JEI电子驱动与控制Part1

Part1 电子Electronics

1.1 基本回顾

1.1.1拉普拉斯变换（时域频域转换）

$LaplaceTransform$
$$\begin{array}{r}L[f(t)]=F(s)={\int }_{0-}^{\infty }f(t)e^{-st}dt\\ wheres=\sigma +j\omega ,acomplexvariable.\end{array}$$
$InverseLaplaceTransform$
L − 1 [ F ( s ) ] = 1 2 π j ∫ σ − j ω σ + j ω F ( s ) e − s t d s = f ( t ) u ( t ) where u(t) { = 1   t > 0 = 0   t < 0  is the unit step function \begin{aligned} L^{-1}[F(s)]=\frac{1}{2 \pi j} \int_{\sigma-j \omega}^{\sigma+j \omega}F(s)e^{-st}ds=f(t)u(t)\\ \left. \text{where\ u(t)} \{ \right.\begin{aligned} &=1\ t > 0 \\ &= 0 \ t < 0 \end{aligned} \\ \text{ is the unit step function} \end{aligned} L−1[F(s)]=2πj1​∫σ−jωσ+jω​F(s)e−stds=f(t)u(t)where u(t){​=1 t>0=0 t<0​ is the unit step function​

1.1.2传递函数Transfer Function

1.1.3分贝decibel (dB)

$$\begin{gathered} 1bel=lo{g}_{10}\frac{P_2}{P_1} \\ when\frac{P_2}{P_1}=10 \end{gathered}$$
$$\begin{gathered} \text{增益Gain in dB}=10lo{g}_{10}\frac{P_2}{P_1} \\ \text{(功率的增益)} \\ 电流or电压的增益涉及平方项，故G=20lo{g}_{10}\frac{V_2}{V_1} \end{gathered}$$

1.1.4频率响应 Frequency Response

$s=\sigma +j\omega$ 频率与$\sigma$无关，故改为$s=j\omega$
频率不同，对应的增益也会改变

1.1.5伯德图Bode plots

频域下简单伯德图绘制

$$\begin{gathered} GainA=\frac{1}{\sqrt{1+(\omega CR{)}^2}}\angle -ta{n}^{-1}\omega CR \\ G=20log|A|=20log[1+(\omega CR{)}^2{]}^{-\frac{1}{2}} \\ =-10log[1+(\omega CR{)}^2{]}^{\frac{1}{2}} \end{gathered}$$

完整绘制方法（涉及后续课程）

把传递函数通过拉氏变换转为频域下，进行
1.标准化（要求为尾一型）
$$\begin{gathered} Ts+1;T^2{s}^2+2\xi Ts+1（最小相位系统） \\ Ts-1;T^2{s}^2+2\xi Ts-1(非最小相位系统） \\ \text{*}是否为最小相位系统并不影响幅值伯德图（\omega -L(\omega )）绘制 \\ 只影响相角伯德图（\omega -\varphi (\omega )）的绘制 \end{gathered}$$
2. 划分环节
注意：下表中的传递函数并未进行标准化

环节	传递函数G(s)	幅值$L(\omega )$	相角$\varphi (\omega )$
增益Gain环节	$K$	$20lgK$	0
积分Integrator环节	$1/s$	$-20lg\omega$	$-\pi /2$
微分Differentiator环节	$s$	$20lg\omega$	$\pi /2$
Simple lag	$\frac{1}{s+p}$	$-20lg(\sqrt{1+(\omega T{)}^2})$	$-arctan(\omega T)$
Simple lead	$s+p$	$20lg(\sqrt{1+(\omega T{)}^2})$	$arctan(\omega T)$
Quadratic lag	$\frac{1}{s^2+2\xi {\omega }_{n}s+{\omega }_n^2}$	$-20lg(\sqrt{(1-(\omega T{)}^2{)}^2+(2\xi \omega T{)}^2})$	$-arctan(\frac{2\xi \omega T}{1-(\omega T{)}^2})$
Quadratic lead	$s^2+2\xi {\omega }_{n}s+{\omega }_n^2$	$-20lg(\sqrt{(1-(\omega T{)}^2{)}^2+(2\xi \omega T{)}^2})$	$arctan(\frac{2\xi \omega T}{1-(\omega T{)}^2})$

简单解释一下：增益环节是常数，在幅值图中是一条水平直线，在相角图中为$0\mathrm{deg}$
其他环节在幅值图中表示向上/向下倾斜的直线，积分微分环节和简单滞后超前环节对幅值的斜率影响都是±20dB
二阶滞后超前是±40dB

1.2 运算放大器 Operational Amplifiers

注意：使用时常常省略运放器的供电，但运放器本质上仍是用电器，需要有±15V的供电

Properties common to all operational amplifiers:

• An inverting input.
• A non-inverting input.
• A high input impedance (usually assumed infinite) at both inputs.
  两个输入端的高输入阻抗(通常假定为无限大)
• A low output impedance.
  低输出阻抗
• A large voltage gain when operating without feedback (typically 105).
  无反馈工作时电压增益大(通常为105)
• The voltage gain remains constant over a wide frequency range.
  电压增益在很宽的频率范围内保持恒定
• Relatively free of drift due to ambient temperature change, hence the direct voltage output is zero when there is no input signal.
  相对不受环境温度变化的影响，因此在没有输入信号的情况下，直接电压输出为零
• Good stability, being free of parasitic oscillation.3
  稳定性好，无寄生振荡

An ideal operational amplifier

• Infinite input resistance (无穷大输入阻抗)
• Zero output resistance (零输出阻抗)
• Infinite voltage gain (无穷大电压增益)

Ideal Op-amp计算原则

• The voltages at both inputs are equal 虚短 $V_{+}=V_{-}$
• The currents at both inputs are zero 虚断 $I_{+}=I_{-}=0$

基本运放电路Op-amp circuits

• The non-inverting amplifier (同相放大器)
  
  $$G=\frac{V_0}{V_i}=\frac{R_1+R_2}{R_2}$$

• The inverting amplifier (反相放大器)
  
  $$G=\frac{V_0}{V_i}=-\frac{R_1}{R_2}$$

• The unity gain buffer amplifier
  
  $$G=\frac{V_0}{V_i}=1$$

• The inverting summing amplifier (加法器)
  
  $$V_0=-(V_1+V_2)\frac{R_1}{R_2}$$

• The integrator (积分器)
  
  $$V_0=V_c=-\frac{1}{C}{\int }_0^t\frac{V_i}{R}dt$$

• The differentiator (微分器)
  
  $$V_0=-RC\frac{d{V}_i}{dt}$$

1.3 滤波器Filter

Filters are typically designed to select or reject a band of frequencies depending on the particular application

$\text{Passive filter:}$ using a series or parallel combination of R, L and C

$\text{Active filter:}$ using op-amps or transistors and R, L and C

电路中任意频率范围内最大输出电压为$V_m$，则认为截止电压$Cut-offvoltage$为$\frac{V_m}{\sqrt{2}}$

$\text{Cut-off Frequency (or Half-power frequecy)截止频率}$：当输出电压达到截止电压时对应的频率
$\text{PassBand通带}$： 输出电压高于截止电压的频率范围可以得到响应
$\text{StopBand (or Reject)禁带、阻带}$：输出电压低于截止电压的频率范围可以得到响应

1.3.1 滤波器种类 Types of Filter

• 低通滤波器 Low-pass filter

• 高通滤波器 High-pass filter

• 通带滤波器 Passband filter

• 阻带滤波器 Stopband filter

1.3.2 被动滤波器 Passive Filters

主动与被动滤波器，也就是有源与无源的区别：有无运放器（运放器需要供电——有源、主动滤波）

• The low-pass or lag circuit 低通\滞后
  
  $$\begin{gathered} V_c=\frac{\frac{1}{j\omega C}}{R+\frac{1}{j\omega C}}\times E \\ GainA=\frac{V_c}{E}=\frac{1}{1+j\omega CR}=\frac{1-j\omega CR}{1+(\omega CR{)}^2} \\ \text{which is }GainA=\frac{1}{\sqrt{1+(\omega CR{)}^2}}\angle -ta{n}^{-1}\omega CR \end{gathered}$$
  $\text{截止频率cut-off frequency:}{w}_c=\frac{1}{RC}$
  $\text{响应曲线:}$
  

$\omega =0,G=0$
${\omega }_2=\frac{1}{RC}\text{(cut-off frequency)},G=-3dB$
$\omega =\infty ,G=-20log(\frac{\omega }{{\omega }_2})dB$

• The high-pass or lead circuit
  
  $$\begin{gathered} V_R=\frac{R}{R+\frac{1}{j\omega C}}\times E \\ GainA=\frac{V_R}{E}=\frac{1}{1+\frac{1}{j\omega CR}}=\frac{1+\frac{j}{\omega CR}}{1+(\frac{1}{\omega CR}{)}^2} \\ \text{which is }GainA=\frac{1}{\sqrt{1+(\frac{1}{\omega CR}{)}^2}}\angle -ta{n}^{-1}\frac{1}{\omega CR} \end{gathered}$$
  
  

$\omega =0,G=-20log(\frac{{\omega }_2}{\omega })dB,A=0\angle 90^{\circ }$
${\omega }_2=\frac{1}{RC}\text{(cut-off frequency)},G=-3dB,A=\frac{1}{\sqrt{2}}\angle 45^{\circ }$
$\omega =\infty ,G=0dB,A=1\angle 0^{\circ }$

1.3.3 主动滤波器 Active Filters

• The integrator (积分器)
  Ideal Integrator
  $$\begin{array}{rl}{V}_0=V_c& =-\frac{1}{C}{\int }_0^t\frac{V_i}{R}dt\\ & =-\frac{1}{CR}{\int }_0^t{V}_{i}dt\end{array}$$
  $\text{Apply Laplace Transform:}$
  $$\begin{array}{rl}{V}_o(s)& =-\frac{1}{CR}\times \frac{1}{s}{V}_{i}dt\\ G(s)& =\frac{V_o(s)}{V_i(s)}=-\frac{1}{sCR}\\ s& =j\omega \\ G& =-\frac{1}{j\omega CR}\end{array}$$
  

Practical Integrator

• The differentiator (微分器)
  Ideal differentiator
  
  $$\begin{array}{r}\frac{d{V}_i}{dt}=\frac{I_c}{C}=-\frac{V_o}{RC}\\ V_0=-CR\frac{d{V}_i}{dt}\end{array}$$
  $\text{Apply Laplace Transform:}$
  $$\begin{array}{rl}G(s)& =\frac{V_o(s)}{V_i(s)}=--sCR\\ s& =j\omega \\ G& =-j\omega CR\end{array}$$
  

Practical Differentiator

1.4.4 Summary