自動(dòng)控制原理(梅曉榕)習(xí)題答案

1、5-1css(t)K .T2 1,TarctanT2arctanT1sin(arctanTzarctanTi )(2)G( j ) arctan aT15-2 (1) G(j ) arctan -arctanTarctan bT2 - arctanT1 - arctan T25-3 (1)(3)(4)5-4 (1)(#)(3)(4)(5)(6)(8)5-5(1)(d)(5)(6)(8)(9)(10)3 ( S 1)/ 、100, 、-15-6 (a) G(s) (b) G(s) 112 1(s 1)(s 1)s( s 1)122(c) G(s)111c - S5-7 (a)穩(wěn)定 (b)穩(wěn)定(e

2、)不穩(wěn)定(f)不穩(wěn)定5-8 (a)不穩(wěn)定 (b)穩(wěn)定5-9 (a)不穩(wěn)定 (b)穩(wěn)定5-10穩(wěn)定(d) G(s) 111(s 1)(s 1) 23(c)穩(wěn)定(d)不穩(wěn)定(g)不穩(wěn)定(h)穩(wěn)定(c)穩(wěn)定 (d)穩(wěn)定(e)穩(wěn)定(c)穩(wěn)定5-11 1:穩(wěn)定 2:不穩(wěn)定3:穩(wěn)定 4:不穩(wěn)定 5-12不穩(wěn)定5-1373o此題傳遞函數(shù)改為G(s)K(0.56s 1)s(s 1)(0.1s 1)(0.028s 1)或 幅值穿越頻率c 5.13rad/s,46.5o5-14 (1) G(j c)48.2o131.8o (2)G(j c)155.4o24.6o曲線Mr9y/11nsbp2n5-15(1)55,

3、20dB/dec (2)-15.8, 40dB/dec (3) -52.8 o, 60dB/dec5-163 說明大 由圖小M r大，(小大 (小，9大大由(*由圖小由1及5大(牌比大 (小，卬大大由5及ts2 ts1 ts3， p1 p2 p35-17 (1)54.9, 20lg Kg ，系統(tǒng)穩(wěn)定c 10,45100(0.1s 1)5-18 G(s) ()s(s 1)(0.01s 1)說明：以下各設(shè)計(jì)題目，一般都有多種解。5-19超前補(bǔ)償法。固有部分(待補(bǔ)償系統(tǒng))G0(。就為超前補(bǔ)償c , 、0.04s 1Gc(s);0.008s 1設(shè)計(jì)后Ge(S)100s(0.008s 1)滯后補(bǔ)償法固有

4、部分Go(s)10s(0.04s 1)滯后補(bǔ)償10Gc(s)10導(dǎo);設(shè)計(jì)后Ge(s)100(s 1)s(0.04s 1)(10s 1)5-20 K=10,Gc(s)0.5s 10.15s 1等等。提示：可利用二階系統(tǒng)公式。5-21Gc(s)(2 s1)(0.2s 1)(66.7s 1)(0.1s 1)；Ge(s)麗詈等等5-22Gc(s)(-s 1)16(s 1)160Ge(s)1100( s 1)16s(0.1s11)( s 1)1605-23Gc(s)(10s 1)(100s 1)Ge(s)10(10s 1)s(100s 1)(s 1)(0.25s 1)5-24Gc(s)s 1)(17.6

5、s 1)0.0671s 1)( s 1)143Ge(s)111000Gs 1)(7T 112s(oO6?s 1)(0.9s 1)(0.007s 1)25-25根據(jù)二階系統(tǒng)的計(jì)算公式。Kh 0.00635 ,反饋補(bǔ)償后的開環(huán)傳遞函數(shù)為G(s)16000os(s 141.6)5-26反饋補(bǔ)償后系統(tǒng)的開環(huán)傳遞函數(shù)為G(s)151500.1s2 (1 15h)s s(s 10 150h)h 0.09675-27K1 10, K 200, Hc(s)200(0.1s 1)5-28Gc(s)171(35s 1)sjs400，Ge(s) 1)1710(-s 1)351s(0.1s 1)(s 1)(0.001

6、s 1)5-29G0(s)1.411s 1)( s 1)10000；Gc(s)( 100s(5-30Ge(s)補(bǔ)償裝置的對數(shù)頻率特性見圖120(4s 1)1s(-s 1)( s 1)220Gc(s)Ge(s)Go(s)110(-s 1)，Gcs 120arctanl4補(bǔ)償裝置是超前網(wǎng)絡(luò),215s 1)得s 1)10.261s 1)( s 1)100arctan020本身相位角為正，可提高相位裕度。az/(rad/s)LOdiJn 41020圖對數(shù)頻率特性,15-31 K=2000Gc(s)(-s 1)(0.31s 1) 911)( s 1)0.45-32 Gc(s)4(1)(s5-33 K=2

7、0010.36Gc(s)1) 生生1s 1)( s 1)200(-s 1)101(3s 1)s2 225-34Gc(s)350300寸寸5-35Hc(s)0.0167s20.2s 15-36Hc0.91 ； Hc(s)0.005s ；Hc(s)0.002 s20.1s 15-37Hc(s)一 20.63s (0.1s1)3.5s寸寸5-38Hc(s)0.283s0.25s5-391/T11/T2G(s)KT1s220lg G(j )20lgK20lg 2Tikt2T1sKT220lg 2Ti1/T3kt2TG2kt220lg21T1T3 出5-40(D G(s)Y(s)X(s)s2 21s2 22 nns2- nns5 Ksns2 2 ns2n2 nn2Ks阻尼比 (12ns2 2 n(1 歲)s 2n)，可見微分反饋可增加系