自动控制原理2-3控制系统的结构图与信号流图ppt2010(1).

1、制作人制作人南京航空航天大学南京航空航天大学王凤如王凤如封面2-3目录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m c r r c )()()(maxtktEtuccc )()()(tututucr dttdktumtt)()( )()(ttkcr )()(tuktuaa )()()(22tukdttddttdTammmm )(1)(titmc )()()(maxtktEturrr 位置随动系统位置随动系统结构图绘制结构图绘

2、制(补充补充) s (Uk) s (rr ) s (Uk) s (cc ) s (U) s (U) s (Ucr ) s (Usk) s (ttm )()()(tututut ) s (U) s (U) s (Ut ) s (Uk) s (Uaa ) s ()1sT( sk) s (Ummma ) s (mi1) s (c u操纵手柄操纵手柄W1JLfLW2uruc放大器放大器电机电机减速器减速器测速电机测速电机uutuam m c c r kkai1 kkts)1sT( skmm (补充补充)R1R2C1C2ur(t)uc(t)I(s)I1(s)Uc(s) = I2(s) sc21I2(s)

3、 = 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)从右从右到到左左(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)

4、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从右从右到到左左从左从左到右到右(补充补充)(补充补充) s (IR1)s (U) s (U111r ) s (Usc1)s (I) s (I 1121 ) s (IR1)s (U) s (U22c1 R1C1C2ur(t)uc(t)Ur(s)Uc(s)sc11R11I1(s)sc21Ur(s)Uc(s)

5、sc11sc21I2(s)U1(s) s (Usc1) s (Ic22 I2(s)U1(s)U1(s)Uc(s)R21I2(s)I1(s)R2题1 (补充补充) t ( c) t (n) t (x1 ) t ( cT) t (rkdt) t (dx212 ) t (n) t (x) t (rk) t (xTdt) t (dx22111 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) s (C) s (N) s (X1 ) s (CT) s (Rk) s (sX212 ) s (N) s (X) s (Rk) s (X)Ts (2211 ) t ( c) t (n) t (x1 )

6、 t ( cT) t ( rkdt) t (dx212 ) t (n) t (x) t (rk) t (xTdt) t (dx22111 绘制动态结构图绘制动态结构图) s (Xs1T) s (Ck) s (R221 ) s (XTs1)s (Nk) s (R) s (X1122 ) s (C) s (N) s (X1 R(s)k1C(s)T2X2(s)k21Ts1 X1(s)C(s)N(s)s1E(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)

7、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.

8、215.21k3uoi uic +15v-15vc i c LZ3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 k k200 k k200 k k200 k k100 k k100 k k100 k k500 k k2005R R6R RF F 2F F 1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

9、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)abb)(1s sG GaG(s)abbG(s)abG(s)b王凤如邮箱：王凤如邮箱： 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)

10、G(s)eabecG(s)acG(s)b)(1s sG GG1G2G3G4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)H3H11121HG1GG G4333HG1G 112121HG1HHGG 1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

11、)G3(s)C(s)R(s)H (s)G4(s)H (s)等效变换例1 (补充) s (H) s (G) s (G1) s (G411 H (s)G2(s)G3(s)C(s)R(s)H HG GG GG G4111 H HG GG GG G4111 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) s (H) s (G113 G2(s)1 1并联并联2 2反馈反馈3 3串联串联) s (H) s (G113 HG1H3 HG

12、113 1G2GR(s)C(s)反馈再反馈(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)sc11R11sc21R211R2sc 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)1G)da(b 121GG)ba(aG 移项整理后得：移项整理后得：2G)ba(d 212GG)da(aG 2112GG1G)G1(ab 2121GG1G)G1(ad abdP Pk k从从R(s)到到C(s)的第的第k

13、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:所有所有单独回路单独回路增益之和增益之和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+所有所有两两互不接触两两互不接触回路增益回路增益乘积乘积之和之和所有所有三个互不接触三个互不接触回路增益回路增益乘积乘积之和之和R(s)C(s)L1= G1 H1L2= G3 H3

14、L3= 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)

15、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

16、)H3(s) G1(s) G2(s) G3(s)P1=G1G2G3P2= G4G32=1+G1H11=134113311321341332133111134321GGHGHGHGGGGGGHHGGGHGHG1)HG1(GGGGG) s (R) s (C )s(R)s(C求L1L2= (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- G1H

17、1G2 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)s(C求

18、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=?梅梅

19、森森公式例公式例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)s(E求G1(s)G2(s)G3(s)G4(s)H (s)梅森公式例梅森公式例4 (补充)21LL1 HGGHGG14121 211GGP G1(s)G2(s)G3(s)G4(s)H (s)R(s)C(s)L1=-G1G2HL2=-G1G4H11 232GGP 22L1 HGG141 HGGHGG1)HGG1(GGGGPP) s (R) s (C41214123212211 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(