1 惯性环节推导
以下《自动控制原理》中一阶惯性环节正弦响应的推导。
如图所示一阶惯性环节,即LPF低通滤波器。
根据基尔霍夫电压定律可得:
u
i
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−
C
1
d
u
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d
t
R
1
=
u
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u_{i}(t)-C_1\frac{du_o(t)}{dt}R_1=u_o(t)
ui(t)−C1dtduo(t)R1=uo(t)
上式化简可得:
u
i
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t
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=
R
1
C
1
d
u
o
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d
t
+
u
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t
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u_i(t)=R_1C_1\frac{du_o(t)}{dt}+u_o(t)
ui(t)=R1C1dtduo(t)+uo(t)
上式进行拉普拉斯变换:
u
i
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s
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=
R
1
C
1
s
u
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s
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−
R
1
C
1
u
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0
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+
u
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u_i(s)=R_1C_1su_o(s)-R_1C_1u_o(0)+u_o(s)
ui(s)=R1C1suo(s)−R1C1uo(0)+uo(s)
令
R
1
C
1
=
T
R_1C_1=T
R1C1=T,
得到:
u
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s
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=
1
T
s
+
1
[
u
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s
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+
T
u
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]
u_o(s)=\frac{1}{Ts+1}[u_i(s)+Tu_o(0)]
uo(s)=Ts+11[ui(s)+Tuo(0)]
2 正弦信号响应推导
令输入
u
i
(
s
)
=
A
s
i
n
ω
t
u_i(s)=Asin\omega t
ui(s)=Asinωt,则有:
u
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s
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=
1
T
s
+
1
[
A
ω
s
2
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ω
2
+
T
u
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=
1
T
s
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1
A
ω
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ω
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T
T
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1
u
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=
A
ω
F
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+
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\begin{aligned} u_o(s)&=\frac{1}{Ts+1}[\frac{A\omega}{s^2+\omega^2}+Tu_o(0)]\\ &=\frac{1}{Ts+1}\frac{A\omega}{s^2+\omega^2}+\frac{T}{Ts+1}u_o(0)\\ &=A\omega F_1(s)+F_2(s) \end{aligned}
uo(s)=Ts+11[s2+ω2Aω+Tuo(0)]=Ts+11s2+ω2Aω+Ts+1Tuo(0)=AωF1(s)+F2(s)
L
−
1
[
F
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=
(
T
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1
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ω
2
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1
T
s
+
1
+
(
1
−
2
ω
j
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T
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1
s
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j
ω
+
(
1
2
ω
j
−
2
ω
2
T
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1
s
−
j
ω
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T
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2
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e
−
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T
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+
(
−
2
ω
2
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+
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−
2
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e
j
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e
−
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−
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j
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w
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ω
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(
cos
ω
t
−
j
sin
ω
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+
(
−
2
ω
2
T
−
2
ω
j
4
w
4
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2
+
4
ω
2
)
(
cos
ω
t
+
j
sin
ω
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=
(
T
1
+
ω
2
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2
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e
−
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1
4
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4
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4
ω
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−
4
ω
2
T
cos
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+
4
ω
s
i
n
ω
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]
=
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1
+
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e
−
1
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1
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2
[
−
ω
2
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cos
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ω
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=
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cos
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ω
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=
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[
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+
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cos
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ω
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=
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−
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w
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2
sin
(
ω
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ϕ
)
\begin{aligned} L^{-1}[F_1(s)]&=\left(\frac{T^2}{1+ \omega^2T^2} \right)\frac{1}{Ts+1} +\left(\frac{1}{-2\omega j-2\omega^2T} \right)\frac{1}{s+j\omega}+\left( \frac{1}{2\omega j-2\omega^2T} \right)\frac{1}{s-j\omega}\\ &=\left(\frac{T}{1+ \omega^2T^2} \right)e^{-\frac{1}{T}t} +\left(\frac{-2\omega^2T+2\omega j}{4w^4T^2+4\omega^2} \right)e^{-jwt}+ +\left(\frac{-2\omega^2T-2\omega j}{4w^4T^2+4\omega^2} \right)e^{jwt}\\ &=\left(\frac{T}{1+ \omega^2T^2} \right)e^{-\frac{1}{T}t} +\left(\frac{-2\omega^2T+2\omega j}{4w^4T^2+4\omega^2} \right)(\cos\omega t-j\sin\omega t) +\left(\frac{-2\omega^2T-2\omega j}{4w^4T^2+4\omega^2} \right)(\cos\omega t+j\sin\omega t)\\ &=\left(\frac{T}{1+ \omega^2T^2} \right)e^{-\frac{1}{T}t}+\frac{1}{4w^4T^2+4\omega^2}[-4\omega^2T\cos\omega t+4\omega sin\omega(t)]\\ &=\left(\frac{T}{1+ \omega^2T^2} \right)e^{-\frac{1}{T}t}+\frac{1}{w^4T^2+\omega^2}[-\omega^2T\cos\omega t+\omega sin\omega(t)]\\ &=\left(\frac{T}{1+ \omega^2T^2} \right)e^{-\frac{1}{T}t}+\frac{1}{\sqrt{w^4T^2+\omega^2}}\frac{1}{\sqrt{w^4T^2+\omega^2}}[-\omega^2T\cos\omega t+\omega sin\omega(t)]\\ &=\left(\frac{T}{1+ \omega^2T^2} \right)e^{-\frac{1}{T}t}+\frac{1}{\sqrt{w^4T^2+\omega^2}}[\frac{-\omega^2T}{\sqrt{w^4T^2+\omega^2}}\cos\omega t+\frac{\omega}{\sqrt{w^4T^2+\omega^2}} sin\omega(t)]\\ &=\left(\frac{T}{1+ \omega^2T^2} \right)e^{-\frac{1}{T}t}+\frac{1}{\sqrt{w^4T^2+\omega^2}}\sin(\omega t-\phi)\\ \end{aligned}
L−1[F1(s)]=(1+ω2T2T2)Ts+11+(−2ωj−2ω2T1)s+jω1+(2ωj−2ω2T1)s−jω1=(1+ω2T2T)e−T1t+(4w4T2+4ω2−2ω2T+2ωj)e−jwt++(4w4T2+4ω2−2ω2T−2ωj)ejwt=(1+ω2T2T)e−T1t+(4w4T2+4ω2−2ω2T+2ωj)(cosωt−jsinωt)+(4w4T2+4ω2−2ω2T−2ωj)(cosωt+jsinωt)=(1+ω2T2T)e−T1t+4w4T2+4ω21[−4ω2Tcosωt+4ωsinω(t)]=(1+ω2T2T)e−T1t+w4T2+ω21[−ω2Tcosωt+ωsinω(t)]=(1+ω2T2T)e−T1t+w4T2+ω21w4T2+ω21[−ω2Tcosωt+ωsinω(t)]=(1+ω2T2T)e−T1t+w4T2+ω21[w4T2+ω2−ω2Tcosωt+w4T2+ω2ωsinω(t)]=(1+ω2T2T)e−T1t+w4T2+ω21sin(ωt−ϕ)
其中,
ϕ
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arctan
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w
T
)
\phi=\arctan(wT)
ϕ=arctan(wT)。
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L^{-1}[F_2(s)]=u_o(0)e^{-\frac{1}{T}t}
L−1[F2(s)]=uo(0)e−T1t
则:
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=
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sin
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arctan
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1
sin
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arctan
ω
T
)
\begin{aligned} L^{-1}[u_o(s)]&=A\omega F_1(s)+F_2(s)\\ &=\left(u_o(0)+\frac{A\omega T}{1+\omega^2T^2} \right)e^{-\frac{1}{T}t}+\frac{A\omega}{\sqrt{\omega^4T^2+\omega^2}}\sin(\omega t-\arctan(\omega T)\\ &=\left(u_o(0)+\frac{A\omega T}{1+\omega^2T^2} \right)e^{-\frac{1}{T}t}+\frac{A}{\sqrt{\omega^2T^2+1}}\sin(\omega t-\arctan\omega T) \end{aligned}
L−1[uo(s)]=AωF1(s)+F2(s)=(uo(0)+1+ω2T2AωT)e−T1t+ω4T2+ω2Aωsin(ωt−arctan(ωT)=(uo(0)+1+ω2T2AωT)e−T1t+ω2T2+1Asin(ωt−arctanωT)
第一项为瞬态分量,由于
T
>
0
T>0
T>0,第一项随时间减小,第二项为稳态分量,输出信号与输入信号的比值为:
1
ω
2
T
2
+
1
\frac{1}{\sqrt{\omega^2T^2+1}}
ω2T2+11。
3 仿真结果
令系统的T=1,输入为
u
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t
)
=
s
i
n
(
t
)
u_i(t)=sin(t)
ui(t)=sin(t)
输出为:
瞬态分量,稳态分量分别为:
稳态与瞬态分量的叠加与图一直接输出的值对比,是一致的。
伯德图为:
验证:信号输出理论值为:
1
ω
2
T
2
+
1
=
0.707
\frac{1}{\sqrt{\omega^2T^2+1}}=0.707
ω2T2+11=0.707,伯德图为:
20
lg
(
1
ω
2
T
2
+
1
)
=
−
3.0103
20\lg(\frac{1}{\sqrt{\omega^2T^2+1}})=-3.0103
20lg(ω2T2+11)=−3.0103,从图中可以看到,结果与理论值一致。