第二章自動控制原理講義-南京航空航天大學-胡壽松課件

結(jié)構(gòu)圖三種基本形式G1G2G2G1G1G2G1G2G1G2G1G1G21+串聯(lián)并聯(lián)反饋結(jié)構(gòu)圖等效變換方法1三種典型結(jié)構(gòu)可直接用公式2相鄰綜合點可互換位置3相鄰引出點可互換位置注意事項：1不是典型結(jié)構(gòu)不可直接用公式2引出點綜合點相鄰，不可互換位置引出點移動G1G2G3G4H3H2H1abG41G1G2G3G4H3H2H1G2H1G1G3綜合點移動向同類移動G1G2G3H1G1G1G4H3G2G3H1作用分解H1H3G1G4G2G3H3H1Pk—從R(s)到C(s)的第k條前向通路傳遞函數(shù)梅遜公式介紹R-CC(s)R(s)=∑Pk△k△:△稱為系統(tǒng)特征式△=1-∑La+∑LbLc-∑LdLeLf+…其中:—所有單獨回路增益之和∑La∑LbLc—所有兩兩互不接觸回路增益乘積之和∑LdLeLf—所有三個互不接觸回路增益乘積之和△k稱為第k條前向通路的余子式求法:去掉第k條前向通路后所求的△梅遜公式例R-CR(s)C(s)L1=–G1H1L2=–G3H3L3=–G1G2G3H3H1L4=–G4G3L5=–G1G2G3L1L2=(–G1H1)(–G3H3)=G1G3H1H3L1L4=(–G1H1)(–G4G3)=G1G3G4H1P1=G1G2G3△1=1

G4(s)

H1(s)H3(s)

G1(s)

G2(s)

G3(s)

G1(s)

G2(s)

G3(s)

G1(s)

G2(s)

G3(s)

G1(s)

G2(s)

G3(s)G4(s)G3(s)P2=G4G3△2=1+G1H1G4(s)G3(s)C(s)R(s)=?L1L2=(G1H1)(-G2H2)L1=G1H1L2=–G2H2L3=–G1G2H3G1(s)G3(s)H1(s)G2(s)H3(s)H2(s)R(s)C(s)N(s)E(S)C(s)=1-G1H1+G2H2+G1G2H3-G1H1G2H2G3G2+G1G2+G2R(s)[]N(s)梅遜公式求C(s)(1-G1H1)G1(s)G3(s)H1(s)G2(s)H3(s)H2(s)R(s)C(s)N(s)E(S)梅遜公式求E(s)E(s)=1-G1H1+G2H2+G1G2H3-G1H1G2H2G1(s)G3(s)H1(s)G2(s)H3(s)H2(s)R(s)C(s)N(s)E(S)梅遜公式求E(s)E(s)=1-G1H1+G2H2+G1G2H3-G1H1G2H2P1=1△1=1+G2H2(1+G2H2)P1△1=?+G1(s)H1(s)H2(s)C(s)梅遜公式求E(s)E(s)=1-G1H1+G2H2+G1G2H3-G1H1G2H2(1+G2H2)G3(s)G2(s)H3(s)R(s)E(S)+G1(s)H1(s)H2(s)C(s)梅遜公式求E(s)G3(s)G2(s)H3(s)R(s)E(S)P2=-G3G2H3△2=1P2△2=?(-G3G2H3)R(s)[

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E(s)=1-G1H1+G2H2+G1G2H3-G1H1G2H2(1+G2H2)+G1(s)H1(s)H2(s)C(s)梅遜公式求E(s)E(s)=1-G1H1+G2H2+G1G2H3-G1H1G2H2(1+G2H2)G3(s)G2(s)H3(s)R(s)E(S)△2=1P2△2=?(-G3G2H3)R(s)[

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N(s)P1=–G2H3△1=1(–G2H3)+N(s)P2=-G3G2H3+四個單獨回路，兩個回路互不接觸e1abcdfghC(s)R(s)C(s)R(s)=1––––afbgchehgf++afchabcded(1–bg)前向通路兩條信號流圖習題2-15(p72圖2-63)功放k3+15v-15v+15v-15v-k1-k2SMTG+–30k20k10k10k10k10kuiuauoutu2u1位置隨動系統(tǒng)原理圖習題2-15方塊圖K0=30v