一、(2021.12.21改)
1.输入回路
U
i
=
R
1
I
1
+
U
v
U_i=R_1I_1+U_v
Ui=R1I1+Uv
输出回路
U
o
=
−
R
2
I
2
+
U
v
U_o=-R_2I_2+U_v
Uo=−R2I2+Uv
中间回路
R
1
I
1
=
−
(
R
2
+
1
C
2
s
)
I
2
\xcancel{ R_1I_1=-(R_2+\frac{1}{C_2s})I_2 }
R1I1=−(R2+C2s1)I2
R
1
I
1
=
−
(
R
2
+
1
C
1
s
)
I
2
R_1I_1=-(R_2+\frac{1}{C_1s})I_2
R1I1=−(R2+C1s1)I2
其中
U
v
=
(
I
1
−
I
2
)
1
C
2
s
U_v=(I_1-I_2)\frac{1}{C_2s}
Uv=(I1−I2)C2s1
综上可得
2.(注:以前做的太复杂了,而且算错了,现在删了换种方法)
取电容
C
1
C_1
C1、
C
2
C_2
C2上的电压分别为
u
c
1
u_{c_1}
uc1、
u
c
2
u_{c_2}
uc2,设状态变量为
x
1
x_1
x1、
x
2
x_2
x2,且选项
x
1
=
u
c
1
x_1=u_{c_1}
x1=uc1、
x
2
=
u
c
2
x_2=u_{c_2}
x2=uc2,输入、输出变量分别为
u
=
U
i
u=U_i
u=Ui、
y
=
U
o
y=U_o
y=Uo。设
R
1
R_1
R1和
C
2
C_2
C2之间的节点为
A
A
A,
R
2
R_2
R2和
C
1
C_1
C1之间的节点为
B
B
B,对于节点
A
A
A
i
1
−
i
2
=
u
i
−
u
c
2
R
1
−
u
i
−
u
c
2
R
2
=
C
2
u
˙
c
2
i_1-i_2=\frac{u_i-u_{c2}}{R_1}-\frac{u_i-u_{c2}}{R_2}=C_2\dot{u}_{c2}
i1−i2=R1ui−uc2−R2ui−uc2=C2u˙c2
对于节点
B
B
B
−
i
2
=
u
o
−
u
c
2
R
2
=
C
1
u
˙
c
1
-i_2=\frac{u_o-u_{c2}}{R_2}=C_1\dot{u}_{c1}
−i2=R2uo−uc2=C1u˙c1
将
u
o
=
u
i
−
u
c
1
u_o=u_i-u_{c1}
uo=ui−uc1
代入上述两式,可得方程组
u
˙
c
1
=
−
1
R
2
C
1
u
c
1
−
1
R
2
C
1
u
c
2
+
1
R
2
C
1
u
i
u
˙
c
2
=
−
1
R
2
C
2
u
c
1
−
(
1
R
2
C
2
+
1
R
1
C
2
)
u
c
2
+
−
(
1
R
2
C
2
+
1
R
1
C
2
)
u
i
u
o
=
u
i
−
u
c
1
\dot{u}_{c1}=-\cfrac{1}{R_2C_1}u_{c1}-\cfrac{1}{R_2C_1}u_{c2}+\cfrac{1}{R_2C_1}u_i \\ \dot{u}_{c2}=-\cfrac{1}{R_2C_2}u_{c1}-\left(\cfrac{1}{R_2C_2}+\cfrac{1}{R_1C_2}\right)u_{c2}+-\left(\cfrac{1}{R_2C_2}+\cfrac{1}{R_1C_2}\right)u_i \\ u_o=u_i-u_{c1}
u˙c1=−R2C11uc1−R2C11uc2+R2C11uiu˙c2=−R2C21uc1−(R2C21+R1C21)uc2+−(R2C21+R1C21)uiuo=ui−uc1
写成状态空间方程形式
x
˙
=
[
−
1
R
2
C
1
−
1
R
2
C
1
−
1
R
2
C
2
−
1
R
2
C
2
−
1
R
1
C
2
]
x
+
[
1
R
2
C
1
1
R
2
C
2
+
1
R
1
C
2
]
u
y
=
[
−
1
0
]
x
+
u
\begin{aligned} \dot{x}&= \begin{bmatrix} -\cfrac{1}{R_2C_1} & -\cfrac{1}{R_2C_1} \\ -\cfrac{1}{R_2C_2} & -\cfrac{1}{R_2C_2}-\cfrac{1}{R_1C_2} \\ \end{bmatrix} x+ \begin{bmatrix} \cfrac{1}{R_2C_1} \\ \cfrac{1}{R_2C_2}+\cfrac{1}{R_1C_2} \end{bmatrix} u \\ y &= \begin{bmatrix} -1 & 0 \\ \end{bmatrix} x+u \end{aligned}
x˙y=⎣⎢⎢⎡−R2C11−R2C21−R2C11−R2C21−R1C21⎦⎥⎥⎤x+⎣⎢⎢⎡R2C11R2C21+R1C21⎦⎥⎥⎤u=[−10]x+u
3.方框图化简可得系统的传递函数
U
o
(
s
)
U
i
(
s
)
=
R
1
R
2
C
1
C
2
s
2
+
(
R
1
+
R
2
)
C
1
s
+
1
R
1
R
2
C
1
C
2
s
2
+
(
R
1
C
1
+
R
2
C
2
+
R
2
C
1
)
s
+
1
\frac{U_o(s)}{U_i(s)}=\frac{R_1R_2C_1C_2s^2+(R_1+R_2)C_1s+1}{R_1R_2C_1C_2s^2+(R_1C_1+R_2C_2+R_2C_1)s+1}
Ui(s)Uo(s)=R1R2C1C2s2+(R1C1+R2C2+R2C1)s+1R1R2C1C2s2+(R1+R2)C1s+1
由状态空间方程求得系统的传递函数
U
o
(
s
)
U
i
(
s
)
=
C
(
s
I
−
A
)
−
1
B
+
D
=
R
1
R
2
C
1
C
2
s
2
+
(
R
1
+
R
2
)
C
1
s
+
1
R
1
R
2
C
1
C
2
s
2
+
(
R
1
C
1
+
R
2
C
2
+
R
2
C
1
)
s
+
1
\begin{aligned} \frac{U_o(s)}{U_i(s)}&=C(sI-A)^{-1}B+D\\ &=\frac{R_1R_2C_1C_2s^2+(R_1+R_2)C_1s+1}{R_1R_2C_1C_2s^2+(R_1C_1+R_2C_2+R_2C_1)s+1} \end{aligned}
Ui(s)Uo(s)=C(sI−A)−1B+D=R1R2C1C2s2+(R1C1+R2C2+R2C1)s+1R1R2C1C2s2+(R1+R2)C1s+1
二、(2022.11.26改)
- 当
a
:
0
→
+
∞
a:0\rightarrow+\infin
a:0→+∞,系统的根轨迹方程为
a s 2 s 2 + 4 s + 4 = − 1 a\frac{s}{2s^2+4s+4}=-1 a2s2+4s+4s=−1
① n = 2 n=2 n=2, m = 1 m=1 m=1,根轨迹有 2 2 2条分支
②根轨迹的起点: p 1 , 2 = − 1 ± j p_{1,2}=-1\pm j p1,2=−1±j
③根轨迹的终点: z = − 1 z=-1 z=−1
④实轴上的根轨迹: ( − ∞ , 0 ] (-\infin,0] (−∞,0]
⑤根轨迹的汇合点:
1 d − 1 + j + 1 d − 1 − j = 1 d d 2 − 4 d − 2 = 0 d 1 = − 0.449 ( 会 合 点 ) , d 2 = 4.449 ( 舍 去 ) d 2 − 2 = 0 d 1 = − 1.41 ( 会 合 点 ) , d 2 = 1.41 ( 舍 去 ) \frac{1}{d-1+j}+\frac{1}{d-1-j}=\frac{1}{d} \\ \xcancel{d^2-4d-2=0} \\ \xcancel{d_1=-0.449(会合点),\quad d_2=4.449(舍去)} \\ d^2-2=0 \\ d_1=-1.41(会合点),\quad d_2=1.41(舍去) d−1+j1+d−1−j1=d1d2−4d−2=0 d1=−0.449(会合点),d2=4.449(舍去) d2−2=0d1=−1.41(会合点),d2=1.41(舍去)
⑥根轨迹与虚轴交点为原点
⑦根轨迹出射角
θ p 1 = 180 ° + ( 180 ° − arctan 1 1 − 0 ) − 90 ° = 225 ° \theta_{p_1}=180°+(180°-\arctan\frac{1}{1-0})-90°=225° θp1=180°+(180°−arctan1−01)−90°=225°
对称 θ p 2 = − 225 ° \theta_{p_2}=-225° θp2=−225°
图略。
当 a : − ∞ → 0 a:-\infin\rightarrow0 a:−∞→0,令 a ∗ = − a a^*=-a a∗=−a,系统的根轨迹方程为
a ∗ s 2 s 2 + 4 s + 4 = 1 a^*\frac{s}{2s^2+4s+4}=1 a∗2s2+4s+4s=1
① n = 2 n=2 n=2, m = 1 m=1 m=1,根轨迹有 2 2 2条分支
②根轨迹的起点: p 1 , 2 = − 1 ± j p_{1,2}=-1\pm j p1,2=−1±j
③根轨迹的终点: z = − 1 z=-1 z=−1
④实轴上的根轨迹: [ 0 , + ∞ ] [0,+\infin] [0,+∞]
⑤根轨迹的汇合点:
1 d − 1 + j + 1 d − 1 − j = 1 d d 2 − 4 d − 2 = 0 d 1 = − 0.449 ( 舍 去 ) , d 2 = 4.449 ( 会 合 点 ) d 2 − 2 = 0 d 1 = − 1.41 ( 舍 去 ) , d 2 = + 1 , 41 ( 会 合 点 ) \frac{1}{d-1+j}+\frac{1}{d-1-j}=\frac{1}{d} \\ \xcancel{d^2-4d-2=0} \\ \xcancel{d_1=-0.449(舍去),\quad d_2=4.449(会合点)}\\ d^2-2=0 \\ d_1=-1.41(舍去),\quad d_2=+1,41(会合点) d−1+j1+d−1−j1=d1d2−4d−2=0 d1=−0.449(舍去),d2=4.449(会合点) d2−2=0d1=−1.41(舍去),d2=+1,41(会合点)
⑥根轨迹与虚轴交点:系统的特征方程
Δ ( s ) = 2 s 2 + ( 4 − a ∗ ) s + 4 \Delta(s)=2s^2+(4-a^*)s+4 Δ(s)=2s2+(4−a∗)s+4
令 s = j ω s=j\omega s=jω
Δ ( j ω ) = ( 4 − 2 ω 2 ) + j ω ( 4 − a ∗ ) \Delta(j\omega)=(4-2\omega^2)+j\omega(4-a^*) Δ(jω)=(4−2ω2)+jω(4−a∗)
令虚部为零,解得
a ∗ = 4 , a = − 4 , ω = 2 a^*=4,\quad a=-4,\quad\omega=\sqrt2 a∗=4,a=−4,ω=2
⑦根轨迹出射角
θ p 1 = ( 180 ° − arctan 1 1 − 0 ) − 90 ° = 45 ° \theta_{p_1}=(180°-\arctan\frac{1}{1-0})-90°=45° θp1=(180°−arctan1−01)−90°=45°
对称 θ p 2 = − 45 ° \theta_{p_2}=-45° θp2=−45°
图略。
2.当 a : 0 → + ∞ a:0\rightarrow+\infin a:0→+∞,由系统的特征方程可得到会合点处 a = 5.806 a = − 7.53 \xcancel{a=5.806}\ a=-7.53 a=5.806 a=−7.53,当 a : − ∞ → 0 a:-\infin\rightarrow0 a:−∞→0,根轨迹与虚轴相交时, a = − 4 a=-4 a=−4。因此,当 − 4 < a < 5.806 − 4 < a < 7.53 \xcancel{-4<a<5.806}\ -4<a<7.53 −4<a<5.806 −4<a<7.53时,系统的阶跃响应振荡收敛。
3.系统的误差传递函数为
Φ e ( s ) = s 2 + 4 s + 4 2 s 2 + ( 4 + a ) s + 4 \Phi_e(s)=\frac{s^2+4s+4}{2s^2+(4+a)s+4} Φe(s)=2s2+(4+a)s+4s2+4s+4
阶跃响应下,系统的稳态误差为
lim s → 0 s R ( s ) Φ e ( s ) = K \lim_{s\rightarrow0}sR(s)\Phi_e(s)=K s→0limsR(s)Φe(s)=K
a a a对阶跃响应下的稳态误差无影响。误差传递函数的幅频特性为
A ( ω ) = ( 1 − ω 2 4 ) 2 + ω 2 2 ( 1 − ω 2 2 ) 2 + ( 2 + 0.5 a ) 2 4 ω 2 A(\omega)=\frac{\sqrt{(1-\cfrac{\omega^2}{4})^2+\omega^2}}{2\sqrt{(1-\cfrac{\omega^2}{2})^2+\cfrac{(2+0.5a)^2}{4}\omega^2}} A(ω)=2(1−2ω2)2+4(2+0.5a)2ω2(1−4ω2)2+ω2
相频特性为
φ ( ω ) = arctan ω 1 − ω 2 − arctan 2 + 0.5 a 4 ω 1 − ω 2 2 \varphi(\omega)=\arctan\frac{\omega}{1-\omega^2}-\arctan\frac{\cfrac{2+0.5a}{4}\omega}{1-\cfrac{\omega^2}{2}} φ(ω)=arctan1−ω2ω−arctan1−2ω242+0.5aω
正弦信号下,误差输出为
e ( t ) = ( 1 − ω 2 4 ) 2 + ω 2 2 ( 1 − ω 2 2 ) 2 + ( 2 + 0.5 a ) 2 4 ω 2 s i n ( t + arctan ω 1 − ω 2 − arctan 2 + 0.5 a 4 ω 1 − ω 2 2 ) e(t)=\frac{\sqrt{(1-\cfrac{\omega^2}{4})^2+\omega^2}}{2\sqrt{(1-\cfrac{\omega^2}{2})^2+\cfrac{(2+0.5a)^2}{4}\omega^2}}sin(t+\arctan\frac{\omega}{1-\omega^2}-\arctan\frac{\cfrac{2+0.5a}{4}\omega}{1-\cfrac{\omega^2}{2}}) e(t)=2(1−2ω2)2+4(2+0.5a)2ω2(1−4ω2)2+ω2sin(t+arctan1−ω2ω−arctan1−2ω242+0.5aω)
当 a a a增大时,正弦信号下稳态误差减少。
三、
由图可知,对数幅频特性曲线从点
(
0
,
0
)
(0,0)
(0,0)开始,则
K
=
1
K=1
K=1。系统的谐振频率为
ω
r
=
29
\omega_r=29
ωr=29,谐振峰值为
M
r
=
6.30
M_r=6.30
Mr=6.30,设系统的开环传递函数为
G
(
s
)
=
1
s
2
ω
n
2
+
2
ζ
s
ω
n
+
1
G(s)=\frac{1}{\cfrac{s^2}{\omega_n^2}+\cfrac{2\zeta s}{\omega_n}+1}
G(s)=ωn2s2+ωn2ζs+11
由
ω
r
=
ω
n
1
−
2
ζ
2
,
M
r
=
1
2
ζ
1
−
ζ
2
\omega_r=\omega_n\sqrt{1-2\zeta^2},\quad M_r=\frac{1}{2\zeta\sqrt{1-\zeta^2}}
ωr=ωn1−2ζ2,Mr=2ζ1−ζ21
解得
ζ
=
0.080
,
ω
n
=
29.092
\zeta=0.080,\quad \omega_n=29.092
ζ=0.080,ωn=29.092
系统的开环传递函数为
G
(
s
)
=
846.344
s
2
+
4.655
s
+
846.344
G(s)=\frac{846.344}{s^2+4.655s+846.344}
G(s)=s2+4.655s+846.344846.344
系统的闭环传递函数为
Φ
(
s
)
=
846.344
s
2
+
4.655
s
+
1692.688
\Phi(s)=\frac{846.344}{s^2+4.655s+1692.688}
Φ(s)=s2+4.655s+1692.688846.344
1.系统的相角裕度为
γ
=
arctan
2
ζ
1
+
4
ζ
4
−
2
ζ
2
=
9.148
°
\gamma=\arctan\frac{2\zeta}{\sqrt{\sqrt{1+4\zeta^4}-2\zeta^2}}=9.148°
γ=arctan1+4ζ4−2ζ22ζ=9.148°
最小相位的二阶系统幅值裕度为
∞
\infin
∞。
2.系统的幅频
A
(
ω
)
∣
ω
=
31
=
0.5
(
1
−
ω
2
1692.688
)
2
+
0.0256
1692.688
ω
2
=
1.114
A(\omega)|_{\omega=31}=\frac{0.5}{\sqrt{(1-\cfrac{\omega^2}{1692.688})^2+\cfrac{0.0256}{1692.688}\omega^2}} =1.114
A(ω)∣ω=31=(1−1692.688ω2)2+1692.6880.0256ω20.5=1.114
系统的相频
φ
(
ω
)
∣
ω
=
31
=
−
arctan
0.16
41.142
ω
1
−
ω
2
1692.688
=
−
15.584
°
\varphi(\omega)|_{\omega=31}=-\arctan\frac{\cfrac{0.16}{41.142}\omega}{1-\cfrac{\omega^2}{1692.688}}=-15.584°
φ(ω)∣ω=31=−arctan1−1692.688ω241.1420.16ω=−15.584°
系统的稳定输出为
C
s
s
(
t
)
=
3.230
sin
(
31
t
−
15.584
°
)
C_{ss}(t)=3.230\sin(31t-15.584°)
Css(t)=3.230sin(31t−15.584°)
3.由系统的闭环传递函数可知
ω
n
1
=
41.142
,
ζ
1
=
0.057
\omega_{n1}=41.142,\quad\zeta_1=0.057
ωn1=41.142,ζ1=0.057
超调量为
σ
%
=
e
−
π
ζ
1
1
−
ζ
1
2
×
100
%
=
83.693
%
\sigma\%=e^{-\cfrac{\pi\zeta_1}{\sqrt{1-\zeta_1^2}}}\times100\%=83.693\%
σ%=e−1−ζ12πζ1×100%=83.693%
输出瞬间最大值
C
(
t
p
)
=
846.344
1692.688
×
183.693
%
×
1.9
=
1.745
C(t_p)=\frac{846.344}{1692.688}\times183.693\%\times1.9=1.745
C(tp)=1692.688846.344×183.693%×1.9=1.745
注:也可以计算出
t
p
t_p
tp,再求出时域输出表达式,代入
t
p
t_p
tp求出。
调节时间
t
s
=
3.5
ζ
1
ω
n
1
=
0.376
s
t_s=\frac{3.5}{\zeta_1\omega_{n1}}=0.376s
ts=ζ1ωn13.5=0.376s
四、
系统的开环传递函数化为
G
(
s
)
=
2
e
−
T
s
s
−
1
=
−
2
e
−
T
s
−
s
+
1
G(s)=\frac{2e^{-Ts}}{s-1}=-\frac{2e^{-Ts}}{-s+1}
G(s)=s−12e−Ts=−−s+12e−Ts
1.系统的频率特性
G
(
j
ω
)
=
−
2
−
j
ω
+
1
(
cos
T
ω
−
j
sin
T
ω
)
=
2
ω
2
+
1
∠
arctan
ω
−
180
°
−
57.3
°
×
T
ω
\begin{aligned} G(j\omega)&=-\frac{2}{-j\omega+1}(\cos T\omega-j\sin T\omega) \\ &=\frac{2}{\sqrt{\omega^2+1}}\angle \arctan\omega-180°-57.3°\times T\omega \end{aligned}
G(jω)=−−jω+12(cosTω−jsinTω)=ω2+12∠arctanω−180°−57.3°×Tω
设
f
(
ω
)
=
arctan
ω
−
57.3
°
×
T
ω
f(\omega)=\arctan\omega-57.3°\times T\omega
f(ω)=arctanω−57.3°×Tω
对
ω
\omega
ω求导
f
′
(
ω
)
=
1
1
+
ω
2
−
57.3
°
180
°
×
π
×
T
=
1
1
+
ω
2
−
T
f'(\omega)=\frac{1}{1+\omega^2}-\frac{57.3°}{180°}\times\pi\times T=\frac{1}{1+\omega^2}-T
f′(ω)=1+ω21−180°57.3°×π×T=1+ω21−T
令上式等于零,可得
ω
=
1
T
−
1
\omega=\sqrt{\frac{1}{T}-1}
ω=T1−1
当
0
<
T
⩽
1
0<T\leqslant1
0<T⩽1时,
0
<
ω
⩽
1
T
−
1
0<\omega\leqslant\sqrt{\cfrac{1}{T}-1}
0<ω⩽T1−1,
f
(
ω
)
f(\omega)
f(ω)单调增,
ω
⩾
1
T
−
1
\omega\geqslant\sqrt{\cfrac{1}{T}-1}
ω⩾T1−1,
f
(
ω
)
f(\omega)
f(ω)单调减;当
T
>
1
T>1
T>1,无解,
f
(
ω
)
f(\omega)
f(ω)单调减。
当
ω
→
0
+
\omega\rightarrow0^+
ω→0+时,起点
G
(
j
0
)
=
−
2
G(j0)=-2
G(j0)=−2,
φ
(
0
)
=
−
180
°
\varphi(0)=-180°
φ(0)=−180°;当
ω
→
+
∞
\omega\rightarrow+\infin
ω→+∞时,终点
G
(
+
j
∞
)
=
0
G(+j\infin)=0
G(+j∞)=0,
φ
(
+
∞
)
=
−
∞
\varphi(+\infin)=-\infin
φ(+∞)=−∞,奈奎斯特图有两种情况略。
2.由系统的开环传递函数可知,系统在
s
s
s右半平面有一个极点
s
=
2
s=2
s=2,即
P
=
1
P=1
P=1;系统截止频率
2
ω
c
2
+
1
=
1
\frac{2}{\sqrt{\omega_{c}^2+1}}=1
ωc2+12=1
解得
ω
c
=
3
\omega_{c}=\sqrt3
ωc=3
对应的相角裕度
γ
=
180
°
+
a
r
c
t
a
n
ω
c
−
180
°
−
57.3
°
×
T
ω
c
=
60
°
−
99.3
°
T
\begin{aligned} \gamma&=180°+arctan\omega_c-180°-57.3°\times T\omega_c \\ &=60°-99.3°T \end{aligned}
γ=180°+arctanωc−180°−57.3°×Tωc=60°−99.3°T
有上式可知,当
0
<
T
<
0.604
0<T<0.604
0<T<0.604时,系统的奈奎斯曲线与实轴第二个交点位于
(
−
1
,
j
0
)
(-1,j0)
(−1,j0)点右边,
N
+
=
0.5
N_+=0.5
N+=0.5,
N
−
=
0
N_-=0
N−=0,则
Z
=
P
−
2
(
N
+
−
N
−
)
=
0
Z=P-2(N_+-N_-)=0
Z=P−2(N+−N−)=0
系统稳定。
五、
x
(
t
)
=
e
A
t
x
(
0
)
x(t)=e^{At}x(0)
x(t)=eAtx(0),对
x
(
t
)
x(t)
x(t)求导可得
x
˙
(
t
)
=
A
e
A
t
x
(
0
)
=
[
e
t
e
t
−
e
−
t
]
\dot{x}(t)=Ae^{At}x(0)= \begin{bmatrix} e^t \\ e^t-e^{-t} \end{bmatrix}
x˙(t)=AeAtx(0)=[etet−e−t]
令
t
=
0
t=0
t=0,可得
x
(
0
)
=
[
1
2
]
,
x
˙
(
0
)
=
[
1
0
]
x(0)= \begin{bmatrix} 1 \\ 2 \end{bmatrix},\quad \dot{x}(0)= \begin{bmatrix} 1 \\ 0 \end{bmatrix}
x(0)=[12],x˙(0)=[10]
设
A
=
[
a
b
c
d
]
A= \begin{bmatrix} a & b \\ c & d \end{bmatrix}
A=[acbd]
可得方程组
{
a
+
2
b
=
1
c
+
2
d
=
0
\left\{ \begin{aligned} a + 2b & = 1 \\ c + 2d & = 0 \\ \end{aligned} \right.
{a+2bc+2d=1=0
由
x
(
t
)
x(t)
x(t)可知,系统有两个模态
e
t
e^t
et和
e
−
t
e^{-t}
e−t,对应有两个特征值
λ
1
=
1
\lambda_1=1
λ1=1和
λ
2
=
−
1
\lambda_2=-1
λ2=−1,则
A
A
A的特征方程为
(
λ
−
a
)
(
λ
−
d
)
−
b
c
=
λ
2
−
(
a
+
d
)
λ
+
a
d
−
b
c
=
λ
2
−
1
(\lambda-a)(\lambda-d)-bc=\lambda^2-(a+d)\lambda+ad-bc=\lambda^2-1
(λ−a)(λ−d)−bc=λ2−(a+d)λ+ad−bc=λ2−1
可得方程组
{
a
+
d
=
0
a
d
−
b
c
=
−
1
\left\{ \begin{aligned} a + d & = 0 \\ ad-bc & = -1 \\ \end{aligned} \right.
{a+dad−bc=0=−1
联立两个方程组可解得
{
a
=
1
b
=
0
c
=
2
d
=
−
1
\left\{ \begin{aligned} a &= 1 \\ b &= 0 \\ c &= 2 \\ d & = -1 \end{aligned} \right.
⎩⎪⎪⎪⎪⎨⎪⎪⎪⎪⎧abcd=1=0=2=−1
则
A
=
[
1
0
2
−
1
]
A= \begin{bmatrix} 1 & 0 \\ 2 & -1 \end{bmatrix}
A=[120−1]
或者对
x
(
t
)
x(t)
x(t)求导后,利用
d
o
t
x
(
t
)
=
A
x
(
t
)
dot{x}(t)=Ax(t)
dotx(t)=Ax(t)
[
e
t
e
t
−
e
−
t
]
=
[
a
b
c
d
]
[
e
t
e
t
+
e
−
t
]
\begin{bmatrix} e^t \\ e^t-e^{-t} \end{bmatrix}= \begin{bmatrix} a & b \\ c & d \end{bmatrix} \begin{bmatrix} e^t \\ e^t+e^{-t} \end{bmatrix}
[etet−e−t]=[acbd][etet+e−t]
得到方程组
{
(
a
+
b
)
e
t
+
b
e
−
t
=
e
t
(
c
+
d
)
e
t
+
d
e
−
t
=
e
t
−
e
−
t
\left\{ \begin{array}{cc} (a+b)e^t+be{-t}=e^t \\ (c+d)e^t+de{-t}=e^t-e^{-t} \\ \end{array} \right.
{(a+b)et+be−t=et(c+d)et+de−t=et−e−t
解得
A
=
[
1
0
2
−
1
]
A= \begin{bmatrix} 1 & 0 \\ 2 & -1 \end{bmatrix}
A=[120−1]
六、
1.顺时针状态
x
1
x_1
x1、
x
2
x_2
x2、
x
3
x_3
x3,系统的状态空间方程为
x
˙
=
[
−
k
0
−
k
1
0
0
1
1
1
]
x
+
[
k
0
0
]
u
y
=
[
1
1
0
]
x
\begin{aligned} \dot{x}&= \begin{bmatrix} -k & 0 & -k \\ 1 & 0 & 0 \\ 1 & 1 & 1 \\ \end{bmatrix} x+ \begin{bmatrix} k\\ 0\\ 0\\ \end{bmatrix} u \\ y&= \begin{bmatrix} 1 & 1 & 0 \\ \end{bmatrix} x \end{aligned}
x˙y=⎣⎡−k11001−k01⎦⎤x+⎣⎡k00⎦⎤u=[110]x
2.系统的能控性矩阵
Q
c
=
[
B
A
B
A
2
B
]
=
[
k
−
k
2
k
3
−
k
2
0
k
−
k
2
0
k
2
k
−
k
2
]
Q_c= \begin{bmatrix} B & AB & A^2B \end{bmatrix}= \begin{bmatrix} k & -k^2 & k^3-k^2 \\ 0 & k & -k^2 \\ 0 & k & 2k-k^2 \\ \end{bmatrix}
Qc=[BABA2B]=⎣⎡k00−k2kkk3−k2−k22k−k2⎦⎤
r
a
n
k
Q
c
=
3
rankQ_c=3
rankQc=3,满秩,系统能控。
3.系统的能观性矩阵
Q
o
=
[
C
C
A
C
A
2
]
=
[
1
1
0
1
−
k
0
−
k
k
2
−
2
k
−
k
k
2
−
2
k
]
Q_o= \begin{bmatrix} C \\ CA \\ CA^2 \end{bmatrix}= \begin{bmatrix} 1 & 1 & 0 \\ 1-k & 0 & -k \\ k^2-2k & -k & k^2-2k \\ \end{bmatrix}
Qo=⎣⎡CCACA2⎦⎤=⎣⎡11−kk2−2k10−k0−kk2−2k⎦⎤
能观性矩阵的行最简形矩阵为
[
1
1
0
1
−
k
0
−
k
k
2
−
2
k
−
k
k
2
−
2
k
]
=
[
1
1
0
0
k
−
1
−
k
0
k
−
k
2
k
2
−
2
k
]
=
[
1
1
0
0
k
−
1
−
k
0
0
−
2
k
]
\begin{bmatrix} 1 & 1 & 0 \\ 1-k & 0 & -k \\ k^2-2k & -k & k^2-2k \\ \end{bmatrix}= \begin{bmatrix} 1 & 1 & 0 \\ 0 & k-1 & -k \\ 0 & k-k^2 & k^2-2k \\ \end{bmatrix}= \begin{bmatrix} 1 & 1 & 0 \\ 0 & k-1 & -k \\ 0 & 0 & -2k \\ \end{bmatrix}
⎣⎡11−kk2−2k10−k0−kk2−2k⎦⎤=⎣⎡1001k−1k−k20−kk2−2k⎦⎤=⎣⎡1001k−100−k−2k⎦⎤
当
k
≠
0
k\not=0
k=0或
k
≠
1
k\not=1
k=1时,能观性矩阵满秩,系统能观。
七、
1.系统的特征值
∣
λ
I
−
A
∣
=
∣
λ
+
1
−
1
−
1
0
λ
+
1
0
−
3
0
λ
−
1
∣
=
(
−
1
)
1
+
1
(
λ
+
1
)
∣
λ
+
1
0
0
λ
−
1
∣
+
(
−
1
)
3
+
1
(
−
3
)
∣
−
1
−
1
λ
+
1
0
∣
=
(
λ
+
1
)
2
(
λ
−
1
)
−
3
(
λ
+
1
)
=
(
λ
+
1
)
(
λ
2
−
1
−
3
)
=
(
λ
+
1
)
(
λ
+
2
)
(
λ
−
2
)
\begin{aligned} |\lambda I-A|&= \begin{vmatrix} \lambda+1 & -1 & -1 \\ 0 & \lambda+1 & 0 \\ -3 & 0 & \lambda-1 \end{vmatrix} \\ &= (-1)^{1+1}(\lambda+1) \begin{vmatrix} \lambda+1 & 0 \\ 0 & \lambda-1 \end{vmatrix} + (-1)^{3+1}(-3) \begin{vmatrix} -1 & -1 \\ \lambda+1 & 0 \end{vmatrix} \\ &=(\lambda+1)^2(\lambda-1)-3(\lambda+1) \\ &=(\lambda+1)(\lambda^2-1-3) \\ &=(\lambda+1)(\lambda+2)(\lambda-2) \end{aligned}
∣λI−A∣=∣∣∣∣∣∣λ+10−3−1λ+10−10λ−1∣∣∣∣∣∣=(−1)1+1(λ+1)∣∣∣∣λ+100λ−1∣∣∣∣+(−1)3+1(−3)∣∣∣∣−1λ+1−10∣∣∣∣=(λ+1)2(λ−1)−3(λ+1)=(λ+1)(λ2−1−3)=(λ+1)(λ+2)(λ−2)
解得
λ
1
=
−
1
,
λ
2
=
−
2
,
λ
3
=
2
\lambda_1=-1,\quad \lambda_2=-2,\quad \lambda_3=2
λ1=−1,λ2=−2,λ3=2
λ
1
=
−
1
\lambda_1=-1
λ1=−1的特征向量
(
−
I
−
A
)
α
1
=
[
0
−
1
−
1
0
0
0
−
3
0
−
2
]
α
1
=
0
→
α
1
=
[
1
1.5
−
1.5
]
(-I-A)\alpha_1= \begin{bmatrix} 0 & -1 & -1 \\ 0 & 0 & 0 \\ -3 & 0 & -2 \\ \end{bmatrix} \alpha_1=0 \rightarrow \alpha_1= \begin{bmatrix} 1 \\ 1.5 \\ -1.5 \\ \end{bmatrix}
(−I−A)α1=⎣⎡00−3−100−10−2⎦⎤α1=0→α1=⎣⎡11.5−1.5⎦⎤
λ
2
=
−
2
\lambda_2=-2
λ2=−2的特征向量
(
−
2
I
−
A
)
α
2
=
[
−
1
−
1
−
1
0
−
1
0
−
3
0
−
3
]
α
2
=
0
→
α
2
=
[
1
0
−
1
]
(-2I-A)\alpha_2= \begin{bmatrix} -1 & -1 & -1 \\ 0 & -1 & 0 \\ -3 & 0 & -3 \\ \end{bmatrix} \alpha_2=0 \rightarrow \alpha_2= \begin{bmatrix} 1 \\ 0 \\ -1 \\ \end{bmatrix}
(−2I−A)α2=⎣⎡−10−3−1−10−10−3⎦⎤α2=0→α2=⎣⎡10−1⎦⎤
λ
3
=
2
\lambda_3=2
λ3=2的特征向量
(
2
I
−
A
)
α
3
=
[
3
−
1
−
1
0
3
0
−
3
0
1
]
α
3
=
0
→
α
3
=
[
1
0
3
]
(2I-A)\alpha_3= \begin{bmatrix} 3 & -1 & -1 \\ 0 & 3 & 0 \\ -3 & 0 & 1 \\ \end{bmatrix} \alpha_3=0 \rightarrow \alpha_3= \begin{bmatrix} 1 \\ 0 \\ 3 \\ \end{bmatrix}
(2I−A)α3=⎣⎡30−3−130−101⎦⎤α3=0→α3=⎣⎡103⎦⎤
线性变换矩阵为
P
=
[
1
1
1
1.5
0
0
−
1.5
−
1
3
]
P= \begin{bmatrix} 1 & 1 & 1 \\ 1.5 & 0 & 0 \\ -1.5 & -1 & 3 \\ \end{bmatrix}
P=⎣⎡11.5−1.510−1103⎦⎤
系统的状态转移矩阵
e
A
t
=
P
[
e
−
t
0
0
0
e
−
2
t
0
0
0
e
2
t
]
P
−
1
=
[
0.25
e
−
2
t
+
0.75
e
2
t
0.667
e
−
t
−
0.75
e
−
2
t
+
0.083
e
2
t
−
0.25
e
−
2
t
+
0.25
e
2
t
0
e
−
t
0
−
0.75
e
−
2
t
+
0.75
e
2
t
−
e
−
t
+
0.75
e
−
2
t
+
0.25
e
2
t
0.25
e
−
2
t
+
0.75
e
2
t
]
e^{At}=P \begin{bmatrix} e^{-t} & 0 & 0 \\ 0 & e^{-2t} & 0 \\ 0 & 0 & e^{2t} \end{bmatrix} P^{-1}= \begin{bmatrix} 0.25e^{-2t}+0.75e^{2t} & 0.667e^{-t}-0.75e^{-2t}+0.083e^{2t} & -0.25e^{-2t}+0.25e^{2t} \\ 0 & e^{-t} & 0 \\ -0.75e^{-2t}+0.75e^{2t} & -e^{-t}+0.75e^{-2t}+0.25e^{2t} & 0.25e^{-2t}+0.75e^{2t} \end{bmatrix}
eAt=P⎣⎡e−t000e−2t000e2t⎦⎤P−1=⎣⎡0.25e−2t+0.75e2t0−0.75e−2t+0.75e2t0.667e−t−0.75e−2t+0.083e2te−t−e−t+0.75e−2t+0.25e2t−0.25e−2t+0.25e2t00.25e−2t+0.75e2t⎦⎤
2.线性变换后系统的状态空间方程
x
ˉ
˙
=
[
A
ˉ
11
A
ˉ
12
A
ˉ
21
A
ˉ
22
]
x
ˉ
+
[
B
ˉ
1
B
ˉ
2
]
u
=
[
−
1
0
0
0
−
2
0
0
0
2
]
x
ˉ
+
[
0
1
1
]
u
y
=
[
C
ˉ
1
C
ˉ
2
]
x
ˉ
=
[
0
−
1
3
]
x
ˉ
\begin{aligned} \dot{\bar{x}}&= \begin{bmatrix} \begin{array}{c:c} \bar{A}_{11} & \bar{A}_{12} \\ \hdashline \bar{A}_{21} & \bar{A}_{22} \\ \end{array} \end{bmatrix} \bar{x}+ \begin{bmatrix} \begin{array}{c} \bar{B}_{1} \\ \hdashline \bar{B}_{2} \\ \end{array} \end{bmatrix} u= \begin{bmatrix} \begin{array}{c:cc} -1 & 0 & 0 \\ \hdashline 0 & -2 & 0 \\ 0 & 0 & 2 \\ \end{array} \end{bmatrix} \bar{x}+ \begin{bmatrix} 0 \\ \hdashline 1 \\ 1 \\ \end{bmatrix} u \\ y&= \begin{bmatrix} \begin{array}{c:c} \bar{C}_{1} & \bar{C}_{2} \\ \end{array} \end{bmatrix} \bar{x}= \begin{bmatrix} \begin{array}{c:cc} 0 & -1 & 3 \\ \end{array} \end{bmatrix} \bar{x} \end{aligned}
xˉ˙y=[Aˉ11Aˉ21Aˉ12Aˉ22]xˉ+[Bˉ1Bˉ2]u=⎣⎡−1000−20002⎦⎤xˉ+⎣⎡011⎦⎤u=[Cˉ1Cˉ2]xˉ=[0−13]xˉ
由上式可知分块矩阵
A
ˉ
11
\bar{A}_{11}
Aˉ11不能控,但有稳定的特征值
λ
1
=
−
1
\lambda_1=-1
λ1=−1而;分块矩阵
A
ˉ
22
\bar{A}_{22}
Aˉ22有一个不稳定的特征值
λ
1
=
2
\lambda_1=2
λ1=2和一个稳定的特征值
λ
2
=
−
2
\lambda_2=-2
λ2=−2,但能控,可以通过状态反馈任意配置极点使系统渐进稳定。设状态反馈后系统的极点均为
s
1
,
2
,
3
=
−
1
s_{1,2,3}=-1
s1,2,3=−1,系统闭环特征多项式为
Δ
ˉ
(
s
)
=
det
(
s
I
−
A
−
B
K
)
=
s
3
+
(
1
−
2
k
1
−
2
k
3
)
s
2
−
(
4
+
2
k
1
+
10
k
3
)
s
−
(
4
+
8
k
3
)
\begin{aligned} \bar{\Delta}(s)&=\det(sI-A-BK) \\ &=s^3+(1-2k_1-2k_3)s^2-(4+2k_1+10k_3)s-(4+8k_3) \end{aligned}
Δˉ(s)=det(sI−A−BK)=s3+(1−2k1−2k3)s2−(4+2k1+10k3)s−(4+8k3)
期望闭环特征多项式为
Δ
∗
(
s
)
=
s
3
+
3
s
2
+
3
s
+
1
\Delta^*(s)=s^3+3s^2+3s+1
Δ∗(s)=s3+3s2+3s+1
对比两式可得
K
=
[
−
0.375
0
−
0.625
]
K= \begin{bmatrix} -0.375 & 0 & -0.625 \end{bmatrix}
K=[−0.3750−0.625]
3.系统的传递函数为
G
(
s
)
=
C
(
s
I
−
A
)
−
1
B
=
3
(
s
+
2
)
(
s
−
2
)
G(s)=C(sI-A)^{-1}B=\frac{3}{(s+2)(s-2)}
G(s)=C(sI−A)−1B=(s+2)(s−2)3
含有一个不稳定的特征根
s
3
=
2
s_3=2
s3=2,可取
H
(
s
)
=
s
+
2
H(s)=s+2
H(s)=s+2,可得到系统的闭环传递函数
Φ
(
s
)
=
3
s
2
+
3
s
+
2
\Phi(s)=\frac{3}{s^2+3s+2}
Φ(s)=s2+3s+23
特征根均位于
s
s
s平面的左半平面,系统
B
I
B
O
BIBO
BIBO稳定。