上海交通大学：《系统模型、分析与控制 Modeling、Analysis and Control》课程教学资源（讲义课件）Lecture_141112

Basic factors of the Control System K(红，s+1)(s+25s+)u+2n=m G(S)= 1=1 k=1 ,n≥m sΠ(T,s+1)Π(Ts2+25,Ts+ )(w+p+2o=n i=l j=1 Gain K(放大环节) First-order factor(惯性环节) K(joT,+1o)t+25(j@)+1D G(j0)= 1=1 k=1 (jo)(joT,+DIHi@)T+24,T(jo)+1 i=1 j=1 Integral factor 1/jo(积分环节) Quadratic factors(振荡环节)

Basic factors of the Control System                                 1 1 2 2 1 1 2 2 ( ) ( 1 ) [( ) 2 ( ) 1 ] ( 1 ) [( ) 2 ( ) 1 ] ( ) i j i j j j l k l k k k j j T j T T j K j j j G j Integral factor 1/j 积分环节  Gain K (放大环节 ) First-order factor (惯性环节 ) Quadratic factors (振荡环节 ) 2 2 1 1 2 2 1 1 ( 1) ( 2 1) 2 () ; ; 2 ( 1) ( 2 1) l k kk l k i j jj i j Ks s s m Gs n m n s Ts T s T s                                  

Basic factors of the Control System Gain K(放大环节) Integral factor1jo(积分环节) ·Derivative factor jo(纯微分环节) ·First-order factor1/(1+joT)(惯性环节) First-order factor(1+joT)(一阶微分环节) 1 Quadratic factors (T2(o)2+2sT0o)+1) (振荡环节) Quadratic factors (T2(jo)2+2sT0o)+1) (二阶微分环节)

Basic factors of the Control System • Gain K (放大环节 ) • Integral factor 1/j  积分环节  • Derivative factor j 纯微分环节  • First-order factor 1/(1+j) (惯性环节 ) • First-order factor (1+j) (一阶微分环节 ) • Quadratic factors (振荡环节 ) • Quadratic factors ( ( ) 2 ( ( ) 1 ) 二阶微分环节 ) 2 2 T j   T j   ( ( ) 2 ( ) 1 ) 1 2 2 T j   T j  

Basic factors of G(j)H(jo) ·Gain K(放大环节) G(jO)=K 1G(j@)=VU2(@)+V2(@o)=K G(jo)- Im U(o) K 0 K Re

Basic factors of G(j )H(j  ) • Gain K (放大环节 ) G ( j  )  K | G ( j ) | U ( ) V ( ) K 2 2        0 K 0 tg U ( ) V ( ) G ( j ) tg 1 1         

Basic factors of G(jo)H(jo) ·First-order factor1/(1+joT)(惯性环节) 1 G(j@)= jTo+l w-+v=分 lG(j@)E T2o2+1 ∠G(jo)=-g(To) 1 To U(0)= T202+1 V(o)=- T2o2+1 Im ∠G(jw) 1G()l U 0 1/21 Re 0 0° 1 1 0 0=00 0=0 1/T -45° 1/V2 1/2 -1/2 G(@ 一90° 0 0 o=1/T

Basic factors of G(j )H(j  ) • First-order factor 1/(1+j) (惯性环节 ) jT 1 1 G ( j )     G ( j ) tg ( T ) 1       T 1 1 | G ( j ) | 2 2     T 1 1 U ( ) 2 2     T 1 T V ( ) 2 2       2 2 2 ) 2 1 ) V ( 2 1 ( U   

Basic factors of G(jo)H(jo) ·Integral factor1/jo(积分环节) ∠G(jw)lG(w)iU(u) V(ω) 0 -90° 00 0 G0)-1。 -90° 1 0 -1 -90° 0 0 0 Im↑ 0=00 1 0 Re ∠G(jo)=tg1 =-90° 0 0=0

Basic factors of G(j )H(j  ) • Integral factor 1/j 积分环节        1 j j 1 G ( j )  90 0 1 G ( j ) tg 1           1 | G ( j ) |