上交自控讲义第二讲.ppt

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1、Module2TransferfunctionsandBlockdiagramalgebraDynamicsystemmathematicalmodelImportanceModelingisthefoundationoftheoreticalanalysisandcompensationforanautomaticcontrolsystemMethodologiesDifferential/differenceequationTransferfunction(Laplacetransform/Ztrans

2、form)State-spacedescriptionRequirementsToremembertheLaplacetransformsofsomecommoncomponentsandfunctionsTobecapableofdrawingblockdiagramsTograspDiagramsimplifyingmethodTograspSignalFlowChartandMason’sFormulaContentsDifferentialequationsofthesystemRulesforth

3、eprocessDifferentialequationofanelectronicnetworkDifferentialequationofaDCmotorwithloadsLaplacetransformsandinversetransformsBlockdiagramsimplificationTransferfunctionandblockdiagramMethodofdirecteliminationBlockdiagramalgebraSignalflowchart&Mason’sformula

4、DifferentialequationsRulesfortheprocessAnalyzethemechanismatworkofthesystemMakeouttheinputsandoutputsofboththeentiresystemanditscomponentsModelingofeachcomponentinturnfromthesysteminputSimplificationaccordingtotherequiredspecificationsTakeLoadEffectinaccou

5、ntEliminatemiddlevariablestoreachastandardform:Puteachsystemoutput-relatedterminthelefthandPuteachsysteminput-relatedtermintherighthandPuteachderivativetermindescendingorderExample1:AnelectronicnetworkApplyKirchholf’slawtothecircuitu2u1i2i1R1R2c1c2Eliminat

6、emiddlevariablei1andi2,From(3),From(2),Take(4),(5)in(1),Example1:AnelectronicnetworkBut,ifloadeffectisnottakenintoaccount,themodelingresultwillbeasfollows:Example1:AnelectronicnetworkApplyKirchholf’slawandmotorformula,Example2:ADCmotorwithloaduaiaθDRaLaMfz

7、iiIgnoreandLetExample2:ADCmotorwithloadContentsDifferentialequationsofthesystemRulesfortheprocessDifferentialequationofanelectronicnetworkDifferentialequationofaDCmotorwithloadsLaplacetransformsandinversetransformsBlockdiagramsimplificationTransferfunction

8、andblockdiagramMethodofdirecteliminationBlockdiagramalgebraSignalflowchart&Mason’sformulaLaplacetransformsDefinitionLinearpropertiesDelayingtheoremShiftingtheoremFinal-valuetheoremTable:commonfunctionsandthei