自动控制原理2-3控制系统的结构图与信号流图ppt2010要点优秀PPT.ppt

制作人南京航空航天高校制作人南京航空航天高校王凤如王凤如封面xwfr01nuaa.edu 2-3书目1.系统结构图的组成与绘制2.结构图的等效变换与简化3.信号流图的组成与性质4.信号流图的绘制5.梅森增益公式6.闭环系统的传递函数W1W2+_+_SMTGJ L fLEuutuuaRaLaifZ1Z2放大器放大器位置随动系统位置随动系统结构图绘制结构图绘制(补充补充)u操纵手柄操纵手柄W1JLfLW2uruc放大器放大器电机电机减减速速器器测速电机测速电机uutuarq qkakts绘制双绘制双T T网络结构图网络结构图1 1(补充补充)R1R2C1C2ur(t)uc(t)I(s)I1(s)Uc(s)=I2(s)sc21I2(s)=I(s)I1(s)I1(s)=Uc(s)+I2(s)R2sC1Ur(s)Uc(s)sc11I1(s)I(s)=Ur(s)I1(s)sc11R11R11I(s)I2(s)sc21R2sC1Ur(s)Uc(s)sc11sc21I2(s)从右从右到左到左绘制双绘制双T网络结构图网络结构图2(补充补充)R1R2Ur(s)Uc(s)sc11sc21I(s)I1(s)I2(s)I1(s)sc11=I2(s)R2+Uc(s)Uc(s)=I2(s)sc21I(s)=I1(s)+I2(s)R1sc11I(s)I I1 1(s)(s)Ur(s)这是不行的这是不行的I(s)R1+I1(s)sc11 Ur(s)sc2R2sc11Ur(s)R1Sc1I1(s)I(s)Uc(s)I2(s)I2(s)从左从左到右到右补充图图1图图2比较比较sc2R2sc11Ur(s)R1Sc1I1(s)I(s)Uc(s)I2(s)I2(s)Ur(s)Uc(s)sc11I1(s)R11I(s)I2(s)sc21R2SC1从右从右到左到左从左从左到右到右(补充补充)绘制双绘制双T T网络结构图网络结构图3 3(补充补充)R1C1C2ur(t)uc(t)Ur(s)Uc(s)sc11R11I1(s)sc21Ur(s)Uc(s)sc11sc21I2(s)U1(s)I2(s)U1(s)U1(s)Uc(s)R21I2(s)I1(s)R2题1(补充补充)绘制动态结构图绘制动态结构图输出输出输入输入扰动扰动题1续绘制动态结构图绘制动态结构图R(s)k1C(s)T2X2(s)k2X1(s)C(s)N(s)E(s)=R(s)-C(s)E(s)-X4(s)H(s)=X1(s)N(s)+X4(s)=C(s)X2(s)=X1(s)G1(s)X4(s)=X3(s)G2(s)X3(s)=X2(s)+R(s)G4(s)+N(s)G3(s)题题2(补充补充)R(s)E(s)X1(s)G1(s)X2(s)G4(s)G3(s)X3(s)N(s)G2(s)X4(s)C(s)C(s)H(s)X4(s)描述系统动态性能的方程组如下，试绘制以描述系统动态性能的方程组如下，试绘制以R(s)为输入为输入信号、信号、C(s)为输出信号、为输出信号、N(s)为干扰信号的系统结构图。为干扰信号的系统结构图。习题习题2-15功放功放k3+15v-15v-k1-k2SMTG+30k20k10k10k10k10kuiuauoutu2u1位置随动系统原理图位置随动系统原理图3uautu2u1kts23s(Tms+1)km5.215.21k3uoui+15v-15vLZ3函数记录仪(例2-12)图图2-26图图2-28求图示系统的传递函数(补充)+A1A2A3结构图三种基本形式结构图三种基本形式(P45)G1G2G1G2串串 联联并并 联联反反 馈馈G1G2RCG2G1RCG1G2RCRCRCG1G1G21+RC基本练习基本练习(补充补充)G1G2G2G1G21G1G2G2G1相邻综合点相邻引出点(表2-1)2 相邻综合点可互换位置、可合并相邻综合点可互换位置、可合并结构图等效变换方法结构图等效变换方法(表2-1)1 三种典型结构可直接用公式三种典型结构可直接用公式3 相邻引出点可互换位置相邻引出点可互换位置、可合并可合并 注意事项：注意事项：1 不是不是典型结构典型结构不可不可直接用公式直接用公式2 引出点综合点引出点综合点相邻，相邻，不可不可互换位置互换位置引出点的移动(表2-1)G(s)abaG(s)abbaG(s)abbG(s)abG(s)b王凤如邮箱：王凤如邮箱：xwfr01nuaa.edu QQ：272666985 综合点的移动(表2-1)abecG(s)bacG(s)c=(a-b)G(s)=a G(s)-b G(s)G(s)G(s)eabecG(s)acG(s)bG1G2G3G4综合点移动综合点移动(补充)G2G4G1G3G11并联并联3串联串联2反馈反馈向向同类同类移动移动引出点移动引出点移动(补充)G1G2G3G4H3H2H1G1G2G3G4H3H2H1G41请你写出结果请你写出结果,行吗？行吗？图2-32作用分解作用分解(补充)G1G2G3H3H1R(s)C(s)G4G2G3H3C(s)G1H1R(s)H3H1G41并联并联3串联串联2反馈反馈G1(s)G2(s)G3(s)G4(s)H(s)R(s)C(s)G1(s)G2(s)G3(s)C(s)R(s)H(s)G4(s)H(s)等效变换例1(补充)H(s)G2(s)G3(s)C(s)R(s)1并联并联2反馈反馈3串联串联C(s)R(s)G1(s)G3(s)H(s)G2(s)等效变换例2(补充)G1(s)G2(s)G3(s)H(s)R(s)C(s)H(s)G1(s)H(s)R(s)C(s)G2(s)G2(s)1 1并联并联2 2反馈反馈3 3串联串联)s(H)s(G113-R(s)C(s)反馈再反馈等效变换例等效变换例等效变换例等效变换例3 3 3 3(补充)Ur(s)Uc(s)sc11R11sc21R21错啦！错啦！你把综合点与引出点互换位置了Uc(s)Ur(s)sc11R11sc21R21sc11Ur(s)Uc(s)sc11R11sc21R21 正正 确确 的的 等等 效效 变变 换换：向向 同同 类类 移移 动！动！R(s)abd等效变换例等效变换例4(补充)abdP Pk k从从R(s)到到C(s)的第的第k k条前向通路传递函数条前向通路传递函数梅梅森公式介绍公式介绍(P54)C(s)R(s)=Pkk称为系统特征式称为系统特征式=其中其中:全部单独回路增益之和全部单独回路增益之和LALBLCLDLELFk称为第称为第k条前向通路的余子式条前向通路的余子式k k求法求法:去掉去掉第第k k条前向通路后，用条前向通路后，用余下余下的图求的图求-LA+LBLC-LDLELF+1k=1-La+LbLc-LdLeLf+全部两两互不接触回路增益乘积之和全部两两互不接触回路增益乘积之和全部三个互不接触回路增益乘积之和全部三个互不接触回路增益乘积之和R(s)C(s)L1=G1 H1L2=G3 H3L3=G1G2G3H3H1L4=G4G3L5=G1G2G3L1L2=(G1H1)(G3H3)=G1G3H1H3L1L4=(G1H1)(G4G3)=G1G3G4H1 G4(s)H1(s)H3(s)G1(s)G2(s)G3(s)G4(s)H1(s)H3(s)G1(s)G2(s)G3(s)G4(s)H1(s)H3(s)G1(s)G2(s)G3(s)G4(s)H1(s)H3(s)G1(s)G2(s)G3(s)G4(s)H1(s)H3(s)G1(s)G2(s)G3(s)G4(s)H1(s)H3(s)G1(s)G2(s)G3(s)G4(s)H1(s)H3(s)G1(s)G2(s)G3(s)G4(s)H1(s)H3(s)G1(s)G2(s)G3(s)G4(s)H3(s)G2(s)G3(s)G4(s)H1(s)H3(s)G1(s)G2(s)G3(s)G1(s)G2(s)G3(s)G1(s)G2(s)G3(s)G4(s)H1(s)H3(s)G1(s)G2(s)G3(s)G4(s)H1(s)H3(s)G1(s)G2(s)G3(s)G4(s)G3(s)梅梅森森公式例公式例1 1(补充补充)H1(s)H3(s)G1(s)G2(s)G4(s)H1(s)H3(s)G1(s)G2(s)G3(s)P1=G1G2G3P2=G4G32=1+G1H11=1L1L2=(G1H1)(-G 2 H2)L1=G1H1L2=G2H2L3=G1G2H3G1(s)G3(s)H1(s)G2(s)H3(s)H2(s)R(s)C(s)N(s)E(S)C(s)=1G3G2+G1G2+G2R(s)N(s)梅梅森公式例公式例2(补充)(1-G1H1)+G2H2+G1G2H3-G1H1G2 H2-G1H1（1-G1H1）G1(s)G3(s)H1(s)G2(s)H3(s)H2(s)R(s)C(s)N(s)E(S)G1(s)G3(s)H1(s)G2(s)H3(s)H2(s)R(s)C(s)N(s)E(S)G1(s)G3(s)H1(s)G2(s)H3(s)H2(s)R(s)C(s)N(s)E(S)G1(s)G3(s)H1(s)G2(s)H3(s)H2(s)R(s)C(s)N(s)E(S)G1(s)G3(s)H1(s)G2(s)H3(s)H2(s)R(s)C(s)N(s)E(S)G1(s)G3(s)H1(s)G2(s)H3(s)H2(s)R(s)C(s)N(s)E(S)G1(s)G3(s)H1(s)G2(s)H3(s)H2(s)R(s)C(s)N(s)E(S)G1(s)G3(s)H1(s)G2(s)H3(s)H2(s)R(s)C(s)N(s)E(S)P1=11=1+G2H2P11=?E(s)=1+G2H2+G1G2H3-G1H1G2 H2-G1H1(G2H3)R(s)N(s)(1+G2H2)(-G3G2H3)+R(s)E(S)G1(s)G3(s)H1(s)G2(s)H3(s)H2(s)C(s)N(s)R(s)E(S)G3(s)G2(s)H3(s)E(S)R(s)G1(s)H1(s)H2(s)C(s)P2=-G3G2H32=1P22=?梅森公式例梅森公式例3(补充)P1=G2H31=1N(s)G1(s)H1(s)H2(s)C(s)G3(s)G2(s)H3(s)R(s)E(S)G1(s)G2(s)G3(s)G4(s)H(s)梅森公式例梅森公式例4(补充)G1(s)G2(s)G3(s)G4(s)H(s)R(s)C(s)L1=-G1G2HL2=-G1G4HG1(s)G2(s)G3(s)G4(s)H(s)R(s)C(s)G1(s)G2(s)G3(s)G4(s)H(s)R(s)C(s)G1(s)G2(s)G3(s)G4(s)H(s)R(s)C(s)G1(s)G2(s)G3(s)G4(s)H(s)R(s)C(s)G1(s)G2(s)G3(s)G4(s)H(s)R(s)C(s)G1(s)G2(s)G3(s)G4(s)H(s)R(s)C(s)梅梅森森公式习题公式习题2-22(d)ehfgR(s)abcdC(s)C(s)R(s)=1+afbg ch efhgahfced(1g)bdabcehfgehfgR(s)abcdC(s)edgb四个单独回路，两个回路互不接触四个单独回路，两个回路互不接触C(s)R(s)=1+前向通路两条前向通路两条信号流图信号流图习题习题2-22(d)afbg ch efhgahfced(1g)bdabc1abcdfghC(s)R(s)eehfg信号流图转换为结构图信号流图转换为结构图(P54)R(s)abcdC(s)e1abcdfghC(s)R(s)由结构图绘制信号流图由结构图绘制信号流图(P54)复习(补充)G2G1R(s)C(s)G2G1G2G1G2G1G2G1G2G1L1=G1L2=-G2L4=-G1G2L3=-G1G2L5=-G1G2找回路(图2-67)王凤如邮箱：王凤如邮箱：xwfr01nuaa.edu QQ：272666985