机械工程控制基础-系统方块图建模

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1、机械控制理论基础系统方块图建模2013/11/224建立数学模型的基础1.机械运动系统的三要素质量M弹簧K阻尼B机械运动的实质：牛顿定理、能量守恒定理ServoControlCenter3胖子坐车例3-12：Xsi()＋xkf21Xo(s)xt()i1－Dsk1D1xt()oD2k1DG(s)1,TDskTs1k11ServoControlCenter4胖子坐车例3-12：Xsi()＋xDsf21Xo(s)xt()i－k1Dxt()1ok1DsTsDG(s),TDskTs1k11ServoControlCe

2、nter5胖子坐车例3-12：fs()＋1X(s)o2－Ms2－k2k2DDs1xt()oM2Ft()1Gs()2()msDsk22ServoControlCenter2013/11/26胖子坐车例3-12：fs()＋1X(s)o2Ms2－k2k2xt()oM2Ft()1Gs()2()msk22ServoControlCenter2013/11/27胖子坐车例3-12：fs()＋1X(s)o2Ms2－DDs1xt()oM2Ft()1Gs()2msDs2ServoControlCenter2013/11/28胖子坐车例

3、3-12：fs()－X11＋1X(s)o2k－Ms221Ms－f21k1x1k1Ft()M1k2xt()oM2ServoControlCenter2013/11/29胖子坐车例3-12：fs()－X11＋1X(s)o2DS－Ms221Ms－f21D1x1D1SFt()M1D2xt()oM2ServoControlCenter2013/11/210胖子坐车例3-12：XXX1O1fs()－1X(s)o－k2＋1xD11D1SX12Ms2k2Ft()xto()M2ServoControlCenter2013/11/211胖子坐车

4、例3-12：fs()－X11＋1X(s)o2k－Ms221Ms－f21D1x1D1SFt()M1k2xt()oM2ServoControlCenter2013/11/212胖子坐车fs()＋1X(s)o例3-12：2Ms2－Xs()Dk1xt()－1k1X1(s)xt()oDs1M2Ft()ServoControlCenter2013/11/213胖子坐车例3-12：XXX1O1fs()－1X(s)o－D1S＋1x1k1k1X12Ms2D1Ft()xto()M2ServoControlCenter2013/11/214胖子

5、坐车fs()＋1X(s)o例3-12：2Ms2－k1Xs()Ds1xt()－1DX1(s)xt()ok1M2Ft()ServoControlCenter2013/11/215胖子坐车fs()＋1X(s)o例3-12：2Ms2－1k2Xs()Dk2k1xt()－1k1X2(s)xt()oDs1M2Ft()DskGs()1222(msDsk)(Dsk)Ds221ServoControlCenter2013/11/216胖子坐车fs()＋1X(s)o例3-12：2Ms2－1k1k2Xs()k2Ds1xt()－1DX2(

6、s)xt()ok1M2Ft()DskGs()1222(msDsk)(Dsk)Ds221ServoControlCenter2013/11/217胖子坐车fs()＋1X(s)o例3-12：2Ms2－1k1k2Xs()k2DsM11－xt()1DX2(s)xt()ok1M2Ft()1＋2Ms1Fs()1－22msDskmsDskGs()11Gs()112222222(msDsk)(msDsk)Ds(msk)(msDsk)Dsms(k)2211221111ServoControlCente

7、r2013/11/218胖子坐车fs()＋1X(s)o例3-12：2Ms2－1k1k2Xs()k2k3M1－xt()1kX(s)32xt()ok1M2Ft()1＋2Ms1Fs()1－22msDskmsDskGs()11Gs()112222222(msDsk)(msDsk)Ds(msk)(msDsk)Dsms(k)2211221111ServoControlCenter2013/11/219胖子坐车例3-12：2Ms1fs()＋Fs1()－Xo(s)k1kk12－+M11Xs()xt()1Ds

8、Dxt()o2MsM22Ft()k222msDskmsDskGs()11Gs()112222222(msDsk)(msDsk)Ds(msk)(msDsk)Dsms(k)2211221111ServoControlCe