1、(2021.12.17改)
由基尔霍夫电流定律可得:
u
i
(
t
)
=
L
d
i
L
(
t
)
d
t
+
R
i
R
u
o
(
t
)
=
1
C
∫
i
C
(
t
)
d
t
=
R
i
R
i
L
=
i
R
+
i
C
\begin{aligned} u_i(t) &=L\frac{\text{d}i_L(t)}{\text{d}t}+Ri_R \\ u_o(t) &=\frac{1}{C}\int i_C(t)\text{d}t = Ri_R\\ i_L&=i_R+i_C \end{aligned}
ui(t)uo(t)iL=LdtdiL(t)+RiR=C1∫iC(t)dt=RiR=iR+iC
(1)
对上式取拉氏变换,消去中间变量,得到该电路的传递函数
U
i
(
s
)
U
i
(
s
)
=
R
R
L
C
s
2
+
L
s
+
R
\frac{U_i(s)}{U_i(s)}=\frac{R}{RLCs^2+Ls+R}
Ui(s)Ui(s)=RLCs2+Ls+RR
(2)
以
u
i
u_i
ui为输入、
i
R
i_R
iR为输出的传递函数为
I
R
(
s
)
U
i
(
s
)
=
1
R
L
C
s
2
+
L
s
+
R
\frac{I_R(s)}{U_i(s)}=\frac{1}{RLCs^2+Ls+R}
Ui(s)IR(s)=RLCs2+Ls+R1
令
s
=
j
ω
s=j\omega
s=jω,电路的频率特性为
A
(
ω
)
=
1
R
(
1
−
L
C
ω
2
)
2
+
L
2
R
2
ω
2
φ
(
ω
)
=
−
arctan
L
R
ω
1
−
L
C
ω
2
\begin{aligned} A(\omega)&=\cfrac{\cfrac{1}{R}}{\sqrt{(1-LC\omega^2)^2+\cfrac{L^2}{R^2}\omega^2}} \\ \varphi(\omega)&=-\arctan\cfrac{\cfrac{L}{R}\omega}{1-LC\omega^2} \end{aligned}
A(ω)φ(ω)=(1−LCω2)2+R2L2ω2R1=−arctan1−LCω2RLω
(3)
输入
u
i
=
U
sin
ω
t
u_i=U\sin\omega t
ui=Usinωt,流过电阻的稳态电流为
i
R
=
U
∣
A
(
ω
)
∣
sin
(
ω
t
+
φ
(
ω
)
)
=
U
R
2
(
1
−
L
C
U
2
)
2
+
L
2
U
2
sin
(
ω
t
−
arctan
L
U
R
(
1
−
L
C
U
2
)
)
=
R
R
2
(
1
−
L
C
U
2
)
2
+
L
2
ω
2
sin
(
ω
t
−
arctan
L
ω
R
(
1
−
L
C
ω
2
)
)
\begin{aligned} i_R&=U|A(\omega)|\sin(\omega t+\varphi(\omega)) \\ &\xcancel{=\cfrac{U}{\sqrt{R^2(1-LCU^2)^2+L^2U^2}}\sin\left(\omega t-\arctan\cfrac{LU}{R(1-LCU^2)}\right)} \\ &=\cfrac{R}{\sqrt{R^2(1-LCU^2)^2+L^2\omega^2}}\sin\left(\omega t-\arctan\cfrac{L\omega}{R(1-LC\omega^2)}\right) \end{aligned}
iR=U∣A(ω)∣sin(ωt+φ(ω))=R2(1−LCU2)2+L2U2Usin(ωt−arctanR(1−LCU2)LU)
=R2(1−LCU2)2+L2ω2Rsin(ωt−arctanR(1−LCω2)Lω)
2、
(1)
系统的开环传递函数
G
(
s
)
=
K
1
K
2
s
(
s
+
β
K
2
)
G(s)=\frac{K_1K_2}{s(s+\beta K_2)}
G(s)=s(s+βK2)K1K2
系统的闭环传递函数
Φ
(
s
)
=
K
1
K
2
s
2
+
β
K
2
s
+
K
1
K
2
\Phi(s)=\frac{K_1K_2}{s^2+\beta K_2s+K_1K_2}
Φ(s)=s2+βK2s+K1K2K1K2
(2)
K
1
K_1
K1和
K
2
K_2
K2都为正的常熟,根据赫尔维茨稳定性判据可知,二阶闭环系统的特征方程的系数均大于零时系统稳定,则有
β
>
0
\beta>0
β>0。
(3)
系统的阻尼比和自然振荡频率为
ζ
=
β
K
2
K
1
,
ω
n
=
K
1
K
2
\zeta=\beta\sqrt{\cfrac{K_2}{K_1}},\quad \omega_n=\sqrt{K_1K_2}
ζ=βK1K2,ωn=K1K2
根据
t
r
=
π
−
arccos
ζ
ω
n
1
−
ζ
2
,
t
p
=
π
ω
n
1
−
ζ
2
,
σ
%
=
e
−
π
ζ
1
−
ζ
2
×
100
%
,
t
s
=
4.5
ζ
ω
n
t_r=\cfrac{\pi-\arccos\zeta}{\omega_n\sqrt{1-\zeta^2}},\quad t_p=\cfrac{\pi}{\omega_n\sqrt{1-\zeta^2}}, \quad \sigma\%=e^{-\cfrac{\pi\zeta}{\sqrt{1-\zeta^2}}} \times 100\%,\quad t_s=\cfrac{4.5}{\zeta\omega_n}
tr=ωn1−ζ2π−arccosζ,tp=ωn1−ζ2π,σ%=e−1−ζ2πζ×100%,ts=ζωn4.5
考虑系统为欠阻尼时,
β
\beta
β增大时,
ζ
\zeta
ζ增大,
t
r
t_r
tr增加,
t
p
t_p
tp减少,
σ
%
\sigma\%
σ%减少,
t
s
t_s
ts减少。
(4)
由开环传递函数可知,该系统为
I
\text{I}
I型系统,阶跃信号输入时,稳态误差为零;斜坡信号输入时,稳态误差为
K
v
=
lim
s
→
0
s
⋅
K
1
K
2
β
K
2
s
(
1
β
K
2
+
1
)
=
K
1
K
2
β
K
2
K_v=\lim_{s\rightarrow0}s\cdot\cfrac{\cfrac{K_1K_2}{\beta K_2}}{s(\cfrac{1}{\beta K_2}+1)}=\cfrac{K_1K_2}{\beta K_2}
Kv=s→0lims⋅s(βK21+1)βK2K1K2=βK2K1K2
抛物信号输入时,稳态误差为
∞
\infin
∞。
3、(2022.10.31改)
对微分方程组进行拉氏变换
T
1
s
2
C
(
s
)
+
s
C
(
s
)
=
K
2
U
(
s
)
U
(
s
)
=
K
1
E
(
s
)
E
(
s
)
=
R
(
s
)
−
B
(
s
)
T
2
s
B
(
s
)
+
B
(
s
)
=
C
(
s
)
T_1s^2C(s)+sC(s)=K_2U(s) \\ U(s)=K_1E(s) \\ E(s)=R(s)-B(s) \\ T_2sB(s)+B(s)=C(s)
T1s2C(s)+sC(s)=K2U(s)U(s)=K1E(s)E(s)=R(s)−B(s)T2sB(s)+B(s)=C(s)
(1)
化简去除中间变量,系统的误差传递函数为
E
(
s
)
R
(
s
)
=
s
(
T
1
s
+
1
)
(
T
2
s
+
1
)
s
(
T
1
s
+
1
)
(
T
2
s
+
1
)
+
K
1
K
2
=
0.001
s
3
+
0.11
s
2
+
s
0.001
s
3
+
0.11
s
2
+
s
+
10
K
1
\begin{aligned} \cfrac{E(s)}{R(s)}&=\cfrac{s(T_1s+1)(T_2s+1)}{s(T_1s+1)(T_2s+1)+K_1K_2} \\ &=\cfrac{0.001s^3+0.11s^2+s}{0.001s^3+0.11s^2+s+10K_1} \end{aligned}
R(s)E(s)=s(T1s+1)(T2s+1)+K1K2s(T1s+1)(T2s+1)=0.001s3+0.11s2+s+10K10.001s3+0.11s2+s
(2)
系统的闭环特征方程为
Δ
(
s
)
=
0.001
s
3
+
0.11
s
2
+
s
+
10
K
1
=
0
\Delta(s)=0.001s^3+0.11s^2+s+10K_1=0
Δ(s)=0.001s3+0.11s2+s+10K1=0
列劳斯表
s
3
0.001
1
s
2
0.11
10
K
1
s
1
0.11
−
0.01
K
1
0.11
s
0
10
K
1
\begin{matrix} s^3 & 0.001 & 1 \\ s^2 & 0.11 & 10K_1 \\ s^1 & \cfrac{0.11-0.01K_1}{0.11} \\ s^0 &10K_1 \end{matrix}
s3s2s1s00.0010.110.110.11−0.01K110K1110K1
系统闭环稳定时,劳斯表第一列大于零,则
0.11
−
0.01
K
1
0.11
>
0
,
10
K
1
>
0
\cfrac{0.11-0.01K_1}{0.11}>0, \quad 10K_1>0
0.110.11−0.01K1>0,10K1>0
即
0
<
K
1
<
110
\xcancel{0<K_1<110}
0<K1<110
0
<
K
1
<
11
0<K_1<11
0<K1<11
(3)
当输入信号为
R
(
s
)
=
1
s
+
1
s
2
R(s)=\cfrac{1}{s}+\cfrac{1}{s^2}
R(s)=s1+s21,利用终值定理
e
s
s
(
∞
)
=
lim
s
→
0
s
E
(
s
)
=
lim
s
→
0
s
⋅
(
1
s
+
1
s
2
)
⋅
0.001
s
3
+
0.11
s
2
+
s
0.001
s
3
+
0.11
s
2
+
s
+
10
K
1
=
1
10
K
1
\begin{aligned} e_{ss}(\infin)&=\lim_{s\rightarrow0}sE(s) \\ &=\lim_{s\rightarrow0}s\cdot \left(\cfrac{1}{s}+\cfrac{1}{s^2}\right)\cdot\cfrac{0.001s^3+0.11s^2+s}{0.001s^3+0.11s^2+s+10K_1} \\ &= \cfrac{1}{10K_1} \end{aligned}
ess(∞)=s→0limsE(s)=s→0lims⋅(s1+s21)⋅0.001s3+0.11s2+s+10K10.001s3+0.11s2+s=10K11
系统的稳态误差不大于
0.1
0.1
0.1,则
10
⩽
K
1
<
110
\xcancel{ 10\leqslant K_1<110 }
10⩽K1<110
10
⩽
K
1
<
11
10\leqslant K_1<11
10⩽K1<11
4、
(1)
对差分方程取
Z
Z
Z变换
G
1
(
z
)
=
1
−
z
−
1
G
2
(
z
)
=
4
z
−
1
5
z
−
2
−
1.5
z
−
1
+
1
\begin{aligned} G_1(z)&=1-z^{-1} \\ G_2(z)&=\cfrac{4z^{-1}}{5z^{-2}-1.5z^{-1}+1} \end{aligned}
G1(z)G2(z)=1−z−1=5z−2−1.5z−1+14z−1
(2)
系统的闭环脉冲传递函数为
Φ
(
z
)
=
4
(
z
−
1
)
z
2
+
2.5
z
+
1
\Phi(z)=\cfrac{4(z-1)}{z^2+2.5z+1}
Φ(z)=z2+2.5z+14(z−1)
闭环特征方程为
Δ
(
z
)
=
z
2
+
2.5
z
+
1
=
0
\Delta(z)=z^2+2.5z+1=0
Δ(z)=z2+2.5z+1=0
令
z
=
w
+
1
w
−
1
z=\cfrac{w+1}{w-1}
z=w−1w+1,则
Δ
(
w
)
=
4.5
w
2
−
0.5
\Delta(w)=4.5w^2-0.5
Δ(w)=4.5w2−0.5
缺项,系统不稳定。
(2021.11.18增加) 直接解特征方程可得到特征根
z
1
=
−
0.5
z_1=-0.5
z1=−0.5,
z
2
=
−
2
z_2=-2
z2=−2,有一个特征根不在单位圆内,系统不稳定。
5、(2021.12.17改)
(1)
利用复数阻抗方法
U
(
s
)
100
K
+
X
1
(
s
)
100
K
=
−
(
5
μ
F
s
+
1
200
K
)
X
2
(
s
)
X
2
(
s
)
200
K
+
X
3
(
s
)
200
K
=
−
(
10
μ
F
s
+
1
200
K
)
X
4
(
s
)
X
4
(
s
)
200
K
=
−
5
μ
F
s
X
1
(
s
)
−
X
3
(
s
)
200
K
=
5
μ
F
s
X
1
(
s
)
\cfrac{U(s)}{100K}+\cfrac{X_1(s)}{100K}=-\left(5\mu Fs+\cfrac{1}{200K} \right)X_2(s) \\ \cfrac{X_2(s)}{200K}+\cfrac{X_3(s)}{200K}=-\left(10\mu Fs+\cfrac{1}{200K}\right)X_4(s) \\ \cfrac{X_4(s)}{200K}=-5\mu FsX_1(s)\\ -\cfrac{X_3(s)}{200K}=5\mu FsX_1(s)
100KU(s)+100KX1(s)=−(5μFs+200K1)X2(s)200KX2(s)+200KX3(s)=−(10μFs+200K1)X4(s)200KX4(s)=−5μFsX1(s)−200KX3(s)=5μFsX1(s)
去除中间变量
X
4
(
s
)
X_4(s)
X4(s)
X
2
(
s
)
U
(
s
)
+
X
1
(
s
)
=
−
2
s
+
1
X
1
(
s
)
X
2
(
s
)
+
X
3
(
s
)
=
1
s
(
2
s
+
1
)
X
3
(
s
)
X
1
(
s
)
=
−
s
\cfrac{X_2(s)}{U(s)+X_1(s)}=-\cfrac{2}{s+1} \\ \cfrac{X_1(s)}{X_2(s)+X_3(s)}=\cfrac{1}{s(2s+1)} \\ \cfrac{X_3(s)}{X_1(s)}=-s
U(s)+X1(s)X2(s)=−s+12X2(s)+X3(s)X1(s)=s(2s+1)1X1(s)X3(s)=−s
图略
(2)
由系统结构图可得
2
[
u
(
t
)
+
x
1
(
t
)
]
=
−
(
s
+
1
)
x
2
(
t
)
x
2
(
t
)
+
x
3
(
t
)
=
s
(
2
s
+
1
)
x
1
(
t
)
x
3
(
t
)
=
−
s
x
1
(
t
)
y
(
t
)
=
x
1
(
t
)
2[u(t)+x_1(t)]=-(s+1)x_2(t) \\ x_2(t)+x_3(t)=s(2s+1)x_1(t) \\ x_3(t)=-sx_1(t) \\ y(t)=x_1(t)
2[u(t)+x1(t)]=−(s+1)x2(t)x2(t)+x3(t)=s(2s+1)x1(t)x3(t)=−sx1(t)y(t)=x1(t)
整理可得
x
˙
1
(
t
)
=
−
x
3
x
˙
2
(
t
)
=
−
2
x
1
(
t
)
−
x
2
(
t
)
−
2
u
(
t
)
x
˙
3
=
−
0.5
x
2
(
t
)
−
x
3
(
t
)
y
(
t
)
=
x
1
(
t
)
\dot{x}_1(t)=-x_3 \\ \dot{x}_2(t)=-2x_1(t)-x_2(t)-2u(t) \\ \dot{x}_3=-0.5x_2(t)-x_3(t) \\ y(t)=x_1(t)
x˙1(t)=−x3x˙2(t)=−2x1(t)−x2(t)−2u(t)x˙3=−0.5x2(t)−x3(t)y(t)=x1(t)
系统的状态空间模型为
{
x
˙
(
t
)
=
[
0
0
−
1
−
2
−
1
0
0
−
0.5
−
1
]
x
(
t
)
+
[
0
−
2
0
]
u
(
t
)
y
(
t
)
=
[
1
0
0
]
x
(
t
)
\left\{\begin{array}{l} \dot x (t)= \begin{bmatrix} 0 & 0 & -1 \\ -2 & -1 & 0 \\ 0 & -0.5 & -1 \end{bmatrix} x(t) + \begin{bmatrix} 0 \\ -2 \\ 0 \end{bmatrix} u(t) \\ y(t)= \begin{bmatrix} 1 & 0 & 0 \end{bmatrix} x(t) \end{array}\right.
⎩
⎨
⎧x˙(t)=⎣
⎡0−200−1−0.5−10−1⎦
⎤x(t)+⎣
⎡0−20⎦
⎤u(t)y(t)=[100]x(t)
(3)
令(2)中
A
x
(
t
)
=
0
Ax(t)=0
Ax(t)=0,可得系统的平衡点
x
1
(
t
)
=
0
,
x
2
(
t
)
=
0
,
x
3
(
t
)
=
0
x_1(t)=0,\quad x_2(t)=0,\quad x_3(t)=0
x1(t)=0,x2(t)=0,x3(t)=0
根据
A
T
P
+
P
A
=
−
Q
A^TP+PA=-Q
ATP+PA=−Q
取
Q
Q
Q为单位矩阵,设
P
=
[
p
11
p
12
p
13
p
12
p
22
p
23
p
13
p
23
p
33
]
P= \begin{bmatrix} p_{11} & p_{12} & p_{13} \\ p_{12} & p_{22} & p_{23} \\ p_{13} & p_{23} & p_{33} \end{bmatrix}
P=⎣
⎡p11p12p13p12p22p23p13p23p33⎦
⎤
解方程组得
P
=
[
8
,
5
0.25
−
6
0.25
1.375
−
1.75
−
6
−
1.75
6.5
]
\xcancel{ P= \begin{bmatrix} 8,5 & 0.25 & -6 \\ 0.25 & 1.375 & -1.75 \\ -6 & -1.75 & 6.5 \end{bmatrix} }
P=⎣
⎡8,50.25−60.251.375−1.75−6−1.756.5⎦
⎤
P
=
[
9.5
0.25
−
6
0.25
1.375
−
1.75
−
6
−
1.75
6.5
]
P= \begin{bmatrix} 9.5 & 0.25 & -6 \\ 0.25 & 1.375 & -1.75 \\ -6 & -1.75 & 6.5 \end{bmatrix}
P=⎣
⎡9.50.25−60.251.375−1.75−6−1.756.5⎦
⎤
P各阶主子式均大于零,
P
P
P正定,系统渐进稳定。
6、(2021.11.18改)
(1)
由图可知,
G
(
s
)
G(s)
G(s)为惯性环节,设
G
(
s
)
=
K
T
s
+
1
G(s)=\cfrac{K}{Ts+1}
G(s)=Ts+1K
当
ω
=
1
\omega=1
ω=1时,相角为
−
45
°
-45°
−45°,即
−
arctan
T
=
−
45
°
-\arctan T=-45°
−arctanT=−45°
解得
T
=
1
T=1
T=1
系统的开环传递函数为
G
(
s
)
H
(
s
)
=
K
(
s
+
1
)
(
s
2
+
1
)
G(s)H(s)=\cfrac{K}{(s+1)(s^2+1)}
G(s)H(s)=(s+1)(s2+1)K
(2)
系统的频率特性为
G
(
j
ω
)
=
K
1
−
ω
4
−
j
K
ω
1
−
ω
4
G(j\omega)=\cfrac{K}{1-\omega^4}-j\frac{K\omega}{1-\omega^4}
G(jω)=1−ω4K−j1−ω4Kω
起点为
A
(
0
+
)
=
K
,
φ
(
0
+
)
=
0
°
A(0^+)=K,\quad \varphi(0^+)=0°
A(0+)=K,φ(0+)=0°
终点为
A
(
∞
)
=
0
,
φ
(
∞
)
=
−
270
°
A(\infin)=0,\quad\varphi(\infin)=-270°
A(∞)=0,φ(∞)=−270°
与实轴交点为起点。当
ω
→
1
−
\omega\rightarrow1^-
ω→1−时,
A
(
ω
n
)
→
+
∞
,
φ
(
ω
)
→
−
arctan
1
−
arctan
1
2
=
−
71.565
°
\xcancel{ A(\omega_n)\rightarrow+\infin,\quad \varphi(\omega)\rightarrow -\arctan1-\arctan\cfrac{1}{2}=-71.565° }
A(ωn)→+∞,φ(ω)→−arctan1−arctan21=−71.565°
A
(
ω
n
)
→
+
∞
,
φ
(
ω
)
→
−
arctan
1
=
−
45
°
A(\omega_n)\rightarrow+\infin,\quad \varphi(\omega)\rightarrow -\arctan1=-45°
A(ωn)→+∞,φ(ω)→−arctan1=−45°
当
ω
→
1
+
\omega\rightarrow1^+
ω→1+
A
(
ω
n
)
→
+
∞
,
φ
(
ω
)
→
−
arctan
1
−
arctan
1
2
−
π
=
−
251.565
°
\xcancel{ A(\omega_n)\rightarrow+\infin,\quad \varphi(\omega)\rightarrow -\arctan1-\arctan\cfrac{1}{2}-\pi=-251.565° }
A(ωn)→+∞,φ(ω)→−arctan1−arctan21−π=−251.565°
A
(
ω
n
)
→
+
∞
,
φ
(
ω
)
→
−
arctan
1
−
π
=
−
225
°
A(\omega_n)\rightarrow+\infin,\quad \varphi(\omega)\rightarrow -\arctan1-\pi=-225°
A(ωn)→+∞,φ(ω)→−arctan1−π=−225°
图略(在
ω
→
1
−
\omega\rightarrow1^-
ω→1−处向
ω
→
1
+
\omega\rightarrow1^+
ω→1+补
180
°
180°
180°大圆弧)。由图可知,
N
−
=
1
N_-=1
N−=1,
P
=
0
P=0
P=0,则
Z
=
P
−
2
(
N
+
−
N
−
)
=
2
>
0
Z=P-2(N_+-N_-)=2>0
Z=P−2(N+−N−)=2>0
系统在
s
s
s右半平面有两个极点,系统不稳定。
7、
系统的开环传递函数
G
(
s
)
=
100
K
(
T
s
+
1
)
s
(
s
+
1
)
(
s
+
100
)
G(s)=\cfrac{100K(Ts+1)}{s(s+1)(s+100)}
G(s)=s(s+1)(s+100)100K(Ts+1)
(1)
当
K
=
100
K=100
K=100,
T
=
0.05
T=0.05
T=0.05时
G
(
s
)
=
100
(
0.05
s
+
1
)
s
(
0.01
s
+
1
)
(
s
+
1
)
G(s)=\cfrac{100(0.05s+1)}{s(0.01s+1)(s+1)}
G(s)=s(0.01s+1)(s+1)100(0.05s+1)
对数频率特性
L
(
ω
)
=
20
l
g
100
0.0025
ω
2
+
1
ω
0.0001
ω
2
+
1
ω
2
+
1
φ
(
ω
)
=
180
°
−
90
°
−
arctan
0.01
ω
−
arctan
ω
+
arctan
0.05
ω
L(\omega)=20lg\cfrac{100\sqrt{0.0025\omega^2+1}}{\omega\sqrt{0.0001\omega^2+1}\sqrt{\omega^2+1}} \\ \varphi(\omega)=180°-90°-\arctan0.01\omega-\arctan\omega+\arctan0.05\omega
L(ω)=20lgω0.0001ω2+1ω2+11000.0025ω2+1φ(ω)=180°−90°−arctan0.01ω−arctanω+arctan0.05ω
转折频率
ω
1
=
0.01
,
ω
2
=
0.05
,
ω
3
=
1
\xcancel{ \omega_1=0.01,\quad \omega_2=0.05,\quad \omega_3=1 }
ω1=0.01,ω2=0.05,ω3=1
ω
1
=
1
,
ω
2
=
20
,
ω
3
=
100
\omega_1=1,\quad \omega_2=20,\quad \omega_3=100
ω1=1,ω2=20,ω3=100
系统是
I
\text{I}
I系统,
K
=
100
K=100
K=100,
20
l
g
K
=
40
db
20lgK=40\text{db}
20lgK=40db。修正对数频率特性,在
ω
1
\omega_1
ω1和
ω
3
\omega_3
ω3处减少
3
db
3\text{db}
3db,在
ω
2
\omega_2
ω2处增加
3
db
3\text{db}
3db。
图略
(2)
截止频率
A
(
ω
c
)
=
100
0.0025
ω
c
2
+
1
ω
c
0.0001
ω
c
2
+
1
ω
c
2
+
1
=
1
A(\omega_c)=\cfrac{100\sqrt{0.0025\omega_c^2+1}}{\omega_c\sqrt{0.0001\omega_c^2+1}\sqrt{\omega_c^2+1}}=1
A(ωc)=ωc0.0001ωc2+1ωc2+11000.0025ωc2+1=1
解得
ω
c
=
10.534
r
a
d
/
s
\omega_c=10.534rad/s
ωc=10.534rad/s
相角裕度为
γ
=
180
°
−
90
°
−
arctan
0.01
ω
c
−
arctan
ω
c
+
arctan
0.05
ω
c
=
27.185
°
\gamma=180°-90°-\arctan0.01\omega_c-\arctan\omega_c+\arctan0.05\omega_c=27.185°
γ=180°−90°−arctan0.01ωc−arctanωc+arctan0.05ωc=27.185°
穿越频率
180
°
−
90
°
−
arctan
0.01
ω
g
−
arctan
ω
g
+
arctan
0.05
ω
g
=
0
°
180°-90°-\arctan0.01\omega_g-\arctan\omega_g+\arctan0.05\omega_g=0°
180°−90°−arctan0.01ωg−arctanωg+arctan0.05ωg=0°
无解,幅值裕度为
∞
\infin
∞。由相角裕度和幅值裕度均大于零,系统稳定。
(3)
将
ω
c
=
10
\omega_c=10
ωc=10,
γ
(
ω
c
)
=
arctan
100
\gamma(\omega_c)=\arctan100
γ(ωc)=arctan100代入对数频率特性得到方程组
K
100
T
2
+
1
10
0.01
+
1
100
+
1
=
1
90
°
−
arctan
0.1
−
arctan
10
+
arctan
10
T
=
arctan
100
\cfrac{K\sqrt{100T^2+1}}{10\sqrt{0.01+1}\sqrt{100+1}}=1 \\ 90°-\arctan0.1-\arctan10+\arctan10T=\arctan100
100.01+1100+1K100T2+1=190°−arctan0.1−arctan10+arctan10T=arctan100
解得
K
=
1.02
,
T
=
10
K=1.02,\quad T=10
K=1.02,T=10
(4)
校正前,系统的截止频率为
ω
c
=
9.975
r
a
d
/
s
\omega_c=9.975rad/s
ωc=9.975rad/s,相角裕度欸
γ
=
5.724
°
\gamma=5.724°
γ=5.724°,幅值裕度为
∞
\infin
∞,系统稳定。校正装置使系统的截止频率基本不变,不改变幅值裕度,增加系统的相角裕度,使系统的抗干扰能力增强。
8、
(1)
根据
1
+
N
(
A
)
G
(
s
)
=
0
1+N(A)G(s)=0
1+N(A)G(s)=0,改写非线性系统方程
x
¨
−
ε
x
˙
+
x
=
−
ε
x
2
x
˙
1
+
ε
x
2
x
˙
x
¨
−
ε
x
˙
+
x
=
0
\ddot{x}-\varepsilon\dot{x}+x=-\varepsilon x^2\dot{x} \\ 1+\cfrac{\varepsilon x^2\dot{x}}{\ddot{x}-\varepsilon\dot{x}+x}=0
x¨−εx˙+x=−εx2x˙1+x¨−εx˙+xεx2x˙=0
等效线性部分的传递函数
G
(
s
)
=
ε
s
2
−
ε
s
+
1
G(s)=\cfrac{\varepsilon}{s^2-\varepsilon s+1}
G(s)=s2−εs+1ε
(2)
线性部分的频率特性
G
(
j
ω
)
=
ε
(
1
−
ω
2
)
(
1
−
ω
2
)
2
+
ω
2
ε
2
+
j
ε
2
ω
(
1
−
ω
2
)
2
+
ω
2
ε
2
G(j\omega)=\cfrac{\varepsilon(1-\omega^2)}{(1-\omega^2)^2+\omega^2\varepsilon^2}+j\cfrac{\varepsilon^2\omega}{(1-\omega^2)^2+\omega^2\varepsilon^2}
G(jω)=(1−ω2)2+ω2ε2ε(1−ω2)+j(1−ω2)2+ω2ε2ε2ω
当
ω
=
1
\omega=1
ω=1时,与虚轴交点为
1
1
1,相角特性为
φ
(
ω
)
=
arctan
ε
ω
1
−
ω
2
\varphi(\omega)=\arctan\cfrac{\varepsilon\omega}{1-\omega^2}
φ(ω)=arctan1−ω2εω
当
ω
=
0
\omega=0
ω=0时
A
(
ω
)
=
ε
,
φ
(
ω
)
=
0
°
A(\omega)=\varepsilon,\quad \varphi(\omega)=0°
A(ω)=ε,φ(ω)=0°
当
ω
→
+
∞
\omega\rightarrow+\infin
ω→+∞时
A
(
ω
)
→
0
,
φ
(
ω
)
=
180
°
A(\omega)\rightarrow0,\quad \varphi(\omega)=180°
A(ω)→0,φ(ω)=180°
负倒描述函数为
−
1
N
(
A
)
=
j
4
A
ω
-\cfrac{1}{N(A)}=j\cfrac{4}{A\omega}
−N(A)1=jAω4
负倒描述函数曲线为正虚轴从
+
∞
+\infin
+∞到
0
0
0的直线。负倒描述函数曲线与线性部分奈奎斯特曲线有交点
1
ε
\cfrac{1}{\varepsilon}
ε1,当
ω
\omega
ω增大时,负倒描述函数曲线从稳定区域进入到不稳定区域,
G
(
j
ω
)
G(j\omega)
G(jω)曲线对负倒数描述函数曲线的穿越次数为
N
=
N
+
−
N
−
=
1
N=N_+-N_-=1
N=N+−N−=1
则
Z
=
P
−
2
N
=
0
Z=P-2N=0
Z=P−2N=0
故系统存在稳定的周期运动,令
−
1
N
(
A
)
=
1
(
ω
=
1
)
-\frac{1}{N(A)}=1\ (\omega=1)
−N(A)1=1 (ω=1)
解得
A
=
4
A=4
A=4
(3)
根据(2)可画出图,略。
(4)
系统存在自激振荡,自振时输出信号函数为
x
(
t
)
=
−
4
sin
t
x(t)=-4\sin t
x(t)=−4sint
9、(2021.12.6改)(2021.12.18改)
(1)
根据
Φ
˙
(
t
)
=
A
Φ
(
t
)
\sout{\dot{\Phi}(t)=A\Phi(t)}
Φ˙(t)=AΦ(t)
[
2
e
t
−
2
e
2
t
e
t
−
2
e
2
t
−
2
e
t
+
4
e
2
t
−
e
t
+
4
e
2
t
]
=
A
[
2
e
t
−
e
2
t
e
t
−
e
2
t
−
2
e
t
+
2
e
2
t
−
e
t
+
2
e
2
t
]
\xcancel{ \begin{bmatrix} 2e^t-2e^{2t} & e^t-2e^{2t} \\ -2e^t+4e^{2t} & -e^t+4e^{2t} \end{bmatrix}= A \begin{bmatrix} 2e^t-e^{2t} & e^t-e^{2t} \\ -2e^t+2e^{2t} & -e^t+2e^{2t} \end{bmatrix} }
[2et−2e2t−2et+4e2tet−2e2t−et+4e2t]=A[2et−e2t−2et+2e2tet−e2t−et+2e2t]
令
t
=
1
\sout{t=1}
t=1
A
=
[
0
−
1
2
3
]
[
1
0
0
1
]
=
[
0
−
1
2
3
]
\xcancel{ A= \begin{bmatrix} 0 & -1 \\ 2 & 3 \end{bmatrix} \begin{bmatrix} 1 & 0 \\ 0 & 1 \end{bmatrix}= \begin{bmatrix} 0 & -1 \\ 2 & 3 \end{bmatrix} }
A=[02−13][1001]=[02−13]
(2)
系统的传递函数
G
(
s
)
=
C
(
s
I
−
A
)
−
1
B
=
1
s
2
−
3
s
+
2
[
1
0
]
[
s
−
1
2
s
−
3
]
[
0
1
]
=
−
1
s
2
−
3
s
+
2
\xcancel{ \begin{aligned} G(s)&=C(sI-A)^{-1}B \\ &=\cfrac{1}{s^2-3s+2} \begin{bmatrix} 1 & 0 \end{bmatrix} \begin{bmatrix} s & -1 \\ 2 & s-3 \end{bmatrix} \begin{bmatrix} 0 \\ 1 \end{bmatrix} \\ &=-\cfrac{1}{s^2-3s+2} \end{aligned} }
G(s)=C(sI−A)−1B=s2−3s+21[10][s2−1s−3][01]=−s2−3s+21
(3)
系统的能控性矩阵
Q
c
=
[
B
A
B
]
=
[
0
−
1
1
3
]
\xcancel{ Q_c= \begin{bmatrix} B & AB \end{bmatrix}= \begin{bmatrix} 0 & -1 \\ 1 & 3 \end{bmatrix} }
Qc=[BAB]=[01−13]
rank
Q
c
=
2
\sout{\text{rank}Q_c=2}
rankQc=2,满秩,系统完全能控。系统能观矩阵
Q
o
=
[
C
C
A
]
=
[
1
0
0
−
1
]
\xcancel{ Q_o= \begin{bmatrix} C \\ CA \end{bmatrix}= \begin{bmatrix} 1 & 0 \\ 0 & -1 \end{bmatrix} }
Qo=[CCA]=[100−1]
rank
Q
o
=
2
\sout{\text{rank}Q_o=2}
rankQo=2,满秩,系统完全能观。
(4)
由(3)可知,系统完全能控,可任意配置极点,加入状态反馈的特征方程
det
[
λ
I
−
A
−
B
K
]
=
det
[
λ
1
−
2
−
k
1
λ
−
3
−
k
2
]
=
λ
2
−
(
3
+
k
2
)
λ
+
2
+
k
1
\xcancel{ \text{det}[\lambda I-A-BK]=\text{det} \begin{bmatrix} \lambda & 1 \\ -2-k_1 & \lambda-3-k_2 \end{bmatrix}= \lambda^2-(3+k_2)\lambda+2+k_1 }
det[λI−A−BK]=det[λ−2−k11λ−3−k2]=λ2−(3+k2)λ+2+k1
闭环系统的期望特征方程
f
∗
(
λ
)
=
λ
2
+
6
λ
+
12
\xcancel{ f^*(\lambda)=\lambda^2+6\lambda+12 }
f∗(λ)=λ2+6λ+12
对比两式可得状态反馈矩阵
K
=
[
10
−
9
]
\xcancel{ K= \begin{bmatrix} 10 \\ -9 \end{bmatrix} }
K=[10−9]
(1)
根据
Φ
−
1
(
t
)
=
Φ
(
−
t
)
\Phi^{-1}(t)=\Phi(-t)
Φ−1(t)=Φ(−t)和
Φ
˙
(
t
)
=
A
Φ
(
t
)
\dot{\Phi}(t)=A\Phi(t)
Φ˙(t)=AΦ(t)
[
−
2
e
−
t
+
2
e
−
2
t
−
e
−
t
+
2
e
−
2
t
2
e
−
t
−
4
e
−
2
t
e
−
t
−
4
e
−
2
t
]
=
A
[
2
e
−
t
−
e
−
2
t
e
−
t
−
e
−
2
t
−
2
e
−
t
+
2
e
−
2
t
−
e
−
t
+
2
e
−
2
t
]
\begin{bmatrix} -2e^{-t}+2e^{-2t} & -e^{-t}+2e^{-2t} \\ 2e^{-t}-4e^{-2t} & e^{-t}-4e^{-2t} \end{bmatrix}= A \begin{bmatrix} 2e^{-t}-e^{-2t} & e^{-t}-e^{-2t} \\ -2e^{-t}+2e^{-2t} & -e^{-t}+2e^{-2t} \end{bmatrix}
[−2e−t+2e−2t2e−t−4e−2t−e−t+2e−2te−t−4e−2t]=A[2e−t−e−2t−2e−t+2e−2te−t−e−2t−e−t+2e−2t]
令
t
=
0
t=0
t=0
A
=
[
0
1
−
2
−
3
]
[
1
0
0
1
]
=
[
0
1
−
2
−
3
]
A= \begin{bmatrix} 0 & 1 \\ -2 & -3 \end{bmatrix} \begin{bmatrix} 1 & 0 \\ 0 & 1 \end{bmatrix}= \begin{bmatrix} 0 & 1 \\ -2 & -3 \end{bmatrix}
A=[0−21−3][1001]=[0−21−3]
(2)
系统的状态空间方程为能控标准型,则其传递函数为
G
(
s
)
=
1
s
2
+
3
s
+
2
\begin{aligned} G(s) &= \frac{1}{s^2+3s+2} \end{aligned}
G(s)=s2+3s+21
(3)
系统的能控性矩阵
Q
c
=
[
B
A
B
]
=
[
0
1
1
−
3
]
Q_c= \begin{bmatrix} B & AB \end{bmatrix}= \begin{bmatrix} 0 & 1 \\ 1 & -3 \end{bmatrix}
Qc=[BAB]=[011−3]
rank
Q
c
=
2
\text{rank}Q_c=2
rankQc=2,满秩,系统完全能控。系统能观矩阵
Q
o
=
[
C
C
A
]
=
[
1
0
0
1
]
Q_o= \begin{bmatrix} C \\ CA \end{bmatrix}= \begin{bmatrix} 1 & 0 \\ 0 & 1 \end{bmatrix}
Qo=[CCA]=[1001]
rank
Q
o
=
2
\text{rank}Q_o=2
rankQo=2,满秩,系统完全能观。
(4)
由(3)可知,系统完全能控,可任意配置极点,加入状态反馈的特征方程
det
[
λ
I
−
A
−
B
K
]
=
det
[
λ
−
1
2
−
k
1
λ
+
3
−
k
2
]
=
λ
2
+
(
3
−
k
2
)
λ
−
2
+
k
1
\xcancel{ \text{det}[\lambda I-A-BK]=\text{det} \begin{bmatrix} \lambda & -1 \\ 2-k_1 & \lambda+3-k_2 \end{bmatrix}= \lambda^2+(3-k_2)\lambda-2+k_1 }
det[λI−A−BK]=det[λ2−k1−1λ+3−k2]=λ2+(3−k2)λ−2+k1
det
[
λ
I
−
A
−
B
K
]
=
det
[
λ
−
1
2
−
k
1
λ
+
3
−
k
2
]
=
λ
2
+
(
3
−
k
2
)
λ
+
2
−
k
1
\text{det}[\lambda I-A-BK]=\text{det} \begin{bmatrix} \lambda & -1 \\ 2-k_1 & \lambda+3-k_2 \end{bmatrix}= \lambda^2+(3-k_2)\lambda+2-k_1
det[λI−A−BK]=det[λ2−k1−1λ+3−k2]=λ2+(3−k2)λ+2−k1
闭环系统的期望特征方程
f
∗
(
λ
)
=
λ
2
+
6
λ
+
12
f^*(\lambda)=\lambda^2+6\lambda+12
f∗(λ)=λ2+6λ+12
对比两式可得状态反馈矩阵
K
=
[
14
−
3
]
\xcancel{ K= \begin{bmatrix} 14 \\ -3 \end{bmatrix} }
K=[14−3]
K
=
[
−
10
−
3
]
K= \begin{bmatrix} -10 \\ -3 \end{bmatrix}
K=[−10−3]