《自动控制原理》课程教学资源（PPT课件讲稿）Module 2 Transfer Function and Block Diagram Algebra

Mechanic movement System with Spring Mass- Damper r-kv-b dy dy drx +kv=r dt R(S) Y(S ms+bstk

Mechanic Movement System with Spring – Mass – Damper 2 2 dt d y m dt dy r − k y−b = k y r dt dy b dt d y m + + = 2 2 ms + bs + k 2 1 R(s) Y(s)

SP3. Mechanic Rotational System with damper 6 Damper T-co=J0、o de T(input torque) dt dt C· d de C dt T(S) A(s) Js+c

SP3. Mechanic Rotational System with Damper   c Damper dt d dt d T c J    −  = , = T dt d c dt d J + =   2 2 Js + cs 2 T(s) 1  (s) T (input torque)

SP4 Example(mechanical accelerometer) L ky k C Input: x Output: y

SP4. cy  kycy 