经典数学模型
线性系统
- R-L-C震荡电路
- 微分方程形式:
根据克希荷夫定律,电路平衡方程
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∫
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∫
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u_r(t)=L\frac{\text{d}i(t)}{\text{d}t}+Ri(t)+\frac{1}{C}\int{}{}i\text{d}t\\ u_c=\frac{1}{C}\int{}{}i\text{d}t
ur(t)=Ldtdi(t)+Ri(t)+C1∫idtuc=C1∫idt
消去中间变量
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i(t)
i(t),整理得:
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\frac{\text{d}^2u_c(t)}{\text{d}t^2}+\frac{R}{L}\frac{\text{d}u_c(t)}{\text{d}t}+\frac{1}{LC}u_c(t)=\frac{1}{LC}u_r(t)
dt2d2uc(t)+LRdtduc(t)+LC1uc(t)=LC1ur(t)
- 传递函数形式:
G ( s ) = U c U r = 1 L C s 2 + R L s + 1 L C = w n 2 s 2 + 2 ξ w n s + w n 2 G(s)=\frac{U_c}{U_r}=\frac{\frac{1}{LC}}{s^2+\frac{R}{L}s+\frac{1}{LC}}=\frac{w_n^2}{s^2+2\xi w_ns+w_n^2} G(s)=UrUc=s2+LRs+LC1LC1=s2+2ξwns+wn2wn2
- 动态方程形式:
动态系统:能储存输入信息(或能量)得系统。
状态变量
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x_1=i,x_2=\frac{1}{C}\int{}{}i\text{d}t
x1=i,x2=C1∫idt
状态方程为
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\dot{x_1}=-\frac{R}{L}x_1-\frac{1}{L}x_2+\frac{1}{L}u_r\\ \dot{x_2}=\frac{1}{C}x_1
x1˙=−LRx1−L1x2+L1urx2˙=C1x1
输出方程
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y=x_2
y=x2
整理可得动态方程为:
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B
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\dot{\boldsymbol{x}}=\boldsymbol{Ax}+\boldsymbol{Bu_r}\\ y=\boldsymbol{Cx}
x˙=Ax+Bury=Cx
其中
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−
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1
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0
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\boldsymbol{A}=\begin{bmatrix} -\frac{R}{L}&-\frac{1}{L}\\ \frac{1}{C}&0 \end{bmatrix} \quad \boldsymbol{B}=\begin{bmatrix} \frac{1}{L}\\0 \end{bmatrix} \quad \boldsymbol{C}=\begin{bmatrix} 0&1 \end{bmatrix}
A=[−LRC1−L10]B=[L10]C=[01]
- 弹簧-质量-阻尼器系统
- 微分方程形式:
d 2 y ( t ) d t 2 + f m d y ( t ) d t + k m y ( t ) = u ( t ) m \frac{\text{d}^2y(t)}{\text{d}t^2}+\frac{f}{m}\frac{\text{d}y(t)}{\text{d}t}+\frac{k}{m}y(t)=\frac{u(t)}{m} dt2d2y(t)+mfdtdy(t)+mky(t)=mu(t)
- 传递函数形式:
G ( s ) = U Y = 1 m s 2 + f m s + k m = w n 2 k s 2 + 2 ξ w n s + w n 2 G(s)=\frac{U}{Y}=\frac{\frac{1}{m}}{s^2+\frac{f}{m}s+\frac{k}{m}}=\frac{\frac{w_n^2}{k}}{s^2+2\xi w_ns+w_n^2} G(s)=YU=s2+mfs+mkm1=s2+2ξwns+wn2kwn2
- 动态方程形式:
状态变量
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x_1(t)=y(t),\quad x_2=\dot{y}(t)
x1(t)=y(t),x2=y˙(t)
状态方程
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\dot{x_1}=x_2\\ \dot{x_2}=-\frac{k}{m}x_1-\frac{f}{m}x_2+\frac{1}{m}u
x1˙=x2x2˙=−mkx1−mfx2+m1u
输出方程
y
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x
2
y=x_2
y=x2
整理可得动态方程为:
x
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B
u
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\dot{\boldsymbol{x}}=\boldsymbol{Ax}+\boldsymbol{Bu_r}\\ y=\boldsymbol{Cx}
x˙=Ax+Bury=Cx
其中
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0
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f
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\boldsymbol{A}=\begin{bmatrix} 0&1\\ -\frac{k}{m}&-\frac{f}{m} \end{bmatrix} \quad \boldsymbol{B}=\begin{bmatrix} 0\\\frac{1}{m} \end{bmatrix} \quad \boldsymbol{C}=\begin{bmatrix} 1&0 \end{bmatrix}
A=[0−mk1−mf]B=[0m1]C=[10]