动态误差(了解)
动态误差系数法
Φ e ( s ) = E ( s ) R ( s ) = ϕ e ( 0 ) + 1 1 ! Φ e ′ ( 0 ) s + 1 2 ! Φ e ′ ′ ( 0 ) s 2 + . . . + 1 i ! Φ e ( n ) ( 0 ) s i + . . . 在 s = 0 的泰勒展开 C i = 1 i ! Φ e ( n ) ( 0 ) = ∑ i = 0 ∞ C i s i E ( s ) = Φ e ( s ) ⋅ R ( s ) = C 0 R ( s ) + C 1 s R ( s ) + C 2 s 2 R ( s ) + . . . + C i s i R ( s ) + . . . . e s ( t ) = C 0 r ( t ) + C 1 r ˙ ( t ) + C 2 r ¨ ( t ) + . . . + C i r ( i ) ( t ) + . . . = ∑ i = 0 ∞ C i r ( i ) ( t ) \begin{aligned} \Phi_e(s)&=\frac{E(s)}{R(s)}=\phi_e(0)+\frac{1}{1!~}\Phi_e'(0)s+\frac{1}{2!}\Phi_e''(0)s^2+...+\frac{1}{i!}\Phi_e^{(n)}(0)s^i+...\quad 在s=0的泰勒展开\\ &C_i=\frac{1}{i!}\Phi_e^{(n)}(0)\\ &=\sum_{i=0}^\infty C_is^i\\ E(s)&=\Phi_e(s)·R(s)\\ &=C_0R(s)+C_1sR(s)+C_2s^2R(s)+...+C_is^iR(s)+....\\ e_s(t)&=C_0r(t)+C_1\dot r(t)+C_2\ddot r(t)+...+C_ir^{(i)}(t)+...=\sum_{i=0}^\infty C_ir^{(i)}(t)\\ \end{aligned} Φe(s)E(s)es(t)=R(s)E(s)=ϕe(0)+1! 1Φe′(0)s+2!1Φe′′(0)s2+...+i!1Φe(n)(0)si+...在s=0的泰勒展开Ci=i!1Φe(n)(0)=i=0∑∞Cisi=Φe(s)⋅R(s)=C0R(s)+C1sR(s)+C2s2R(s)+...+CisiR(s)+....=C0r(t)+C1r˙(t)+C2r¨(t)+...+Cir(i)(t)+...=i=0∑∞Cir(i)(t)
- e s ( t ) e_s(t) es(t)是 e ( t ) e(t) e(t)中的稳态分量
动态误差系数的计算方法
- 系数比较法
- 长除法
例1 两系统如图所示,要求在4分钟内误差不超过6m,应选用哪个系统?已知 r ( t ) = 2 t + t 2 4 r(t)=2t+\frac{t^2}{4} r(t)=2t+4t2
比较系数法
① r ′ ( t ) = 2 + t 2 r ′ ′ ( t ) = 1 2 r ′ ′ ′ ( t ) = 0 Φ a e ( s ) = E ( s ) R ( s ) = s ( s + 1 ) s 2 + s + 1 = C 0 + C 1 s + C 2 s 2 + C 3 s 3 + . . . 泰勒展开 s ( s + 1 ) = [ C 0 + C 1 s + C 2 s 2 + C 3 s 3 + . . . ] ( 1 + s + s 2 ) s 2 + s = C 0 + ( C 0 + C 1 ) s + ( C 0 + C 1 + C 2 ) s 2 + . . . C 0 = 0 C 1 = 1 C 2 = 0 C 3 = − 1 ∴ Φ a e ( s ) = s − s 3 + . . . e a s ( t ) = C 0 r + C 1 r ′ + C 2 r ′ ′ = 2 + t 2 e a s ( 4 ) = 4 < 6 , 该系统可以选用 \begin{aligned} ①\quad r'(t)&=2+\frac{t}{2}\\ r''(t)&=\frac{1}{2}\\ r'''(t)&=0\\ \Phi_{ae}(s)&=\frac{E(s)}{R(s)}=\frac{s(s+1)}{s^2+s+1}\\ &=C_0+C_1s+C_2s^2+C_3s^3+...\quad 泰勒展开\\ s(s+1)&=[C_0+C_1s+C_2s^2+C_3s^3+...](1+s+s^2)\\ s^2+s&=C_0+(C_0+C_1)s+(C_0+C_1+C_2)s^2+...\\ C_0&=0\quad C_1=1\quad C_2=0\quad C_3=-1\\ \therefore\quad\Phi_{ae}(s)&=s-s^3+...\\ e_{as}(t)&=C_0r+C_1r'+C_2r''=2+\frac{t}{2}\\ e_{as}(4)&=4<6,该系统可以选用 \end{aligned} ①r′(t)r′′(t)r′′′(t)Φae(s)s(s+1)s2+sC0∴Φae(s)eas(t)eas(4)=2+2t=21=0=R(s)E(s)=s2+s+1s(s+1)=C0+C1s+C2s2+C3s3+...泰勒展开=[C0+C1s+C2s2+C3s3+...](1+s+s2)=C0+(C0+C1)s+(C0+C1+C2)s2+...=0C1=1C2=0C3=−1=s−s3+...=C0r+C1r′+C2r′′=2+2t=4<6,该系统可以选用
长除法
说明: e s ( t ) e_s(t) es(t)是 e ( t ) e(t) e(t)中的稳态分量
线性系统时域校正
校正的基本概率和类型
- 采用适当方式,在系统中加入一些结构和参数可调整的装置(校正装置),用以改善系统性能,使系统满足指标要求
反馈校正
反馈的作用
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减小被包围环节的时间常数(但开环增益会减小,需要再加一个放大倍数)
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深度负反馈可以有效降低被包围环节的影响 Φ ( s ) = G ( s ) 1 + G ( s ) H ( s ) ≈ 1 H ( s ) \Phi(s)=\frac{G(s)}{1+G(s)H(s)}\approx\frac{1}{H(s)} Φ(s)=1+G(s)H(s)G(s)≈H(s)1
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局部正反馈可以提高环节增益(但时间常数会增大) Φ ( s ) = G ( s ) 1 − G ( s ) = K T s + 1 − K K h K ′ = K 1 − K K h T ′ = T 1 − K K h \Phi(s)=\frac{G(s)}{1-G(s)}=\frac{K}{Ts+1-KK_h}\quad K'=\frac{K}{1-KK_h}\quad T'=\frac{T}{1-KK_h} Φ(s)=1−G(s)G(s)=Ts+1−KKhKK′=1−KKhKT′=1−KKhT
例题
例2 系统结构图如图所示
(1) K t = 0 K_t=0 Kt=0时系统的性能
Φ ( s ) = 100 s 2 1 + 100 s 2 = 100 s 2 + 100 D ( s ) = s 2 + 100 = 0 缺少 s 的 1 次项,故系统不稳定 \begin{aligned} \Phi(s)&=\frac{\frac{100}{s^2}}{1+\frac{100}{s^2}}=\frac{100}{s^2+100}\\ D(s)&=s^2+100=0\\ 缺少s&的1次项,故系统不稳定\\ \end{aligned} Φ(s)D(s)缺少s=1+s2100s2100=s2+100100=s2+100=0的1次项,故系统不稳定
(2) K t ↑ K_t\uparrow Kt↑时, σ % , t s \sigma\%,t_s σ%,ts变化趋势? ξ = 0.707 \xi=0.707 ξ=0.707时, σ % , t s = ? \sigma\%,t_s=? σ%,ts=?
G ( s ) = 10 ⋅ 10 s 2 1 + K t s 10 s 2 = 100 s 2 + 10 K t s Φ ( s ) = G ( s ) 1 + G ( s ) = 100 s 2 + 10 K t s + 100 w n = 10 K t = 2 ξ ξ = K t 2 0 < K t < 2 时, K t ↑ , ξ ↑ σ % ↓ t s ↓ K t ≥ 2 时 , K t ↑ , σ % 不变 t s ↓ ξ = 0.707 时 , σ % = e − ξ π 1 − ξ 2 = 4.3 % t s = 3.5 ξ w n = 0.495 \begin{aligned} G(s)&=10·\frac{\frac{10}{s^2}}{1+K_ts\frac{10}{s^2}}=\frac{100}{s^2+10K_ts}\\ \Phi(s)&=\frac{G(s)}{1+G(s)}=\frac{100}{s^2+10K_ts+100}\\ w_n&=10\quad K_t=2\xi\quad\xi=\frac{K_t}{2}\\ 0<&K_t<2时,K_t\uparrow,\quad\xi\uparrow\quad\sigma\%\downarrow\quad t_s\downarrow\\ K_t\geq& 2时,K_t\uparrow,\quad\sigma\%不变\quad t_s\downarrow\\ \xi&=0.707时,\quad\sigma\%=e^{-\frac{\xi\pi}{\sqrt{1-\xi^2}}}=4.3\%\quad t_s=\frac{3.5}{\xi w_n}=0.495\\ \end{aligned} G(s)Φ(s)wn0<Kt≥ξ=10⋅1+Ktss210s210=s2+10Kts100=1+G(s)G(s)=s2+10Kts+100100=10Kt=2ξξ=2KtKt<2时,Kt↑,ξ↑σ%↓ts↓2时,Kt↑,σ%不变ts↓=0.707时,σ%=e−1−ξ2ξπ=4.3%ts=ξwn3.5=0.495
(3) K t , r ( t ) = t , e s s K_t,r(t)=t,e^{ss} Kt,r(t)=t,ess变化趋势? ξ = 0.707 \xi=0.707 ξ=0.707时, e s s = ? e_{ss}=? ess=?
G ( s ) = 100 s 2 + 10 K t s Φ e ( s ) = E ( s ) R ( s ) = 1 1 + G ( s ) = s 2 + 10 K t s s 2 + 10 K t s + 100 e s s = lim s → 0 s ⋅ Φ e ( s ) R ( s ) = lim s → 0 s + 10 K t s 2 + 10 K t s + 100 = K t 10 ∴ K t ↑ e s s ↑ ξ = 0.707 时 , K t = 2 ξ = 1.414 e s s = 0.1414 \begin{aligned} G(s)&=\frac{100}{s^2+10K_ts}\\ \Phi_e(s)&=\frac{E(s)}{R(s)}=\frac{1}{1+G(s)}=\frac{s^2+10K_ts}{s^2+10K_ts+100}\\ e_{ss}&=\lim_{s\rightarrow0}s·\Phi_e(s)R(s)=\lim_{s\rightarrow0}\frac{s+10K_t}{s^2+10K_ts+100}=\frac{K_t}{10}\\ \therefore\quad K_t\uparrow&\quad e_{ss}\uparrow\\ \xi&=0.707时,\quad K_t=2\xi=1.414\\ e_{ss}&=0.1414 \end{aligned} G(s)Φe(s)ess∴Kt↑ξess=s2+10Kts100=R(s)E(s)=1+G(s)1=s2+10Kts+100s2+10Kts=s→0lims⋅Φe(s)R(s)=s→0lims2+10Kts+100s+10Kt=10Ktess↑=0.707时,Kt=2ξ=1.414=0.1414