1、
胡寿松第一章课后习题第三题
2、
(1)
由系统的闭环传递函数可知
ζ
=
0.5
ω
n
=
2
\zeta=0.5 \quad \omega_n=2
ζ=0.5ωn=2
零初始状态下超调量
σ
=
e
−
π
ζ
1
−
ζ
2
×
100
%
=
16.3
%
\sigma=e^{\frac{-\pi\zeta}{\sqrt{1-\zeta^2}}}\times100\%=16.3\%
σ=e1−ζ2−πζ×100%=16.3%
调节时间
t
s
=
4.4
ζ
ω
n
=
4.4
s
t_s=\frac{4.4}{\zeta\omega_n}=4.4s
ts=ζωn4.4=4.4s
(2)
考虑初始条件
Y
(
s
)
=
4
s
2
+
2
s
+
4
R
(
s
)
+
[
y
(
0
)
s
+
y
˙
(
0
)
]
+
2
y
(
0
)
s
2
+
2
s
+
4
=
4
s
2
+
2
s
+
4
R
(
s
)
+
0.5
s
+
1
s
2
+
2
s
+
4
=
4
s
(
s
2
+
2
s
+
4
)
+
1
2
s
+
1
(
s
+
1
)
2
+
3
+
1
6
3
(
s
+
1
)
2
+
3
\begin{aligned} Y(s)&=\frac{4}{s^2+2s+4}R(s)+\frac{[y(0)s+\dot{y}(0)]+2y(0)}{s^2+2s+4} \\ &=\frac{4}{s^2+2s+4}R(s)+\frac{0.5s+1}{s^2+2s+4} \\ &=\frac{4}{s(s^2+2s+4)}+\frac{1}{2}\frac{s+1}{(s+1)^2+3}+\frac{1}{6}\frac{3}{(s+1)^2+3} \end{aligned}
Y(s)=s2+2s+44R(s)+s2+2s+4[y(0)s+y˙(0)]+2y(0)=s2+2s+44R(s)+s2+2s+40.5s+1=s(s2+2s+4)4+21(s+1)2+3s+1+61(s+1)2+33
对上式取拉氏反变换
y
(
t
)
=
1
−
2
3
3
e
−
t
sin
(
3
t
+
π
3
)
+
1
2
e
−
t
cos
3
t
+
1
6
e
−
t
sin
3
t
y(t)= 1-\frac{2\sqrt{3}}{3}e^{-t}\sin(\sqrt{3}t+\frac{\pi}{3})+\frac{1}{2}e^{-t}\cos\sqrt{3}t+\frac{1}{6}e^{-t}\sin\sqrt{3}t
y(t)=1−323e−tsin(3t+3π)+21e−tcos3t+61e−tsin3t
当
t
=
1
t=1
t=1时
y
(
1
)
=
0.933
s
y(1)=0.933s
y(1)=0.933s
3、
(1)
系统的根轨迹方程
K
s
(
s
+
4
)
(
s
+
8
)
=
−
1
\frac{K}{s(s+4)(s+8)}=-1
s(s+4)(s+8)K=−1
①根轨迹的起点
p
1
=
0
,
p
2
=
−
4
,
p
3
=
−
8
p_1=0,\quad p_2=-4,\quad p_3=-8
p1=0,p2=−4,p3=−8
②根轨迹的终点为无穷远处
③实轴上的根轨迹: ( − ∞ , − 8 ] , [ − 4 , 0 ] (-\infin,-8],\quad [-4,0] (−∞,−8],[−4,0]
④根轨迹渐近线
0
−
4
−
8
3
=
−
4
,
φ
1
=
60
°
,
φ
2
=
300
°
\frac{0-4-8}{3}=-4, \quad \varphi_1=60°, \quad \varphi_2=300°
30−4−8=−4,φ1=60°,φ2=300°
⑤根轨迹的分离点:
W
(
s
)
=
s
3
+
12
s
2
+
32
s
d
W
(
s
)
d
s
=
3
s
2
+
24
s
+
32
=
0
s
1
=
−
1.69
(
分
离
点
)
,
s
2
=
−
6.31
(
舍
去
)
\begin{gathered} W(s)=s^3+12s^2+32s \\ \frac {dW(s)}{ds}=3s^2+24s+32=0 \\ s_1=-1.69(分离点),\quad s_2=-6.31(舍去) \end{gathered}
W(s)=s3+12s2+32sdsdW(s)=3s2+24s+32=0s1=−1.69(分离点),s2=−6.31(舍去)
⑥根轨迹与虚轴的交点
系统的特征方程
D
(
s
)
=
s
3
+
12
s
2
+
32
s
+
K
=
0
D(s)=s^3+12s^2+32s+K=0
D(s)=s3+12s2+32s+K=0
令
s
=
j
ω
s=j\omega
s=jω
D
(
j
ω
)
=
−
j
ω
3
−
12
ω
2
+
32
j
ω
+
K
=
(
K
−
12
ω
2
)
+
j
(
32
ω
−
ω
3
)
=
0
\begin{aligned} D(j\omega)&=-j\omega ^3-12\omega ^2+32j\omega+K \\ &=(K-12\omega ^2)+j(32\omega-\omega ^3)=0 \end{aligned}
D(jω)=−jω3−12ω2+32jω+K=(K−12ω2)+j(32ω−ω3)=0
令实部和虚部为零,可得
{
K
=
384
ω
=
5.66
\left\{\begin{array}{l} K = 384 \\ \omega = 5.66 \end{array}\right.
{K=384ω=5.66
图略
(2)
由(1)可知,系统稳定时,
0
<
K
<
382
0<K<382
0<K<382
(3)(2021.11.29改)
将分离点代入特征方程解得
K
=
93.18
K=93.18
K=93.18,系统单位阶跃响应无超调时,
0
<
K
<
93.18
\xcancel{0<K<93.18}
0<K<93.18
0
<
K
<
24.63
\quad0<K<24.63
0<K<24.63
(4)(2022.11.26改)
设极点为
s
1
,
2
=
−
a
±
3
a
j
s_{1,2}=-a\pm\sqrt{3}aj
s1,2=−a±3aj,由根之和得
s
3
=
12
−
2
a
s_3=12-2a
s3=12−2a,则
D
(
s
)
=
s
3
+
12
s
2
+
32
s
+
K
=
(
s
+
a
+
3
a
j
)
(
s
+
a
−
3
a
j
)
(
s
+
12
−
2
a
)
=
s
3
+
12
s
2
+
2
a
(
12
−
2
a
)
s
+
4
a
2
(
12
−
2
a
)
=
s
3
+
12
s
2
+
24
a
s
+
4
a
2
(
12
−
2
a
)
\begin{aligned} D(s)&=s^3+12s^2+32s+K \\ &=(s+a+\sqrt{3}aj)(s+a-\sqrt{3}aj)(s+12-2a) \\ &\xcancel{=s^3+12s^2+2a(12-2a)s+4a^2(12-2a)} \\ &=s^3+12s^2+24as+4a^2(12-2a) \end{aligned}
D(s)=s3+12s2+32s+K=(s+a+3aj)(s+a−3aj)(s+12−2a)=s3+12s2+2a(12−2a)s+4a2(12−2a)
=s3+12s2+24as+4a2(12−2a)
比较系数解得
{
K
=
83.52
a
=
1.33
\xcancel{ \left\{\begin{array}{l} K = 83.52 \\ a = 1.33 \end{array}\right. }
{K=83.52a=1.33
{
K
=
66.37
a
=
2.24
\left\{\begin{array}{l} K = 66.37 \\ a = 2.24 \end{array}\right.
{K=66.37a=2.24
极点分别为
s
1
,
2
=
−
1.53
±
2.65
j
,
s
3
=
−
8.94
\xcancel{ s_{1,2}=-1.53\pm2.65j,\quad s_3=-8.94 }
s1,2=−1.53±2.65j,s3=−8.94
s
1
,
2
=
−
1.33
±
2.31
j
,
s
3
=
−
9.33
s_{1,2}=-1.33\pm2.31j,\quad s_3=-9.33
s1,2=−1.33±2.31j,s3=−9.33
第三个极点的模是共轭复数极点实部的模
5.8
8
\xcancel{5.8}\ 8
5.8
8倍,这对共轭复数极点是闭环系统的主导极点,降阶后开环系统的传递函数为
G
(
s
)
=
9.57
s
2
+
3.06
s
+
9.3694
\xcancel{ G(s)=\frac{9.57}{s^2+3.06s+9.3694} }
G(s)=s2+3.06s+9.36949.57
G
(
s
)
=
7.11
s
2
+
2.66
s
+
7.105
G(s)=\frac{7.11}{s^2+2.66s+7.105}
G(s)=s2+2.66s+7.1057.11
闭环传递函数为
Φ
(
s
)
=
9.57
s
2
+
3.06
s
+
18.9334
\xcancel{ \varPhi(s)=\frac{9.57}{s^2+3.06s+18.9334} }
Φ(s)=s2+3.06s+18.93349.57
Φ
(
s
)
=
7.11
s
2
+
2.66
s
+
14.215
\varPhi(s)=\frac{7.11}{s^2+2.66s+14.215}
Φ(s)=s2+2.66s+14.2157.11
4、
(1)
系统的频率特性
G
(
j
ω
)
=
−
0.5
(
ω
2
+
1
)
(
0.25
ω
2
+
1
)
+
j
0.5
ω
2
+
1
ω
(
ω
2
+
1
)
(
0.25
ω
2
+
1
)
G(j\omega)=-\frac{0.5}{(\omega^2+1)(0.25\omega^2+1)}+j\frac{0.5\omega^2+1}{\omega(\omega^2+1)(0.25\omega^2+1)}
G(jω)=−(ω2+1)(0.25ω2+1)0.5+jω(ω2+1)(0.25ω2+1)0.5ω2+1
当
ω
→
0
+
\omega\rarr0^+
ω→0+时
R
e
[
G
(
j
ω
)
]
=
−
0.5
,
∠
G
(
j
ω
)
=
−
270
°
Re[G(j\omega)]=-0.5,\quad \angle G(j\omega)=-270°
Re[G(jω)]=−0.5,∠G(jω)=−270°
奈奎斯曲线与负实轴无交点,图略
(2)
由系统的开环传递函数可知,
P
=
1
P=1
P=1,正穿越
N
−
=
0.5
N_-=0.5
N−=0.5,则
Z
=
P
+
2
N
−
=
2
Z=P+2N_-=2
Z=P+2N−=2
系统不稳定,闭环系统在
s
s
s右半平面有2个极点
(3)
系统的特征方程
D
(
s
)
=
s
3
+
s
2
−
2
s
+
1
D(s)=s^3+s^2-2s+1
D(s)=s3+s2−2s+1
劳斯表
s
3
1
−
2
s
2
1
1
s
1
−
3
s
0
1
\begin{matrix} s^3& 1 & -2 & \\ s^2& 1 & 1 & \\ s^1& -3 & & \\ s^0& 1 \end{matrix}
s3s2s1s011−31−21
劳斯表第一列不均大于
0
0
0,且变号两次,闭环系统在
s
s
s右半平面有2个极点
5、
(1)
当系统的相角裕度为
γ
=
30
°
\gamma=30°
γ=30°
90
°
−
arctan
ω
c
−
arctan
0.5
ω
c
=
30
°
90°-\arctan\omega_c-\arctan0.5\omega_c=30°
90°−arctanωc−arctan0.5ωc=30°
解得
ω
c
=
0.792
r
a
d
/
s
\omega_c=0.792rad/s
ωc=0.792rad/s
代入系统的幅频特性
10
K
ω
c
ω
c
2
+
1
0.25
ω
c
2
+
1
=
1
\frac{10K}{\omega_c\sqrt{\omega_c^2+1}\sqrt{0.25\omega_c^2+1}}=1
ωcωc2+10.25ωc2+110K=1
解得
K
=
0.109
K=0.109
K=0.109
(2)
设滞后校正装置的传递函数为
G
c
(
s
)
=
K
c
(
T
s
+
1
)
β
T
s
+
1
G_c(s)=\frac{K_c(Ts+1)}{\beta Ts+1}
Gc(s)=βTs+1Kc(Ts+1)
输入
r
(
t
)
=
t
r(t)=t
r(t)=t时系统的稳态误差为
e
s
s
=
0.2
e_{ss}=0.2
ess=0.2,则
K
c
=
0.5
K_c=0.5
Kc=0.5
此时,系统的截止频率为
5
ω
c
ω
c
2
+
1
0.25
ω
c
2
+
1
=
1
\frac{5}{\omega_c\sqrt{\omega_c^2+1}\sqrt{0.25\omega_c^2+1}}=1
ωcωc2+10.25ωc2+15=1
解得
ω
c
=
1.802
r
a
d
/
s
\omega_c=1.802rad/s
ωc=1.802rad/s
相角裕度为
γ
=
180
°
−
90
°
−
arctan
ω
c
−
arctan
0.5
ω
c
=
−
12.991
°
\gamma=180°-90°-\arctan\omega_c-\arctan0.5\omega_c=-12.991°
γ=180°−90°−arctanωc−arctan0.5ωc=−12.991°
取相应的相角裕度
γ
1
=
46
°
\gamma_1=46°
γ1=46°
对应的截止频率为
90
°
−
arctan
ω
c
1
−
arctan
0.5
ω
c
1
=
46
°
90°-\arctan\omega_{c1}-\arctan0.5\omega_{c1}=46°
90°−arctanωc1−arctan0.5ωc1=46°
解得
ω
c
1
=
0.547
r
a
d
/
s
\omega_{c1}=0.547rad/s
ωc1=0.547rad/s
由
20
lg
∣
G
1
(
j
ω
c
1
)
∣
=
20
lg
β
20\lg|G_1(j\omega_{c1})|=20\lg\beta
20lg∣G1(jωc1)∣=20lgβ,解得
β
=
7.735
\beta=7.735
β=7.735
选取
1
T
=
0.2
ω
c
\cfrac{1}{T}=0.2\omega_c
T1=0.2ωc,
T
=
9.14
T=9.14
T=9.14,则
G
c
s
=
0.5
(
9.14
s
+
1
)
70.6979
s
+
1
G_c{s}=\frac{0.5(9.14s+1)}{70.6979s+1}
Gcs=70.6979s+10.5(9.14s+1)
6、
(1)
系统的特征方程
D
(
s
)
=
s
3
+
6
s
2
+
(
9
+
K
)
s
+
K
a
=
0
D(s)=s^3+6s^2+(9+K)s+Ka=0
D(s)=s3+6s2+(9+K)s+Ka=0
将极点
s
1
=
−
2
+
4
j
s_1=-2+4j
s1=−2+4j代入上式,解得
{
K
=
19
a
=
40
19
\left\{\begin{array}{l} K = 19 \\ a = \frac{40}{19} \end{array}\right.
{K=19a=1940
由根之和解得
s
3
=
−
2
s_3=-2
s3=−2
第三个极点与系统的闭环零点组成偶极子,所以这对共轭复数极点是闭环系统的主导极点,降阶后系统的闭环传递函数为
Φ
(
s
)
=
19
s
2
+
4
s
+
20
\varPhi(s)=\frac{19}{s^2+4s+20}
Φ(s)=s2+4s+2019
由系统的闭环传递函数可知
ζ
=
5
5
ω
n
=
2
5
\zeta=\frac{\sqrt{5}}{5} \quad \omega_n=2\sqrt{5}
ζ=55ωn=25
零初始状态下超调量
σ
=
e
−
π
ζ
1
−
ζ
2
×
100
%
=
20.79
%
\sigma=e^{\frac{-\pi\zeta}{\sqrt{1-\zeta^2}}}\times100\%=20.79\%
σ=e1−ζ2−πζ×100%=20.79%
调节时间
t
s
=
4.4
ζ
ω
n
=
2.2
s
t_s=\frac{4.4}{\zeta\omega_n}=2.2s
ts=ζωn4.4=2.2s
(2)
当
G
c
=
K
p
′
G_c=K^{'}_p
Gc=Kp′时,系统的特征方程为
D
(
s
)
=
s
3
+
6
s
2
+
9
s
+
K
=
0
D(s)=s^3+6s^2+9s+K=0
D(s)=s3+6s2+9s+K=0
令
s
=
j
ω
s=j\omega
s=jω
D
(
j
ω
)
=
−
j
ω
3
−
6
ω
2
+
9
j
ω
+
K
=
(
K
−
6
ω
2
)
+
j
(
9
ω
−
ω
3
)
=
0
\begin{aligned} D(j\omega)&=-j\omega ^3-6\omega ^2+9j\omega+K \\ &=(K-6\omega ^2)+j(9\omega-\omega ^3)=0 \end{aligned}
D(jω)=−jω3−6ω2+9jω+K=(K−6ω2)+j(9ω−ω3)=0
令实部和虚部为零,可得
{
K
=
54
ω
=
3
r
a
d
/
s
\left\{\begin{array}{l} K = 54 \\ \omega = 3 rad/s \end{array}\right.
{K=54ω=3rad/s
等幅振荡周期为
P
=
2
π
ω
=
2.09
P=\frac{2\pi}{\omega}=2.09
P=ω2π=2.09
根据表可得
K
p
=
32.4.
T
i
=
1.045
,
T
d
=
0.26125
K_p=32.4.\quad T_i=1.045,\quad T_d=0.26125
Kp=32.4.Ti=1.045,Td=0.26125
引入比例控制,根据表可得系统的开环传递函数为
G
1
(
s
)
=
27
s
(
s
+
3
)
2
G_1(s)=\frac{27}{s(s+3)^2}
G1(s)=s(s+3)227
比例控制可以提高系统的开环增益,使稳态误差减少,但是
K
p
K_p
Kp过大,会影响系统的稳定性,导致系统不稳定。
再引入积分控制,根据表可得系统的开环传递函数为
G
2
(
s
)
=
24.3
1.74097
1.74097
s
+
1
s
2
(
s
+
3
)
2
G_2(s)=\frac{24.3}{1.74097}\frac{1.74097s+1}{s^2(s+3)^2}
G2(s)=1.7409724.3s2(s+3)21.74097s+1
积分控制可以提高系统的型别,消除或减少稳态误差,使系统的稳态性能得到改善,但稳定裕度减少,同时还引进一个开环零点,改善系统的动态性能。
最后引入微分控制,根据表可得系统的开环传递函数为
G
3
(
s
)
=
32.4
1.045
0.27300625
s
2
+
1.045
s
+
1
s
2
(
s
+
3
)
2
G_3(s)=\frac{32.4}{1.045}\frac{0.27300625s^2+1.045s+1}{s^2(s+3)^2}
G3(s)=1.04532.4s2(s+3)20.27300625s2+1.045s+1
微分控制给系统增加一个零点,提高系统的响应速度,改善系统的动态性能。
7、
由于
M
>
h
M>h
M>h,两个非线性特性串联得到一个理想继电特性,其中
M
=
1
M=1
M=1,图略。系统线性部分的幅值为
ω
x
=
1
T
1
T
2
=
3
3
,
G
(
j
ω
x
)
=
−
K
T
1
T
2
T
1
+
T
2
=
−
1
\omega_x=\frac{1}{\sqrt{T_1T_2}}=\frac{\sqrt{3}}{3},\quad G(j\omega_x)=\frac{-KT_1T_2}{T_1+T_2}=-1
ωx=T1T21=33,G(jωx)=T1+T2−KT1T2=−1
非线性部分
−
1
N
(
A
)
=
−
π
A
4
,
−
1
N
(
0
)
=
0
,
−
1
N
(
∞
)
=
−
∞
-\frac{1}{N(A)}=-\frac{\pi A}{4},\quad -\frac{1}{N(0)}=0,\quad -\frac{1}{N(\infin)}=-\infin
−N(A)1=−4πA,−N(0)1=0,−N(∞)1=−∞
图略。
Γ
G
\Gamma_G
ΓG与
−
1
/
N
(
A
)
-1/N(A)
−1/N(A)的交点为
(
−
1
,
0
)
(-1,0)
(−1,0),
−
1
/
N
(
A
)
-1/N(A)
−1/N(A)曲线沿着
A
A
A增大的方向由不稳定区域进入稳定区域,该点的周期运动是稳定的,对应的自振频率为
ω
=
3
3
\omega=\frac{\sqrt{3}}{3}
ω=33
由
R
e
[
G
(
j
ω
)
N
(
A
)
]
=
−
1
Re[G(j\omega)N(A)]=-1
Re[G(jω)N(A)]=−1可解得自振振幅为
A
=
4
π
A=\frac{4}{\pi}
A=π4
8、
(1)
系统的脉冲传递函数
G
(
z
)
=
(
1
−
z
−
1
)
Z
[
K
s
(
s
+
1
)
]
=
0.632
K
z
−
0.368
G(z)=(1-z^{-1})Z[\frac{K}{s(s+1)}]=\frac{0.632K}{z-0.368}
G(z)=(1−z−1)Z[s(s+1)K]=z−0.3680.632K
系统的特征方程
D
(
z
)
=
(
0.632
K
+
0.632
)
z
+
(
1.368
−
0.632
K
)
D(z)=(0.632K+0.632)z+(1.368-0.632K)
D(z)=(0.632K+0.632)z+(1.368−0.632K)
对上式进行双线变换
D
(
w
)
=
−
K
w
+
3
K
+
2
D(w)=-Kw+3K+2
D(w)=−Kw+3K+2
系数大于零,系统稳定,则
−
2
3
<
K
<
2.164
-\frac{2}{3}<K<2.164
−32<K<2.164
(2)
当
K
=
1
,
r
(
t
)
=
1
(
t
)
K=1,\quad r(t)=1(t)
K=1,r(t)=1(t)时,系统输出为
Y
(
z
)
=
0.632
z
(
z
−
1
)
(
z
+
0.264
)
Y(z)=\frac{0.632z}{(z-1)(z+0.264)}
Y(z)=(z−1)(z+0.264)0.632z
长除法可得
Y
(
z
)
=
0.632
z
−
1
+
0.465122
z
−
2
+
0.34232832
z
−
3
+
⋯
Y(z)=0.632z^{-1}+0.465122z^{-2}+0.34232832z^{-3}+\cdots
Y(z)=0.632z−1+0.465122z−2+0.34232832z−3+⋯
对上式进行变换
y
(
k
)
=
0.632
y
(
k
−
1
)
+
0.465122
y
(
k
−
2
)
+
0.34232832
y
(
k
−
3
)
+
⋯
y(k)=0.632y(k-1)+0.465122y(k-2)+0.34232832y(k-3)+\cdots
y(k)=0.632y(k−1)+0.465122y(k−2)+0.34232832y(k−3)+⋯
或者由系统的闭环传递函数可得
(
z
+
0.264
)
Y
(
z
)
=
0.632
R
(
z
)
(z+0.264)Y(z)=0.632R(z)
(z+0.264)Y(z)=0.632R(z)
对上式进行变换
0.264
y
(
k
)
=
−
y
(
k
−
1
)
+
0.632
⋅
1
(
t
)
0.264y(k)=-y(k-1)+0.632\cdot 1(t)
0.264y(k)=−y(k−1)+0.632⋅1(t)
(3)
系统的误差传递函数为
Φ
e
(
z
)
=
z
−
0.368
z
+
0.632
K
−
0.368
\varPhi_e(z)=\frac{z-0.368}{z+0.632K-0.368}
Φe(z)=z+0.632K−0.368z−0.368
由终值定理可得系统的稳态误差为
e
s
s
(
∞
)
=
lim
z
→
1
=
(
z
−
1
)
R
(
z
)
Φ
e
(
z
)
=
z
(
z
−
0.368
)
z
+
0.632
K
−
0.368
=
0.632
+
0.632
K
−
0.368
e_{ss}(\infin)=\lim\limits_{z\rightarrow1}=(z-1)R(z)\varPhi_e(z)=\frac{z(z-0.368)}{z+0.632K-0.368}=\frac{0.632}{+0.632K-0.368}
ess(∞)=z→1lim=(z−1)R(z)Φe(z)=z+0.632K−0.368z(z−0.368)=+0.632K−0.3680.632