1、JKsJFsJKKFsJsKsRsCsG22)()()(FJssK2nJKnJF2122, 1nns0s2s2nn2 2222)(nnnsssGnJKsJFsJKsRsCsG2)()()(FJssK) 10(dnjs2, 1ssImRe0sImRe0s2s2s1s1s1s21nn0100(a)(b)(d)ImRe1ImRe01s2s1(c)21nd1s2nn2 , 1 1s2nn2 ,1 cos特征根为：特征根为：共扼复数特征根为：共扼复数 相等实数相等实数 不等实数不等实数 共扼虚数共扼虚数d)2()(222nnnssssC2222)()(1dnndnnssss) tsin1t(cose1)
2、 t ( cd2dtn)sincos1(11122tteddtn)sin(112tedtn21arctand2tn1e1 一条幅值按指数衰减的阻尼振荡曲线11s2nn2,1 n2 , 1s nnnnnnsssssssc1)(1)2()(2222)1 (1)(tetcntn( )c t( )r t01t( )c t一条单调上升的指数曲线11s2nn2 ,1 1s11( 21s)11( 2s1)s( c2nn1222nn122 )TeTe(1211)t ( c2t2T1t1T2 nnTT)1()1(2221( )r tt( )c t0也是一条单调上升的指数曲线响应速度比临界阻尼缓慢 njs2, 1
3、1s2nn2 , 1 )0( tcos1)t ( cn )0t ( ( )c t012t)0( )0( ( )c t012t1( )r tt( )c t01( )c t( )r t01t( )c t) 10(重点rtpt %100)()()(cctcMPP)(Ptc)(cPMst)sin(11)(2tetcdtn0dt) t (dcptt 0)cos()sin(pdtdpdtntetepnpn2pd1)t(tg 21tg Pt Pdt21ndPt3 ,2, 0pptPtPtPt21ndPtPM221211)sin1(cos1)(eetcP %100121etcMpP)sin(11)(2tetc
4、dtnPM21ln05. 0ln1nst121lnnst405.0111)(12sntsetcnnst305. 0lnPMnPMstnrt1)tsin(1e1)t ( crd2tnr 0rnte rdtdrt 21nddrt %10021eMP21ndPt011n1nnn011m1mmmasasasabsbsbsb)s(D)s(M)s(R)s(C rknknkkknkknkkkqjjjqjrknknkkjmiissCsBpsAsAssspszsksC12221011221)2(11)2()()()()1sin1cos()(21120tCtBeeAAtCknkkqjriknkkttpjnkkj)1sin1cos()(21120tCtBeeAAtCknkkqjriknkkttpjnkkj)5200s20s)(60s (312000) s (R) s (C2561060ReRe13ppt60ot10e686. 0)93.26t7 .71sin(e696. 01) t ( c)93.26t7 .71sin(e696. 01) t ( cot1060, 7 .711032, 1pjp
