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ID:48054742
大小:1.34 MB
页数:85页
时间:2020-01-12
《自控原理总复习.ppt》由会员上传分享,免费在线阅读,更多相关内容在教育资源-天天文库。
1、自控原理总复习控制理论主要研究内容:1稳定性2动态特性3稳态特性一控制系统的分析二控制系统的设计GeneralizedfeedbackcontrolsystemDifferencingjunctionOutputControllerInputPlantTransducerErrorControlsignal+ForwardpathFeedbackpathFig1.3GeneralizedfeedbackcontrolsystemGeneralizedterminologyPlant:被控对象themajorcomponent
2、beingcontrolled,itstransferfunctionisfixed.Controller:控制器thecontroldevicedesignedbytheengineer.Feedbackpath:反馈通道theoutputvariablefedbacktobecomparedwithdesiredvalue.Forwardpath:前向通道Transducer:变送器Differencingjunction:差分连接点,减法器Module2TransferFunctionsandBlockDiagramAl
3、gebra(传递函数和方框图运算)BlockDiagramAlgebraA.Thesimplificationofacomplexfeedbackcontrolsystemsa.SerialElementsU(s)V(s)W(s)X(s)Fig.2.3BlockdiagramofserialelementsFig.2.4ReductionofserialelementsX(s)U(s)b.ParalelElementsRULE#PROCESSORIGINALBLOCKDIAGRAMEQUIVALENTBLOCKDIAGRAM
4、1Combiningserialblocks2Combiningserialblocks3Closingafeedbackloopxyxyxy++xyxy++xyc.GeneralfeedbackcaseFig.2.6ReductionoffeedbackloopCRFig.2.5GeneralfeedbackcontrolsystemblockdiagramCRE➡4MovingasummingJunctionaheadofablock5MovingasummingJunctionaheadofablock6Movingap
5、ickoffpointaheadofablock7Movingapickoffpointpastablockxzy++xyz++xxyxyyxzy++xzy++xyyxyxe.MultipleinputsRD-Fig.2.8LinearsystemwithtwoinputsC+StepsofBlockDiagramSimplificationStep4:Movesummingjunctionstotheleftandpickoffpointstotheright(rule4-7)Step1:Combinallserialblo
6、cks(rule1)Step2:Combinallparallelblocks(rule2)Step3:Closeallinnerloops(rule3)SampleProblem2.3SimplifytheblockdiagramanddeterminetheclosedlooptransferfunctionC/R.Rs1s2s3C+_+++__Rs1+Fig.SP2.3.1C+s2s3---⇓-+Rs1+Cs2s3-⇓+Rs1+Cs2s3--+Rs1+Cs2s3-Module3First-orderSystems(一阶系
7、统)❃TheGeneralizedFirst-OrderSystems:TransferfunctionBlockdiagramFig.3.4First-ordersystemtransferfunction❃TheResponseofFirst-OrderSystemSomeCommonInputs:a.Impulse(脉冲)Signalb.Step(阶跃)Signalc.Ramp(斜坡)Signald.Parabole(抛物线)Signale.Harmonic(谐波)SignalFirst-OrderFeedbackSy
8、stemsa.OpenloopcontroltheresponseofaunitstepinputC(s)R(s)k´
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