机械控制工程基础课后答案(廉自生)

.谢谢阅读感谢阅读谢谢阅读感谢阅读感谢阅读ytytkmftk1k2ftmb

ac1mxik1cxick1xic2xok2xok2xodc()(a)t)kyt)ft)谢谢阅读yb)t)(ky1k)yt)ft)2(c)(xic)cx01020(d)X(s)K01XK(s)c(KK)sKi1212(e)(xix)K01(xi0)cKx20及阻尼比的感谢阅读nxixokLRmcuiCuoab)....(a)G(s)kmcks2smmnkCm21VLRiCii图b)1VidtC0idt11RC∴G(s)LCR12Lns2sLLCMCm及）（应注意消去,JxkcMmRJ,Cm题2-4M与输出量CJmkMJs(s)Cs(s)kM(s)精品文档放心下载2m∴G(s)(s)11/J2nM(s)Csks2mssCk22mnJJ2nnkCmJ2Qx(2p/)Q感谢阅读vpxvc为流量系数；....Q与pQp精品文档放心下载p,QQxv(2p/)(p,Q)f12fQf(p)f(p)(pp)(pp)2精品文档放心下载pp2,d2f,pppppp的精品文档放心下载2QQk(PP)或QQk(pp)谢谢阅读Qf(p)kpp因此，方程Qxv(2p/)[2x(2p/)/2p](pp)就是由方程vQxv(2p/)H(s)1G(s)谢谢阅读(s)GBG(s)H(sG(s)(s)G1kTs1(s)∴GBkk1k1k(s)G2∴GB(s)Ts1TsG3(s)1Ts∴GB(s)11Ts谢谢阅读....xiC1c1k1R1uiR2uoc2xoC2k2(b)(a)IIC1IR1①ViRIR11V0②V0Ri21C2idt③RIR111C1iC1④iR1ViV0R1R③求导：V02iC2RV②求导：VRi110i1c1V0i1CVi01iiR1iC1ViV0VRi1V0C1V1VVVVVR2(1(VCVCi00i0R0CR011i21i∴G(s)VCRRCC(s)CsRsRs1012121122VCRRCCC(s)Cs(RRR)s1i1212122211....(x)k(xC20iiC(xx)kx10111x0)C(x1ix0)∴X(s)CsCC)skCk2kkG(s)012122112XCkkkk(s)Cs2CCC)ski1212211112CCCCs()s112212kkkk1212CCCCCs()s1122121kkkkk12122N(s)Xi(s)E(s)G(s)1Y(s)G(s)2Xo(s)B(s)H(s)题2-8）以R(s)N(s)0C(s),Y(s),E(s)为精品文档放心下载）以N(s)R(s)0C(s),Y(s),E(s)为精品文档放心下载(s)）GBG(s)1G(s)H(s)以C()G(s)BC(s)GG12R(s)1GGH12以Y(s)GB(s)Y(s)Go1R(s)1GGH12以E(s)GB(s)E(s)1oR(s)1GGH12C()GB(s)C(s)G2N(s)1G(HG21G21GGH12以Y(s)GB(s)YGH(s)GGo2112N(s)1(GH)1GGGH1212....以E(s)GB(s)EH(s)GHGo22N(s)1(GH)1GGGH1212(s)/X(s)。X谢谢阅读oiG4Xi(s)G1G2G3Xo(s)H2H1H3题2-9XX(s)G(sG(s)0c(s)1G(sG(s)iC谢谢阅读精品文档放心下载精品文档放心下载谢谢阅读1精品文档放心下载谢谢阅读解t1Ct)0.98感谢阅读....Ct)1Rt)1即C(s)1Ts1R(s)1谢谢阅读rt)t)则R(s)1s111TC(s)Ts1ssTs11T即ct)LCt)]L[]谢谢阅读11sTs111tL[][]1e11TssT将t1Ct)0.9810.981eT1即eT10.980.02T11分秒2.3lg0.023.9解/分rt)t，感谢阅读et)rt)ct)ct)精品文档放心下载rt)时R(s)As2即C(s)11A1TT2R(s)[]11sss122则Ct)LC(s)[L111TT2LL]11ss12....[L1111tTL1]tTTeT)11ss2sTtt即e(t)AtA(tTTe)ATe)精品文档放心下载TTt1t0.256A10谢谢阅读e(t)100.2560.982.53(上式为近似计算)。精品文档放心下载x0(t)10.2et1.2e。谢谢阅读n(s)X(s)(s)01s[()]0.21.2]xtee6010tt01110.21.2sss6010则(s)(s)100.2s1.2s(s60)(s10)0.2s(s1.2s(sss(s60)(s10)s270s0.2s22s1.2s272ss70ss70s22）求解阻尼比n(s)6002ns70s600ss222nnn2n24.5rad/s，1.43。精品文档放心下载nNm作感谢阅读(tx0p)x0()0.0095m,tp2smc和k。....k20Nxo(t)/m0.0095m0.1xo(t)012345t/stp)(b)图题3-4解：由图(a)xi(t)xi(t)20N，x0(t)b)可x0()m，x0(t)x()0.0095m,tp0p2sG(s)X(s)1，0X(s)2kiXki(s)20Ns。X()limxt)limsX(s)lims000ts0s0120N20Nms2csksk。而X()0.1mk200N/m。0mMpe12100%0.00950.1100%9.5%0.06。将tp2s,0.6tpn12n1.96s。1k/mm。感谢阅读2nc由c/mc181.8Ns/m。谢谢阅读nrt)tt感谢阅读....。G(s)1Ts1G(s)2nss22nn(0。rt)tR(s)1/s谢谢阅读2elimss01112s2s2)rt)tR(s)1/s精品文档放心下载2ess212limsnns0ss2s2s(ss)222nnnnGK(s)KTs1，）K，T）K，T）K，T1精品文档放心下载KT感谢阅读GK(s)KTs1G(s)G(s)KK1G(s)K1Kxit)tX(s)1/siX(s)G(s)Xo(s)i20//s(0.2sssxo(t)1Xo(s)(20/2(20/2etxit)tX(s)1/siX(s)G(s)Xo(s)i1.68/138/13ss2.6)ssxo(t)1Xo(s)/13)/13)e26t....xit)tX(s)1/siXo(s)G(s)Xi(s)2.55/75/7s(sss3.5xo(t)1Xo(s)(5/7)(5/7)e3.5tt)TKx谢谢阅读oTK感谢阅读s精品文档放心下载）01）1）1）10）1谢谢阅读）01谢谢阅读2.00.2)t(xo0.40.60.81.00tp5t）1谢谢阅读o(t)1Ot....谢谢阅读s1nn21，s2nn21。xo(t)1O）10）1谢谢阅读xo(t)1Ot精品文档放心下载p为K和KfXisE(s)K1s2X0s1Kfs图题3-8KK2s2(s)nKs)sKKsKss感谢阅读2221Kfnns2fK2nKKnf....KnKKf2Ke12100%25%0.404。

M精品文档放心下载ptpn122sn6.871。K47.205，K0.118。感谢阅读fGK(s)1s(s即H(s)11G(s)1s(s2(s)n11G(s)1ss1ss感谢阅读222nns(srad/s，0.5narctan12arctan33trss2.42s1230.7533ntpn123.63seMp12100%e100%16.4%3....时tsn40.5s8s(取0.02)。时tsn30.5s6s(取。感谢阅读）(t)0.125e）t)t10sin(4t4)）(t)e)）t)0.01t）(t)0.125etG(s)X(s)[0.125e1.25t]018s1）t)t10sin(4t4)G(s)X(s)t10sin(4t04)]520252ss2s21652s202)s1632s2(s216)）(t)e)t/3G(s)X(s)et/3013110ss10ss）t)0.01tG(s)X(s)[0.01t]01100s2）Kh,0.5Kh0与Kh0....Xis1Khs(sX0s图题3-11G(s)Ks)hs2K2)sh0.5，2由n10K2nhnKhMpe12100%16.3%时tsn4s2.53s(0.02)时tsn3s1.9s(X(s)81.60X(s)(s2.74)(s0.2(s0.2i感谢阅读GK(s)K，s(ssess0.01Ke11KKvK100。....G(s)asan1nsnasn1asa1n1n(s)asan1nas2sasn1aG(s)snan11n2nnn1asa1G(s)sasasan1n1n1n1sasasnn1212nG(s)aassan1n1nsass(sasasann122n2n31n21n2)limG(s)H(s)K谢谢阅读ps0e11K0pKVlimSG(s)H(s)s0e1KV0KaSG(s)H(s)2s0anan2e1an2Kaan精品文档放心下载G(s)5s1xi(t)sin(t30)xit)3cos(2t60)....(s)XX(s)G(s)550(s)1G(s)s15s6i(j)XX(j)50(j)j6i5则|(j)62252(j)tg16xi(t)sin(t30)时tt'即xi(t)sint''1则|(j)5550.82216.08(j)tg116tg10.1679.46928'即xi(t)|(j)|sin(t9.46)''t换成t'xi(t)|(j)|sin(t309.46)0.822sin(t20.54)0.822sin(t2032)'xi(t)3cos(2t60)时tt'即xi(t)3cos2t3sin(90t)'''2R3则|(j)52255....(j)tg126tg10.33326'即xi(t)R|(j)|sin[(90t)18.43]''30.791cos(2t18.43)'2.373cos(2t1826)''t换成t'xi(t)2.373cos(2t6018.43)2.373cos(2t78.43)2.373cos(2t7826)'1G(s)G(s)s11ssG(s)2(0.3s7.5(0.3ssG(s)s(5ss(s212s100)2G(s)(0.2sss(0.005ss2G(s)e0.1s）G(s)1s1Gj11ejarctan1jT1T2Im01）G(s)1ssG112T2ej90arctan2Tt222当0G90....当G180GT0.1limIm-0.1

0）G(s)2(0.3ss2(5sGj21T2121T222j2T2T1TT212ej180arctanTT121212T2当0Gj180当Gj180Im0G(s)7.5(0.3sss(s212s100)G(j)jT(jT23T)T]2211当0Gj180当Gj0180....Im0）G(s)(0.2ss2s(0.005ssG(j)(jT(jT34(jTjT212当0Gj180当Gj360Im00Re）G(s)5e0.1sGjejIm0....G(s)11a0.2,T2。j112Gjej112jarctan0.2arctan当0时limG0当时limG0.100Im10G(s)11G(s)0.5s110.5sG(s)2(ss(0.5s2G(s)s1s(ssG(s)5(s0.5)s(sss4s25)22）G(s)10.5s1）K1,20lgK0）11/0.52....LdB206.0212s1[-

20

]00.11-90-180G(s)110.5s）K1,20lgK0）11/(2LdB206.02-2-1s1[-

20

]00.11-90-180....）G(s)2(ss2(0.5ss100.2sG精品文档放心下载s0.5s）K10,20lgK）转折频率。1252）2精品文档放心下载1800.50.2精品文档放心下载LdB[]60[-]402620[]02515s10s1-90-180G(s)s1s(ssssGs10s(0.05s....）K0.5,20lgK6）转折频率。10.111感谢阅读1800.1精品文档放心下载LdB[]00.1120s1[]-60s1-90-180）G(s)ss(s2ss24ss0.2s0.5G精品文档放心下载14sss1ss122K，20lgK13.98感谢阅读，0.2，1235，1感谢阅读....L0[]51[]s10]0s1感谢阅读L()L()20[-20]

[20]010010))L()

L()[-20]

20[20][-40]30010010[-60]))图4-28题4-5图....s100(a)G精品文档放心下载10sb)Gs感谢阅读s1s2(c)G

20s谢谢阅读s(d)本环节是由比例和两个一阶惯性环节组成，所以谢谢阅读Gs1sss感谢阅读．s20s9s032s432．432s20s9s032a0100,a19,a220,a312a2a3a0a1aa21aa30180100800s4321808160＝1180851828016....432450＝2310＝－1500045K谢谢阅读Xi-KXoss1s5X(s)KoX3(s)s6s25sKis36s25sK0谢谢阅读15s36Ks2K01s6s0KK030K0,故K0K30。感谢阅读K感谢阅读....XiKXoTs2(a)XiK2Ts1sXo(b)XiKXoTs12s2(c)）1G(s)H(s)01KTs20,即T2s2TsK10s2T2K11Ts0T(K1)TK10T(K0K1）1G(s)H(s)01K2s0,即T2s3Ts2sK0s3T21s2TK1TT2Ks0KTTK020KK0T....1G(s)H(s)01KTs1)s220,即TsTssK02432s4T2K1s3T0s2K11TKs0KK0K0Ka10KK精品文档放心下载G(s)H(s)Ksss）K20）K100K精品文档放心下载解：系统为0型系统，nm0，因此其极坐标图从正实轴出发，以谢谢阅读90(nm)270谢谢阅读G(j)H(j)Kjj)K2)j3222)令Q)K3)222)0即12.2301023.05....K22.42)P)中100))0.04)感谢阅读222P)0.015KImIm(-1,j0)-0.300(-1,j0)0020Re-1.5100Re）KP)谢谢阅读P0而N0Z0精品文档放心下载）KP)谢谢阅读P0而N2Z2感谢阅读K精品文档放心下载当P)0.015K1K感谢阅读p,为精品文档放心下载1N,P1N2P2PN0,P0N谢谢阅读2PN0,P0N，精品文档放心下载21P

N,P1N22感谢阅读PNP0N，精品文档放心下载21P

N,P1N，22精品文档放心下载PNP2N，谢谢阅读2N0感谢阅读PP0，N2....Im

ImP10P021010abP03ImP11Im1010cdP02ImImP101010efImImP20P001001ghK500谢谢阅读K10.0G(s)KG(s)K0)与K)K,精品文档放心下载0....即)KA0),、w、ww123w1w2w3G()，G(0102)，G0()3即G0(jw)15020(jw)，G()，G5005000203)1或A12)A3)1即KG0()1∴0K101或KG0(2)1，KG0(3)1∴K（4故KK或25K10000谢谢阅读10

Re10

Re25<K<10000

K<10，