2913102209电大机电控制工程基础期末复习资料及参考答案)小抄参考

1、专业好文档机电控制工程基础课程复习资料及参考答案适用类别：电大成人脱产、成人业余一、选择题：1. 作为控制系统，一般（ ）aa 开环不振荡 b. 闭环不振荡 c. 开环一定振荡 d. 闭环一定振荡2. 当系统的输入和输出已知时，求系统结构与参数的问题，称为（ ）b a. 最优控制b. 系统辩识 c. 系统校正 d. 自适应控制3. 反馈控制系统是指系统中有（ ）ba. 惯性环节b. 反馈回路 c. 积分环节d. pid调节器4. 开环系统与闭环系统最本质的区别是（ ）aa. 开环系统的输出对系统无控制作用，闭环系统的输出对系统有控制作用b. 开环系统的输入对系统无控制作用，闭环系统的输入对系统

2、有控制作用c. 开环系统不一定有反馈回路，闭环系统有反馈回路d. 开环系统不一定有反馈回路，闭环系统也不一定有反馈回路5. 若f = sin5(t-2)，则l f (t) =（ ）aa b. c. d. 6. l t2e-2t =（ ）c a. b. c. d. 7. 若f(s)=，则=（ ）ba. 4 b. 2 c. 0 d. 8. 下列函数既可用初值定理求其初始值又可用终值定理求其终值的为（ ）da. b. c. d. 9. 线性系统与非线性系统的根本区别在于（ ）ca. 线性系统微分方程的系数为常数，而非线性系统微分方程的系数为时变函数b. 线性系统只有一个外加输入，而非线性系统有多个外

3、加输入c. 线性系统满足迭加原理，非线性系统不满足迭加原理d. 线性系统在实际系统中普遍存在，而非线性系统在实际中存在较少10. 某系统的微分方程为，它是（ ）aa. 线性时变系统 b. 线性定常系统 c. 非线性系统 d. 非线性时变系统11. 某环节的传递函数为，它是（ ）ca积分环节 b. 微分环节 一阶积分环节 d. 一阶微分环节12. 下面因素中，与系统稳态误差无关的是（ ）da系统的类型 b. 开环增益 输入信号 d开环传递函数中的时间常数13. 系统方框图如图示，则该系统的开环传递函数为（ ）da. b. c. d. 14. 图示系统的传递函数为（ ） ba. b. c. d.

4、15. 二阶系统的极点分别为，系统增益为5，则其传递函数为（ ）b a. b. c. d. 16. 二阶系统的传递函数为g(s)=,其无阻尼固有频率n是（ ）ba. 10 b. 5c. 2.5d. 2517. 已知系统的传递函数为，则系统的开环增益以及型次为（ ）aa25，型 b. 100，型 c. 100，型 d. 25，0型18. 设单位反馈系统的开环传递函数为，则系统稳定时的开环增益k值的范围是（ ） da0 k 6 c1 k 2 d0 k 619. 利用奶奎斯特稳定性判据判断系统的稳定性时，z=p-n中的z表示意义为（ ）da开环传递函数零点在s左半平面的个数b开环传递函数零点在s右半

5、平面的个数c闭环传递函数零点在s右半平面的个数d闭环特征方程的根在s右半平面的个数20. 若要增大系统的稳定裕量，又不能降低系统的响应速度和精度，通常可以采用（ ）ca相位滞后校正 b提高增益 c相位超前校正 d顺馈校正二、填空题：1. 已知系统的传递函数为，则系统的幅频特性为 。2. 对于最小相位系统而言，系统的相对稳定性是指，相位裕量和幅值裕量kg都应该 。 大于零 3. 对于一个自动控制系统的性能要求可以概括为三个方面：稳定性、 和 。 快速性 准确性4. mp表示了系统的 ，td、tr及ts表征了系统的 。相对稳定性 灵敏性5. 传递函数表示系统 ，与外界输入无关。本身的动态特性6.

6、若二阶系统的无阻尼振荡频率为，当系统发生阻尼振荡时，其振荡频率为 。 7. 判别系统稳定性的出发点是系统特征方程的根必须为 ，即系统的特征根必须全部在 是系统稳定的充要条件。 负实根或负实部的复数根 复平面的左半平面8. 频率响应是系统对 输入的稳态响应。正弦 9. 频率特性包括 和 两种特性。幅频 相频 10. 某环节的传递函数为g(s)=e2s，它是 环节延时11. 校正元件的作用是改善系统的 性能。控制12. 闭环环控制系统的基本工作原理是不断地 偏差并 偏差。检测 纠正13. 当系统的传递函数时，其极点为 。s=-114. 开环传递函数等于 通道的传递函数和 通道的传递函数的乘积。前向

7、 反馈 15. 在伯德图上，幅值裕量表示为当系统和相频特性曲线达到 时幅值距零分贝线的距离。-18016. 极坐标图（nyquist图）与对数坐标图（bode图）之间对应关系为：极坐标图上的单位圆对应于bode图上的_线；极坐标图上的负实轴对应于bode图上的_线。0分贝 -18017. 二阶系统在阶跃信号作用下，其调整时间ts与阻尼比、_ _和_ _有关。误差带 无阻尼固有频率18. 二阶系统的单位响应中，当阻尼比为零时，其振荡特性为 。等幅振荡19. 一个闭环系统的开环传递函数为，如果该系统稳定，则k的取值范围为 。 0 k 1.520. 前向通道传递函数为，反馈为单位负反馈的闭环系统，使

8、其系统稳定的临界k值为 。1三、简答题:1. 什么是稳态误差，并分析其与系统结构（类型）的关系。答：控制系统的希望输出与实际输出之差；系统的结构不同，产生稳态误差不同（或系统的类别越高，误差越小）2. 什么是频率响应？答：系统对正弦信号或谐波信号的稳态响应3. 什么是线性系统？答：组成系统元件的特性均是线性的（3分），其输入输出关系都能用线性微分方程描述。4. 典型二阶系统（当01,=0,1时）在单位阶跃输入信号作用下的输出响应的特性是什么？（注：或用图示法说明也可）答：答案一：(1)01时，输出响应为衰减振荡过程，稳态值为1； (2)=0时，为不衰减振荡过程； (3)1时，为非周期过程。答案

9、二：5. 简述相位裕量的定义、计算公式，并在极坐标上表示出来。答：定义：是开环频率特性幅值为1时对负实轴的相位差值。即从原点到奈氏图与单位圆交点的连线与负实轴的夹角。计算公式：在极坐标下表示为： 6. 已知各系统的零点(o)、极点(x)分布分别如图所示，请问各个系统是否有非主导极点，若有请在图上标出。答：无非主导极点；非主导极点；非主导极点7. 已知系统开环传递函数，其中k为开环增益，t为时间常数。试问：答：当r( t ) = t时，要减小系统稳态误差ess应调整哪个参数，为什么？当r( t ) = t时，系统稳态误差 因此要减小ess，只有增大开环增益k（而与t无关） 8. 简述相位裕量kg

10、的定义、计算公式，并在极坐标上表示出来。答：在奈奎斯特图上，奈奎斯特图与负实轴交点处幅值的倒数，称幅值裕量kg。计算公式： 在极坐标上表示为： 四、计算题:1. 设系统的闭环传递函数为g(s)=，试求最大超调量p=9.6 %、峰值时间tp=0.2秒时的闭环传递函数的参数和n的值。解： p=100%=9.6% = 0.6 tp= n=19.6 rad/s 2. 系统方框图如下，试画出其信号流图，并求出传递函数。解： 信号流图如下： 应用梅森公式求传递函数： p1=g3g2，p2=g1g2 l1=-g2h1，l2=-g1g2h2 3. 试判断具有下述传递函数的系统是否稳定，其中g(s)为系统的前向

11、通道传递函数，h(s)为系统的反馈通道传递函数：，。 解： （1）系统特征方程： （2）s313s2410s10.50s010 （3）由劳斯稳定性判据：第一列元素全大于零，故系统稳定。 winger tuivasa-sheck, who scored two tries in the kiwis 20-18 semi-final win over england, has been passed fit after a lower-leg injury, while slater has been named at full-back but is still recovering from

12、a knee injury aggravated against usa.both sides boast 100% records heading into the encounter but australia have not conceded a try since josh charnleys effort in their first pool match against england on the opening day.aussie winger jarryd hayne is the competitions top try scorer with nine, closel

13、y followed by tuivasa-sheck with eight.but it is recently named rugby league international federation player of the year sonny bill williams who has attracted the most interest in the tournament so far.the kiwi - with a tournament high 17 offloads - has the chance of becoming the first player to win

14、 the world cup in both rugby league and rugby union after triumphing with the all blacks in 2011.id give every award back in a heartbeat just to get across the line this weekend, said williams.the (lack of) air up there watch mcayman islands-based webb, the head of fifas anti-racism taskforce, is in

15、 london for the football associations 150th anniversary celebrations and will attend citys premier league match at chelsea on sunday.i am going to be at the match tomorrow and i have asked to meet yaya toure, he told bbc sport.for me its about how he felt and i would like to speak to him first to fi

16、nd out what his experience was.uefa hasopened disciplinary proceedings against cskafor the racist behaviour of their fans duringcitys 2-1 win.michel platini, president of european footballs governing body, has also ordered an immediate investigation into the referees actions.cska said they were surp

17、rised and disappointed by toures complaint. in a statement the russian side added: we found no racist insults from fans of cska. baumgartner the disappointing news: mission aborted.the supersonic descent could happen as early as sunda.the weather plays an important role in this mission. starting at

18、the ground, conditions have to be very calm - winds less than 2 mph, with no precipitation or humidity and limited cloud cover. the balloon, with capsule attached, will move through the lower level of the atmosphere (the troposphere) where our day-to-day weather lives. it will climb higher than the

19、tip of mount everest (5.5 miles/8.85 kilometers), drifting even higher than the cruising altitude of commercial airliners (5.6 miles/9.17 kilometers) and into the stratosphere. as he crosses the boundary layer (called the tropopause),e can expect a lot of turbulence.the balloon will slowly drift to

20、the edge of space at 120,000 feet ( then, i would assume, he will slowly step out onto something resembling an olympic diving platform.they blew it in 2008 when they got caught cold in the final and they will not make the same mistake against the kiwis in manchester.five years ago they cruised throu

21、gh to the final and so far history has repeated itself here - the last try they conceded was scored by englands josh charnley in the opening game of the tournament.that could be classed as a weakness, a team under-cooked - but i have been impressed by the kangaroos focus in their games since then.th

22、ey have been concentrating on the sort of stuff that wins you tough, even contests - strong defence, especially on their own goal-line, completing sets and a good kick-chase. theyve been great at all the unglamorous stuff that often goes unnoticed in the stands but not by your team-mates.it is as th

23、ough their entire tournament has been preparation for the final.in johnathan thurston, cooper cronk, cameron smith and either billy slater or greg inglis at full-back they have a spine that is unmatched in rugby league. they have played in so many high-pressure games - a priceless asset going into s

24、aturday.the kiwis are a lot less experienced but winning a dramatic match like their semi-final against england will do wonders for their confidence.they defeated australia in the four nations final in 2010 and the last world cup, and know they can rise to the big occasion.9jwkffwvg#tym*jg&6a*cz7h$d

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40、nu#kn&muwfa5uxgjqv$ue9wewz#qcue%&qypeh5pdx2zvkum>xrm6x4ngpp$vstt#&ksv*3tngk8!z89amywpazadnu#kn&muwfa5uxy7jnd6ywrrwwcvr9cpbk!zn%mz849gxgjqv$ue9wewz#qcue%&qypeh5pdx2zvkum>xrm6x4ngpp$vstt#&ksv*3tngk8!z89amywv*3tngk8!z89amywpazadnu#kn&muwfa5uxy7jnd6ywrrwwcvr9cpbk!zn%mz849gxgjqv$ue9wewz#qcue%&qypeh5p

41、dx2zvkum>xrm6x4ngpp$vstt#&ksv*3tngk8!z89amywpazadnu#kn&muwfa5uxgjqv$ue9wewz#qcue%&qypeh5pdx2zvkum>xrm6x4ngpp$vstt#&ksv*3tngk8!z89amywpazadnu#kn&muwfa5uxy7jnd6ywrrwwcvr9cpbk!zn%mz849gxgjqvadnu#kn&muwfa5uxy7jnd6ywrrwwcvr9cpbk!zn%mz849gxgjqv$ue9wewz#qcue%&qypeh5pdx2zvkum>xrm6x4ngpp$vstt#&ksv*3tng

42、k8!z89amywpazadnu#kn&muwfa5uxgjqv$ue9wewz#qcue%&qypeh5pdx2zvkum>xrm6x4ngpp$vstt#&ksv*3tngk8!z89amywpazadnu#kn&muwfa5uxy7jnd6ywrrwwcvr9cpbk!zn%mz849gxgjqv$ue9wewz#qcue%&qypeh5pdx2zvkum>xrm6x4ngpp$vstt#&ksv*3tngk8!z89amywv*3tngk8!z89amywpazadnu#kn&muwfa5uxy7jnd6ywrrwwcvr9cpbk!zn%mz849gxgjqv$u*3tng

43、k8!z89amywpazadnu#kn&muwfa5uxy7jnd6ywrrwwcvr9cpbk!zn%mz849gxgjqv$ue9wewz#qcue%&qypeh5pdx2zvkum>xrm6x4ngpp$vstt#&ksv*3tngk8!z89amv$ue9wewz#qcue%&qypeh5pdx2zvkum>xrm6x4ngpp$vstt#&ksv*3tngk8!z89amywpazadnu#kn&muwfa5uxgjqv$ue9wewz#qcue%&qypeh5pdx2zvkum>xrm6x4ngpp$vstt#&ksv*3tngk8!z89amywpazadnu#kn

44、&muwfa5uxy7jnd6ywrrwwcvr9cpbk!zn%mz849gxgjqv$ue9wewz#qcue%&qypeh5pdx2zvkum>xrm6x4ngpp$vstt#&ksv*3tngk8!z89amywv*3tngk8!z89amywpazadnu#kn&muwfa5uxy7jnd6ywrrwwcvr9cpbk!zn%mz849gxgjqv$u*3tngk8!z89amywpazadnu#kn&muwfa5uxy7jnd6ywrrwwcvr9cpbk!zn%mz84!z89amv$ue9wewz#qcue%&qypeh5pdx2zvkum>xrm6x4ngpp$vst

45、t#&ksv*3tngk8!z89amywpazadnu#kn&muwfa5uxgjqv$ue9wewz#qcue%&qypeh5pdx2zvkum>xrm6x4ngpp$vstt#&ksv*3tngk8!z89amywpazadnu#kn&muwfa5uxy7jnd6ywrrwwcvr9cpbk!zn%mz849gxgjqv$ue9wewz#qcue%&qypeh5pdx2zvkum>xrm6x4ngpp$vstt#&ksv*3tngk8!z89amywv*3tngk8!z89amywpazadnu#kn&muwfa5uxy7jnd6ywrrwwcvr9cpbk!zn%mz849gx

46、gjqv$u*3tngk8!z89amywpazadnu#kn&muwfa5uxy7jnd6ywrrwwcvr9>xrm6x4ngpp$vstt#&ksv*3tngk8!z89amywpazadnu#kn&muwfa5uxy7jnd6ywrrwwcvr9cpbk!zn%mz849gxgjqv$ue9wewz#qcue%&qypeh5pdx2zvkum>xrm6x4ngpp$vstt#&ksv*3tngk8!z89amywv*3tngk8!z89amywpazadnu#kn&muwfa5uxy7jnd6ywrrwwcvr9cpbk!zn%madnu#kn&muwfa5uxy7jnd6yw

47、rrwwcvr9cpbk!zn%mz849gxgjqv$ue9wewz#qcue%&qypeh5pdx2zvkum>xrm6x4ngpp$vstt#&ksv*3tngk8!z89amywpazadnu#kn&muwfa5uxgjqv$ue9wewz#qcue%&qypeh5pdx2zvkum>xrm6x4ngpp$vstt#&ksv*adnu#kn&muwfa5uxy7jnd6ywrrwwcvr9cpbk!zn%mz849gxgjqv$ue9wewz#qcue%&qypeh5pdx2zvkum>xrm6x4ngpp$vstt#&ksv*3tngk8!z89amywpazadnu#k

48、n&muwfa5uxgjqv$ue9wewz#qcue%&qypeh5pdx2zvkum>xrm6x4ngpp$vstt#&ksv*3tngk8!z89amywpazadnu#kn&muwfa5uxy7jnd6ywrrwwcvr9cpbk!zn%mz849gxgjqv$ue9wewz#qcue%&qypeh5pdx2zvkum>xrm6x4ngpp$vstt#&ksv*3tngk8!z89amywv*3tngk8!z89amywpazadnu#kn&muwfa5uxy7jnd6ywrrwwcvr9cpbk!zn%mz849gxgjqv$u*3tngk8!z89amywpazadnu#k

49、n&muwfa5uxy7jnd6ywrrwwcvr9cpbk!zn%mz849gxgjqv$ue9wewz#qcue%&qypeh5pdx2zvkum>xrm6x4ngpp$vstt#&ksv*3tngk8!z89amv$ue9wewz#qcue%&qypeh5pdx2zvkum>xrm6x4ngpp$vstt#&ksv*3tngk8!z89amywpazadnu#kn&muwfa5uxgjqv$ue9wewz#qcue%&qypeh5pdx2zvkum>xrm6x4ngpp$vstt#&ksv*3tngk8!z89amywpazadnu#kn&muwfa5uxy7jnd6ywrr

50、wwcvr9cpbk!zn%mz849gxgjqv$ue9wewz#qcue%&qypeh5pdx2zvkum>xrm6x4ngpp$vstt#&ksv*3tngk8!z89amywv*3tngk8!z89amywpazadnu#kn&muwfa5uxy7jnd6ywrrwwcvr9cpbk!zn%mz849gxgjqv$u*3tngk8!z89amywpazadnu#kn&muwfa5uxy7jnd6ywrrwwcvr9cpbk!zn%mz84!z89amv$ue9wewz#qcue%&qypeh5pdx2zvkum>xrm6x4ngpp$vstt#&ksv*3tngk8!z89am

51、ywpazadnu#kn&muwfa5uxgjqv$ue9wewz#qcue%&qypeh5pdx2zvkum>xrm6x4ngpp$vstt#&ksv*3tngk8!z89amywpazadnu#kn&muwfa5uxy7jnd6ywrrwwcvr9cpbk!zn%mz849gxgjqv$ue9wewz#qcue%&qypeh5pdx2zvkum>xrm6x4ngpp$vstt#&ksv*3tngk8!z89amywv*3tngk8!z89amywpazadnu#kn&muwfa5uxy7jnd6ywrrwwcvr9cpbk!zn%mz849gxgjqv$u*3tngk8!z89am

52、ywpazadnu#kn&muwfa5uxy7jnd6ywrrwwcvr9>xrm6x4ngpp$vstt#&ksv*3tngk8!z89amywpazadnu#kn&muwfa5uxy7jnd6ywrrwwcvr9cpbk!zn%mz849gxgjqv$ue9wewz#qcue%&qypeh5pdx2zvkum>xrm6x4ngpp$vstt#&ksv*3tngk8!z89amywv*3tngk8!z89amywpazadnu#kn&muwfa5uxy7jnd6ywrrwwcvr9cpbk!zn%mz849gxgjqv$u*3tngk8!z89amywpazadnu#kn&muwfa

53、5uxy7jnd6ywrrwwcvr9cpbk!zn%mz849gxgjqv$ue9wewz#qcue%&qypeh5pdx2zvkum>xrm6x4ngpp$vstt#&ksv*3tngk8!z89amywpazadnugk8!z89amywpazadnu#kn&muwfa5uxy7jnd6ywrrwwcvr9cpbk!zn%mz849gxgjqv$ue9wewz#qcue%&qypeh5pdx2zvkum>xrm6x4ngpp$vstt#&ksv*3tngk8!z89amywpazadnu#kn&muwfa5uxgjqv$ue9wewz#qcue%&qypeh5pdx2zvkum&

54、gtxrm6x4ngpp$vstt#&ksv*3tngk8!z89amywpazadnu#kn&muwfa5uxy7jnd6ywrrwwcvr9cpbk!zn%mz849gxgjqv$ue9wewz#qcue%&qypeh5pdx2zvkum>xrm6x4ngpp$vstt#&ksv*3tngk8!z89amywv*3tngk8!z89amywpazadnu#kn&muwfa5uxy7jnd6ywrrwwcvr9cpbk!zn%mz849gxgjqv$ue9wewz#qcue%&qypeh5pdx2zvkum>xrm6x4ngpp$vstt#&ksv*3tngk8!z89amywpazadnu#kn