1、不同K時系統(tǒng)的性能指標(biāo)比較K0.160.510中(對0.160.510? + j + 0.16妒 + j + 0.5? + j + 104 = 0.2,4 = OS七=-0.5 ;0.54點=-0.5 ;3.121.25 T】 = 5 0.4 T2 =1.250.7070.7070.1583.16動態(tài)性能006.2831.010%05%60.4%礪Tts = 3i 3x5=16.577A.6.2520.1原系統(tǒng)(a)測速反饋(b)比例加微分(c)HK,s 一G() = s (: 1)10(上 S +1)G (s) =1S (S +1)G (s) = 10(1 +10 Ks) 一s( s + 1

2、)中(s) = 10 s 2 + s + 100( s) =10s 2 + (1 +10 K ) s +10(s) =10(1 +10 Ks)s 2 + (1 +10 K ) s +101=J10 = 3.16n 1&= 0.1582 x 3.16P= 81。1=寸10 = 3.16丁 1 +10 x 0.216 1u =2 x 3.162P= 60。=*10 = 3.16&=2P= 60。11e-a = z =-= =-4.63K0.216t1冗t = .= 1.01p41 - 2 .n_b % = e-潢、1Y 2 = 60.4%= 7n1冗 t = .= 1.15pJ1-&2 .二 b

3、% = e-&* 1-&2 = 16.3% 七嘴=2215nt P92 兀-tg-1 氣Y 1-&2#a-&，) =105p (3-47)丫 1-&2n宓 a &=293 P92b%: 1n一 23%&= 0.5(3-49)2 5 3+JlnQ -箋 + 2) - lna -lnQ-&2) t 皇2也=2= 2.1S (3-50) 33nn1K = 10e = 1K = 0.1(r (t) = t)偵SS1L 1010 sK = 3.161 +10 K3.16e = 1/ K = 0.316(r (t) = t)SS1K = 10e = 0.1(r (t) = t)l SS兀-0t =pEb % = 100ep %F,E x3 + ln()(),D Ft =Sb1開環(huán)增益會影響系統(tǒng)的性能指標(biāo)改變指標(biāo)的原因:G (s) =K 0s(Ts +1)開環(huán)增益K0中(s)=京0s(Ts +1) + K0KTB1s 2 +s + 1K 0K 0閉環(huán)增益KBK變化一特征多項式系數(shù)變化一特征根變化一h(t)變化一性能變化 0開環(huán)增益變化對性能的改善是有限的，指標(biāo)對K0的要求往往是矛盾的只能采取折中方案，兼顧不同的要求。m個K 0個很 L& Jb % “快”與“準(zhǔn)”兩項指標(biāo)相矛盾0 e ；I ss2.閉環(huán)增益七不改變系統(tǒng)性能指標(biāo)