1-1)H1 C R Anther way to simplify Moving the pick-off point past a block Multiple inputs Step1: Set all but one input to zero. Step2: Determine the transfer function from the nonzero input to the output. Step3: Repeat step 2 for all inputs. Step4: Add all transfer functions together to obtain the output.