1、2022-8-6第八章1c(t)y(t)e(t)+H(s)r(t)G(s)*()e t()c t()hu t*()u t()e t +r(t)A/DA/D 数字计算数字计算D/AD/A被控对象被控对象测量元件测量元件2022-8-6第八章22022-8-6第八章32022-8-6第八章4*0()(0)()()()(2)(2)=()()sssssse tete TtTeTtTe nTtnT2022-8-6第八章5()()sTsnttnT()0 x t 0t*()()()()()ssTnx tx ttnTx tt1()ssjntTnsteT*11()()()ssjntjntnnssx tx tex
2、 t eTT*1()()()snsL x tXsX sjnT*1()()snsXjX jjnT2022-8-6第八章6*111()()()()sssssXjX jjX jX jjTTT+*111()()()()()ssssssXjjX jjX jX jjTTTXj+*()()sXjjkXj 0,1,2,k *111()(2)()()11 ()(2)sssssssssXjX jjX jjX jTTTX jjX jjTT+1()0 1,2,sSX jjnnT 2022-8-6第八章7max2smaxmax,*()()/sXjX jT*|()|Xjsmax2022-8-6第八章8()()1()1()
3、111 (1)sshhsT sT sG sL g tLttTeesss2022-8-6第八章9sT sze1lnsszT*1ln()()()snssznTXsX zx nT z*()()L x tX z*()()()()nsnL x tL x tX zx nT z2022-8-6第八章101()1snT0121()1111nLtzzzz11z111()11zLtzz11()Lts01()1()stLtt edtRe0sRe0s 2022-8-6第八章111 0.50.606tzzL ezez 1,0.5saT111()ssataTaTzL eezze1()1saTez1()saTez2121s
4、ssaTaTnaTatnL eezezez(0,1,2,)snaTen(0)atea(0)atea2022-8-6第八章12()1()x ttt()1()x ttt(0,1,2,)snT n 12 02nsssL tT zT znT z234(23)sT z zzz23412323()dzzzzzzdz 11211()()11(1)dzddzzdz zz 11z2(1)sT zL tz2022-8-6第八章13()nsx nTa0()()nnnssnnL x nTx nT za z11az111nzL aazza2022-8-6第八章14 ()as sa()x t11()()aX ss sas
5、sa()x t0()1sssTaTaTzzzzX zzezezze2(1)(1)sssaTaTaTzezeze2022-8-6第八章1511sin22ssj Tj TzzLtjzejze 2sin(2cos)1sszTzT z221/(2)1/(2)sinjjLtssjsj22sinLtssin tsin t2022-8-6第八章163(1)(2)sss21()Re()i sis TizX zs Xsze1233(1)(2)(1)(2)(1)(2)sssssTsTszszsssszessze22ssTTzzzeze2232(2)()sssssTTTTTz zeezeeze()x t2022-8
6、-6第八章1721()()X ssa1,2sa n()atx tte22211()()2 1!()()sssaTssasTaTzT edzX zsadssazeze2022-8-6第八章18111()11szLtTzzz2022-8-6第八章19()X z10(1)(2)zzz()sx nT*()x t21010()(1)(2)32zzX zzzzz123421030701503210zzzzzzz 0101)1030203020zzzzz2022-8-6第八章2001212)3090607060zzzzz12323)70210140150140zzzzz23434)1504503003103
7、00zzzzz()X z01234()0103070150X zzzzzz(0)0,()10,(2)30,(3)70,sssxx TxTx T*()10()30(2)70(3)150(4)ssssx ttTtTtTtT2022-8-6第八章21()X z10()(1)(2)zX zzz()sx nT()/X zz()101010(1)(2)12X zzzzzz1010()12zzX zzz111,212nzzLLzz()10(12)nsx nT 2022-8-6第八章2232322.622.201.08()1.551.240.48zzzX zzzz()X z()sx nT2132()2.622
8、.201.081.551.240.48X zzzzzzz21.51.120.160.750.80.64zzzz21.51.12(0.143)()0.750.80.64zz zX zzzz1122()()2()()z zcz zcLLza zazz 1sin()sinnanarccos,sinarccos,arctancos/c a 2022-8-6第八章23 0.640.8,0.5arccos60sin60arctan69.60.143cos600.81122(0.143)()1.120.80.64z zLXzLzz11.12(0.8)sin(6069.6)sin69.6nn1.195(0.8
9、)sin(6069.6)nn1111.5()1.50.750.75nLXzLz()1.5(0.75)1.195(0.8)sin(6069.6)nnsx nTn2022-8-6第八章24()sx nT0.390.560.420.100.060.721.862.6276543210n 12()LXz1()1.5(0.75)1.12(0.8)cos(6020.4)0.937nnsx nTn2022-8-6第八章2511/11()()1t Tg tLG sLeTsTsnT1()1G sTs11(1)01(1)01()01(1)()11 ()(1)11 ()(1)sssssssnnTkTTssknnTk
10、TTssknTnTkTTTsskc nTr kTeTr kTer nTTTer kTer nTTT1()01()()ssnnTkTTsskc nTr kTeT2022-8-6第八章261(1)()(1)sCTTsssc nTenTr nTT1(1)()(1)sCTTc nenr nT2022-8-6第八章271()(1)G ss Ts11/1()()(1)1()(1)t Tg tLG sLets Ts1()01()00()1()()()ssssnnTkTTssknnnTkTTsskkc nTer kTr kTer kT11(1)01(1)01()00(1)1()=1()()()sssssnnk
11、 TTssknnk TTskTnnnTkTTTsskkc nTer kTer kTr kTeer kT2022-8-6第八章2812(2)011(2)(2)(1)01()2/00(2)1()1()1(1)()()(1)(sssssssnnk TTssknnk TnnTTTssknnnTkTTTTTTsskkc nTer kTer kTer nTr kTeer kTer n1)sT/(2)(1)(1)()(1)(1)sssTTTTTTc nec nec ner n2022-8-6第八章2910()()()kkmmZ c nkz C zc m z(2)3(1)2()0(0)0 (1)1c nc n
12、c ncc2022-8-6第八章30(2)3(1)2()()1,0()0,0(0)0,(1)0c nc nc nu nnu nncc ()1Z u n 2022-8-6第八章312022-8-6第八章32()()()C zG zR z()G z11()11TG sTssT1()sTTzG zTze2022-8-6第八章332022-8-6第八章34解：解：2121()51032sG sssss查查Z Z变换表可得：变换表可得：2332322(2)()()()ssssssTTTTTTzzz zeeG zzezezeze2022-8-6第八章352022-8-6第八章3612()()()()()(
13、)D zG z R zC zG z D z2121()()()()()()()()C zGz G z R zC zGz G zR z12112()()()()G zZ LG s G sGGz2022-8-6第八章3712101(1),(),(10)GG sss211010()()()1sTzzG zGz G zzze11221()()()()G zGGzZ LG s G s211011()()(10)10G s G ss sss110101011()1010(1)1(1)()sssTTTG zZ Lsszzzezzezze2022-8-6第八章382022-8-6第八章391122112222
14、1221122()()()()()()(1)()()()()()()()()ssssT sT sT sT sG zGG zZ LG s G sG s G seG sG seG sG zZ LG seG sZ LG sZ LeG s122()()g tLG s122()()sT ssLeG sg tT122()()sT ssZ LeG sZ g tT122()()sZ gtTz Gz12221()()()()zG zGzz GzGzz2022-8-6第八章401sTs解：解：221()(1)G sss把把2()G s展开成部分分式，即：展开成部分分式，即：2()G s 21111sss查查Z Z
15、变换表得：变换表得：22()(1)1ssT sT zzzG zzzze系统脉冲传递函数为：系统脉冲传递函数为：21()(1)1ssT sT zzzzG zzzzze把把sT 1 1代入上式，最终可得：代入上式，最终可得：20.3680.264()1.3680.368zG zzz2022-8-6第八章41()z()()()()1()C zG zzR zGH z()1()()1()eE zzR zGH z2022-8-6第八章42解：解：1()0.1G ss151.021.02()()0.150.15G s H sssss2022-8-6第八章430.10.1()0.905sTzzzG zzeze
16、z0.151.021.021.021.02()0.9050.0070.916 (0.905)(0.007)ssTTzzzzGH zzezezzzzz2()/(0.905)()1()1 0.916/(0.905)(0.007)(0.007)0.0040.006G zzzzGH zzzzz zz查表可得：查表可得：2022-8-6第八章44(),()1ccbbzG sG zsz 111010()(1)0.10.1ssT sT seG sessss1 10100.950()10.9050.905zzzG zzzzz 2022-8-6第八章45111()()0.1522.0410.041 1()0.1
17、5ssT sT seG s H ssssesss 122.0410.0410.1530.035()10.9050.007(0.905)(0.007)zzzzzGH zzzzzzz0.950()()10.905()0.1530.0351()()11(0.905)(0.007)0.950(0.007)(1)(0.905)(0.007)(0.1530.035)ccbzG z G zzzzbzzG z GH zzzzbz zzzzbzz2022-8-6第八章46()()()()1()C zG zzR zGH z()()()1()G zC zR zGH z2022-8-6第八章47()()r tt()(
18、)1()G zC zGH z*()()T ssz eCsC zlim()lim()0stnc tc nT*()Cssj()sssTjTjTzeeesTe1z 0*()Cs()C z2022-8-6第八章4811zRe011111zRe011111zRe011111z()1()0D zGH z 2022-8-6第八章492022-8-6第八章50解：做变换，令解：做变换，令11z代入特征方程，得代入特征方程，得3211145117119390111化简得化简得32()22400p应用劳斯判据，列出劳斯表为应用劳斯判据，列出劳斯表为2022-8-6第八章51由于劳斯表第一列有由于劳斯表第一列有2
19、2次符号改变，故有两个根在次符号改变，故有两个根在平面的右半平面。也就是说，方程平面的右半平面。也就是说，方程D(zD(z)=0)=0有两个根在有两个根在z z平面平面上以原点为圆心的单位圆外，系统是不稳定的。上以原点为圆心的单位圆外，系统是不稳定的。2022-8-6第八章522022-8-6第八章531010110.01()(1001)(0.01)ssk ek eG ssss s101()()sG seG s11110.01()(0.01)0.01kkkG ss sss111110.01()110.9sTk zk zk zk zG zzzezz11111()()10.9k zk zG zz
20、G zzzz10.11()10(1)(9)kGH zzz 211()(1)0.90.11.90.90.10D zzzkzzk2022-8-6第八章54(1)/(1)z 21111.90.90.1011pk21 22111.9110.90.110k21110.10.20.20.10.380kkk10,k 10.20.20k1k101k2022-8-6第八章55()(1)(0.905)(0.007)(0.1530.035)D zzzzzz321.7590.9540.0060zzz222,30.8760.4190.9721z2022-8-6第八章561()()lim()lim(1)1()snzR z
21、enTzG z 2022-8-6第八章57()()()()1zC zz R zzz 110110121211()()()()()()()()()()()()()mmmmnnnnjmmninmjjmnniib zbzbM zzD za zazazzzzzzzzbazpzpzpzpzzbazz2022-8-6第八章58（1 1）为正实数为正实数（2 2）为负实数为负实数（3 3）极点为一对共轭复数）极点为一对共轭复数ipipip2022-8-6第八章59ppstn T1311()jiMnpzpjinn1131113|1|1|pmnjinjipmnjijipzppzppppt2022-8-6第八章60
