计算机控制技术第2版姜学军课后答案1-5章.pdf

Ch1 1 2 7 DDC A D DDCSCCDDC SCC DDCDDC SCC 8 9 DDCDDC DDC SCC DCS DCS FCS DDC SCC CIMS CIPS 11 13 f KT 2 1 2 t KT f tf KTfKT tKTfKT tKT f t f KT KTt K1 T ZOHZero Order Hold f KTKT KTKT 2 2 2 2 KTKTt t 1z 1 1 at f te 1 at zz F z zze 2 1 4 kf t 12 00 1 4 1 4 1 4 1 4 nknkkk nn F zf kt zzzz 1 1 1 4 1 4 11 kk z zz 3 6 2 F s s s 633 2 2 F s s sss 2 2222 333 1 1 1 T TTT zzez F z zzezeze 4 2 1 3 s F s ss 3 33 112 222 TT TTTT zzzzee F z zezezeze 2111 1 3 213 s F s ssss 2 1 1 1 2 10 1 z F z z 1 1 2 10 0 lim0 1 z z f z 1 lim 1 z fF zz 2 12 123 143 1262 5 zz F z zzz 2 333 1 333 1 2 1 1 1 1 T 333 1 22222222222222222222 zzezzzez333 1 333 1 333 1 1 1 1 1 333 1 2222222222222222 333 1 333 1 333 1 1 1 1 1 1 1 2222222222222222 zzezeze1 1 1 1 1 1 222 222 222 222 TTT2222 zzezeze 2222 3333 112112 222 33TTTT3333 222 33 zzzzeezzzzee112112112 222 222 33 zzzzee 33TTTT33 222 222 21112111 211121112111 1 3 213 1 3 213 1 3 213 1 3 213 1 3 213 1 3 213 1 3 213 1 3 213 12 123 143 0 lim1 1262 5 z zz f zzz 1 lim 1 0 z fF zz 3 2 5 43 z F z zz 2 5 0 lim0 43 z z f zz 1 lim 1 z fF zz 4 22 22 1 0 81 0 8 zzz F z zzzz 22 22 1 0 lim1 0 81 0 8 z zzz f zzzz 1 lim 1 0 z fF zz 3z 1 0 5 z F z z 1 0 5 0 5 k z L z 0 5kf kT 0 0 5 k k fttkT 2 2 0 1 0 8 z F z zz 1 2 1 Re 0 1 0 8 k i z f kTs zz 11 0 80 1 0 8 0 1 0 1 0 8 0 1 0 8 kk zz zz zz zzzz 11 1 0 80 1 7 kk 11 0 1 0 80 1 7 kk k fttkT 3 2 0 5 1 0 5 z F z zz 0 0 0 5 0 5 k k 0 5 0 5 0 5 0 5 0 5 0 5 0 5 0 5 0 5 0 5 0 5 0 5 0 5 0 5 0 5 0 5 0 1 0 8 0 1 0 8 0 1 0 8 k z 0 5 10 5 zz F z zz 11 0 5 1 0 5 10 5 k zz L zz 1 0 1 0 5 k k fttkT 4 1 2 z F z zz 2 1 Re 1 2 k i z f kTs zz 12 1 2 1 2 1 2 kk zz zz zz zzzz 21 k 0 21 k k fttkT 5 1y k 0 5y k1 u k u t 1 t k0y k 0 z 1 0 5 Y zz Y zU z u t 1 t 1 0 5 1 z Y zz Y z z 1 1222 1 0 510 51211121 zzzzzzz Y t zzzzzzzz z 2 1 2 ky k 2 y k 4y k1 3y k2 u k 5u k1 u t d t k0 y k 0 z 121 4 3 5 Y zz Y zz Y zU zz U z 12 122 1 552 1434313 zzzzz Y z zzzzzz z 2 1 3 kk y k 6Z 1 y k 2y k2 3y k4 u k u k 1 k k 1 0 510 512111211 0 510 512111211 0 510 512111211 0 510 51211121 y k k k0 0 1 0 5 0 5 1 0 5 0 5 0 5 1 0 5 0 5 0 5 0 5 0 5 0 5 1212121212 1 0 510 512111211 0 510 512111211 0 510 512111211 0 510 512111211 0 510 512111211 0 510 51211121 2 1 2 2 1 2 2 1 2 2 1 2 2 1 2 z 241 2 3 Y zz Y zz Y zU zz U z 143 2442 1 1 2323 Y zzzz G z U zzzzz 2 y k y k 3 u k 2u k2 z 32 2 Y zz Y zU zz U z 23 33 1 22 11 Y zzzz G z U zzz 7GsZ 1 2 0 11 G s ss 222 0 11 10 G s ssss 11011101 220 1 10 22 1111 TT G z zezzez 2 2 1 0 11 Ts e G s ss 2 1 22 1 0 11 10 Ts Ts e G se ssss 1 1010 2222 1 2 1 TT zzz G zz zzeze 82 1Z Y z G z U z 1 1 1 G s s 2 1 0 11 G s s 2 1 12 1011 9110 G sL G z G zL ss 1101110111011101 220 1 10 22220 1 10 22 1101110111011101110111011101110111011101 zezzezzezzez111111111111 110111011101110111011101110111011101110111011101 zezzezzezzezzezzez1111111111111111 11011101 zezzez 11011101 2 1 222 1 22 1 1 1 2 1 222 1 22 0 11 10 0 11 10 1 1 0 11 10 0 11 10 1 1 1 0 11 10 0 11 10 0 11 10 0 11 10 0 11 10 0 11 10 10 22222222 1 2 1 2 1010 1 TT 1 2 222222222222222222222222 zzezezzeze 10 1 1 2 1 2 1 2 10 1 2 1 2 1 2 1 2 zzezezzezezzeze1 G zG z 10 1010 9 TT zz zeze 12 10 10 TT zz G zG z G z zeze 92 2 2 2 121 E zR zG z G z G z E z 2 12 1 R z E z G zG z 12 2 12 1 G z G z R z Y zE z G z G zG z 12 2 12 1 G z G zY z W z R zG zG z 21 Y zG z E z 1121 E zE z G zG z E z 12 2 1 G z G zY z G z E zG z 2 22 2 121121 121121 121121121 2 2 1212 1 1 2 2 121212 1 1 1 2 2 12121212 1 1 1 112 212 1 1 G zG z G z W z G zG zG z G z 1 3 1 y t 20 10 G s s s T0 1s E z R z E z G z Y z E z G z 1 R z E z G z 1 G z Y zR z G z 20111 10 2110 G s s sss 10 1 264 2 2 110 36810 368 T zzzzz G z zzezzzz 1 z R z z 2 2 1 2641 264 110 3681 2641 0 1040 368 zzz Y z zzzzzzz 12 1 2640 258zz 1 264 0 258 2 y ttTtT 2 3 1 1 0 11 G s ss T0 1s 1011 10 110 G s s sss 0 632 10 368 z G z zz 0 632 lim 1 1 10 368 V z z Kz zz 0 1 V V T e K 53 1 10 1 G s s s T1s 1 110 3681 2641 0 1040 368 110 3681 2641 0 1040 368 zzzzzz 110 3681 2641 0 1040 368 110 3681 2641 0 1040 368 110 3681 2641 0 1040 368 110 3681 2641 0 1040 368 110 3681 2641 0 1040 368 12 2 2 1 2641 264 110 3681 2641 0 1040 368 110 3681 2641 0 1040 368 2 zzzzzz1 2641 264 110 3681 2641 0 1040 368 110 3681 2641 0 1040 368 2 110 3681 2641 0 1040 368 110 3681 2641 0 1040 368 110 3681 2641 0 1040 368 1 264 0 258 2 1 264 0 258 2 1 264 0 258 2 1 264 0 258 2 1 264 0 258 2 1 264 0 258 2 1 264 0 258 2 1 264 0 258 2 1 264 0 258 2 1 264 0 258 2 T T0 1 1011 2 Routh 1 z 1011 10 1 1 G s s sss 6 32 10 10 110 36810 368 T zzzzz G z zzezzzz 6 326 32 1 10 3686 32 0 076 4 876 G zzz W z G zzzzzz 1 0 076z 2 4 876z 2 1z 2 1 k G s s s z z1 z0 368 0 6321kz0 w 2 0 6321 264 2 7360 632 0kwwk RouthRouth 2 1 0 w w w 0 632 1 264 2 7360 632k 2 7360 632 0 0 k k04 3k k10 6 32 45117119390zzz 32 45117119390zzz w 32 230254254820www RouthRouth 3 2 1 0 w w w w 230 254 230 82 254 254 82 254 82 0 7 0 6321 264 2 7360 632 00 6321 264 2 7360 632 00 6321 264 2 7360 632 00 6321 264 2 7360 632 00 6321 264 2 7360 632 00 6321 264 2 7360 632 00 6321 264 2 7360 632 00 6321 264 2 7360 632 0 2 7360 6322 7360 632 0 0 0 2 7360 6322 7360 6322 7360 632 0 63210 6321kzkz0 0 0 6321 264 2 7360 632 00 6321 264 2 7360 632 00 6321 264 2 7360 632 00 6321 264 2 7360 632 00 6321 264 2 7360 632 00 6321 264 2 7360 632 0 2 7360 632k k 04 304 3k k04 304 304 304 304 304 3 1 11 1 0 5 1 2 k G z zz 2 1 2 1 k G z z Routhk 1 11 1 1 0 5 1 2 G zk W z G zzzk z 2 1 2 510kzz w 2 0 5 24 50kwkwk 2 1 0 w w w 0 5 2 4 5 k k k 4 5 0 k 0 5k 0 5k 2 1 2 1 1 G zk W z G zkz z 2 1 210kzz w 2 240kwkwk RouthRouth 2 1 0 w w w 2 4 k k k 4 0 0 k 0k 0k 1 2 1 1 1 1 1 2 1 210 1 210 1 210 1 210 1 210 1 210 1 210 1 210 1 210 1 210 240240240240240 4 0 4 1 4 24 1 0 1 10 1 10 05 G s sss 0 1s 4 1 1 2 1110 150 020 0025 1 10 1 10 05 1 0 11 0 05 Ts e G zZzZ Ssssssss 1 1 1 2111 0 10 150 20 05 1 1 11 0 3681 0 135 z z zzzz m2 u 1 v0 N1 111 1 1 1 1 536 W zk zc zz 1 21 1 1 1 e W zzd z 1 e W zW z 123123 11111 2 21 1 536 1 536d zdzd zkzk czkcz 1 11 11 2 21 1 536 1 536 dk dk c kcd 1 1 1 027 0 973 0 617 k d c 111 1 21 1 027 1 0 617 1 1 536 1 1 0 973 e W zzzz W zzz 4 14 1 1 1 10 1 10 05 10 1 10 05 G zZzZG zZzZ 1 1 10 1 10 05 10 1 10 05 G zZzZG zZzZG zZzZ 10 1 10 05 10 1 10 05 10 1 10 05 1 1 1 21 1 10 150 020 0025 1 1 1 10 1 10 05 1 1 1 SsssssssSsssssss 1 1 10 1 10 05 1 1 1 1 1 1 1 1 1 SsssssssSsssssss 10 1 10 05 0 10 150 20 050 10 150 20 05 1 1 1 21111 2111 0 10 150 20 050 10 150 20 05 1 11 0 3681 0 135 1 11 0 3681 0 135 1 21111 21111 21111 21111 21111 2111 1 11 0 3681 0 135 1 11 0 3681 0 135 1 21111 21111 2111 1 1 1 1 21111 2111 1 11 0 3681 0 135 1 11 0 3681 0 135 1 11 0 3681 0 135 1 111111 1 1 1 1 536 1 1 1 536 1 1 1 1 536 1 1 1 536 111111 1 111111111 1 1 1 536 1 1 1 536 1 1 1 536 1 1 1 536 111111 1 1 1 211 211 211 21 111 111 1 60 4 1 0 617 1 0 368 1 0 135 1 0 482 1 1 0 973 e e W zzzz D z G z W zzzz 234 0 1030 30 4Y zW z R zzzz 4 3 1111 1 1 1 1 536 1 0 482 W zk zc zzz 1 212 12 1 1 e W zzd zd z 1 e W zW z 1234 111 1234 112212 2 018 0 742 018 0 74 2 21 2 kzk czkc zc kz d zddzdd zd z 1 112 121 12 2 2 018 21 0 742 018 2 0 74 kd k cdd kcdd c kd 1 2 1 0 78 1 22 0 38 0 658 k d d c 1111 0 78 1 1 536 1 0 428 1 0 658W zzzzz 1 212 1 1 1 220 38 e W zzzz 111 121 1 45 882 1 0 658 1 0 368 1 0 135 1 1 220 38 1 e e W zzzz D z G z W zzzz 11111111 1 1 1 536 1 0 482 1 1 1 536 1 0 482 1 1 1 536 1 0 482 1 1 1 536 1 0 482 1111111111111111111111111111 1 1 1 536 1 0 482 1 1 1 536 1 0 482 1 1 1 536 1 0 482 111111111111 112212112212112212112212 123123 1111 123123 111111111111 123123123123123 12341234 11111111 1 1 1 536 1 0 482 1 1 1 536 1 0 482 11111111 1 1 1 536 1 0 482 1 1 1 536 1 0 482 1 1 1 536 1 0 482 1111111111111111111111111111 1 1 1 536 1 0 482 1111 1 212 12 W zzd zd zW zzd zd z 1 212 123412341234123412341234 123123 2 018 0 742 018 0 74 2 018 0 742 018 0 74 2 018 0 742 018 0 74 2 018 0 742 018 0 74 123412341234 1111111111 2 21 2 2 21 2 2 21 2 123123 112212112212112212 e U zD z E zD z W z R z 111 1 1 45 882 1 0 658 1 0 368 1 0 135 1 e e W zzzz D z G z W zz 12345 4 5885 2996 5896 5926 592zzzzz 4 44 1 11 1 Ts e G s ss r t 1 t T 1s 1111 1 11 Ts Ts e G zZZe ssss 1 11 11 1 11 0 368 z zz 1 1 0 632 1 0 368 z z m 1u v 0N 1 1 W zkz 1 1 e W zz 1 1 e W zzK 1 1 1 1 582 1 0 368 1 e W zz D z G z W zz 11 0 36811 0 368 G s 11111111 1 1 11111111 1111 1 1 1 1 1 1111111111111111 ssssssss 1 1 1 1111ssss1111 1111 1 1 1 1 1111 1111 11 0 368 11 1 1111 11 0 368 1 1111 11 0 368 1 1 1 4 5 2 1 2r tt r tt r tt2 1 1 0 633 1 0 368 z G z z 11 0 1muvN 1 W zkz 1 1 e W zz K 1 1 1 1 582 1 0 368 1 e W zz D z G z W zz 22 0 1muvN 111 2 1 1 1 e W zkc zzW zz 1 e W zW z 1112 11 1 1 22 2 kc zzzzkc 11 1 2 1 582 1 1 0 368 1 e W zzz D z G z W zz 33 0 1muvN 1211 3 12 1 1 e W zkc zc zzW zz 1 e W zW z 121123 1212 1 1 3332 1 3 kc zc zzzzzkcc 121 1 3 1 1 582 1 1 0 368 3 1 e zzz W z D z G z W zz 1 1 1 1 582 1 0 368 1 582 1 0 368 1 1 1 582 1 0 368 G z W zz 1 582 1 0 368 1 582 1 0 368 1 582 1 0 368 22 0 122 0 122 0 1 1 1 1 1 1111 1 21 2 1 1 1 1 1 21 2 1 1 1 1 1 1 1112 1111 1 22 1 22 111211121112 1111 1 22 1 22 1 22 11121112 111111 1 582 1 1 0 368 1 582 1 1 0 368 1 1 1 r tt 2 r tt 2 3 2r tt 4 64 1 0 5 1 G s s s 0 1sDz 15 1 Ts e G zZ ss s 11 11 0 025 1 0 9 1 1 0 9052 zz zz 121 2 2 1 e W zzzW zz 1 2 1 1 1 1 e z W z cz 12 1 2 1 e c zz W z cz z z 15 23 12 2 1 1 e c zz Y zW z R z czcz 1 2 11 1 1 1 1 e z E zW z R z czz 1 1 lim 1 0 z ezE z 23 123 2 1 2 12 e c zz Y zW z R zT czc zcz 1 21 11 2 1 1 1 1 e zTz E zW z R z czz 1 1 lim 1 0 z ezE z c 00 20 50 8 10c 1234 1 2r ttY zzzzz 234 234r tt Y zTzTzTz 20 2c 1234 1 1 81 161 0321 0064r ttY zzzzz 234 1 82 963 992r tt Y zTzTzTz 30 5c 123456 1 1 51 251 1031 0631 0311 016r ttY zzzzzzz 23456 1 52 753 8754 9365 969r tt Y zTzTzTzTzTz 40 8c 123456 1 1 21 161 1281 1021 0821 066r ttY zzzzzzz 23456 1 22 363 4884 595 672r tt Y zTzTzTzTzTz c 0 5 11 11 60 1 0 905 1 0 667 1 0 9 1 zz D z zz 12341234 r ttY zzzzzr ttY zzzzz 123412341234123412341234123412341234 r ttY zzzzzr ttY zzzzzr ttY zzzzz 123412341234 234234 234 234 234234 r tt Y zTzTzTzr tt Y zTzTzTz 234234234 234 234 234234234234234234234234234234 r tt Y zTzTzTzr tt Y zTzTzTz 234234234 234 234 234 234 234234234 1 1 51 251 1031 0631 0311 016 1 1 51 251 1031 0631 0311 016 1 1 51 251 1031 0631 0311 016 1 1 51 251 1031 0631 0311 016 1 82 963 992 1 82 963 992 1 82 963 992 1 82 963 992 234 12341234 1 1 81 161 0321 0064 1 1 81 161 0321 0064 123412341234 1 1 81 161 0321 0064 1 1 81 161 0321 0064 123412341234123412341234 1 1 81 161 0321 0064 1 1 81 161 0321 0064 1 1 81 161 0321 0064 1 1 81 161 0321 0064 123412341234 234234234234234 1 82 963 992 1 82 963 992 234 123456 1 1 51 251 1031 0631 0311 016 1 1 51 251 1031 0631 0311 016 123456 1 1 51 251 1031 0631 0311 016 1 1 51 251 1031 0631 0311 016 123456 1 1 51 251 1031 0631 0311 016 1 1 51 251 1031 0631 0311 016 1 1 51 251 1031 0631 0311 016 123456 1 1 51 251 1031 0631 0311 016 1 1 51 251 1031 0631 0311 016 1 1 51 251 1031 0631 0311 016 123456123456 5 4 2 1 0 21 ss D sT 1s Dz 1 1z s T D s 2 212 1 21 0 22 T D z TTzz 12 1 2 2 11 2