第3章计算机控制系统数学描述与性能分析课件.ppt

1、l 线性常系数差分方程线性常系数差分方程l 脉冲传递函数脉冲传递函数l 计算机控制系统稳定性分析计算机控制系统稳定性分析l 计算机控制系统的代数稳定性判据计算机控制系统的代数稳定性判据l 计算机控制系统稳态过程分析计算机控制系统稳态过程分析l 计算机控制系统暂态过程分析计算机控制系统暂态过程分析 l 计算机控制系统的频域特性分析计算机控制系统的频域特性分析12()()()e kae kbe k12()()()()u kD e kaD e kbD e k)()(nkeDnku12()(1)(2)()nu kau ka u ka u kn012()(1)(2)()mb e kbe kb e kb

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5、zz1121111()(2)(1)(2)(1)(2)(1)21,1,2,3,kkzzkf kzzzzzzzzk*11()21()kkfttkT()8(1)12(2)0u ku ku k(1)1u(2)3u()()nZ f tnTzF z()0f t 1()()()nnnjjZ f tnTzF zzf jT z()()Z u kU z1(1)()(1)Z u kz U zu21(2)()(1)(2)Z u kz U zz uu2k(2)8(1)12(0)0uuu8(1)(2)8 1 35(0)121212uuu 1k(1)8(0)12(1)0uuu0k 8(0)(1)7(1)1236uuu(0)

6、8(1)12(2)0uuu8(1)(0)41(2)12432uuu121()8()(1)12()(1)(2)0U zz U zuz U zz uu11115/3621/9()(1 6)(1 2)zU zzz*013()(6)(2)()248kkku ttkT(2)(1)0.8()1,(0)2f kf kf(1)()6(1)10(2)0(1)1,(2)3f kf kf kff已知 ()()()Y zW zX z输出脉冲序列的z变换输入脉冲序列的z变换)(tx)(*tx)()()()()()0()(*kTtkTxTtTxtxtxTt 0)(sW)0(Tx)(sW)()0()(tgTxty)(tg0

7、00)()(tttgtgTtT20t)()()()0()(TtgTxtgTxtyTtTttgTtg0)()(tTkTt kiiTxTikgkTy0)()()()()()(zXzWzY)()()(zXzYzW*()()()()()()Y sW s XsYsWs Xs()()()()()()Y zW z X zY zW zX z101()(1)()()(1)()nmy ka y ka y knb x kb x kb x km11101()()()()()()nnmmY za z Y za z Y zb X zb z X zb zX z10111()()()1mmnnbb zb zY zW zX z

8、a za z1()()kW ss Tsa1()()sTekW sss sa12()()()()()Y zW zW z W zR z1212()()()()W zZ W s W sWW zasasWssW)(,1)(21)(zW1111()1W zZsz 21()1aTaaW zZsaez1211()()()(1)(1)aTaW zW z W zzez1)()()(21asasZsWsWZzW111(1)(1)(1)aTaTezzez)()()()()(2121zWzWsWZsWZzW()W s)(sHz变换()()()()E zR zE z WH z*()()()Y sE s W sz变换()

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16、3.01)1(PPKKF00952.0905.00952.0953.01)1()1(2PPKKF15.01pK 10952.0905.0,20PKaa0.20PK01.15PK111()()()lim(1)()lim(1)lim(1)1()()1()zzzdKR zR zezE zzzD z WzWz()1z R zz1111()lim(1)lim1()()11()()11 1(1)(1)1pzzdddpzezD z WzzD z WzDWK 11lim()()lim()(1)pdKKzz KD z WzWzW2)1(zTzR(z)21111()lim(1)lim1()()(1)(1)1()(

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