自控原理总复习.ppt

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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GeneralizedfeedbackcontrolsystemDifferencingjunctionOutputControllerInputPlantTransducerErrorControlsignal+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）SignalFirst-OrderFeedbackSy

8、stemsa.OpenloopcontroltheresponseofaunitstepinputC(s)R(s)k´