(电气)自动控制原理27(系统校正)(含第六章作业2)

Email:[e-mail]—decdB/202mω1mω1ω21γτ21τ11τ1τγdecdB/20−cmφ2mω1mω)1(11111111122++⋅++γτγωτωγτωτωjjjj—)1(1111)()(11221⎟⎟⎟⎟⎠⎞⎜⎜⎜⎜⎝⎛++⎟⎟⎠⎞⎜⎜⎝⎛++==γγττγττssssKsGKsGccccK1K1Bode)(01ωjGHK0cω0pmφcω0pmφ1mωcω)(1ωjGcmφpmφ)(1ωjGco5φωφφφ∆+−−=)(1800cpmmo)(cωφ)(180)()()(00cpmccccωφφωφωφωφ−−=−=o)()(φφωφ′′∆−+=mcc)(1800cpmmωφφφφ−−=′′∆−oφωφφφ′′∆+−−=)(1800cpmmoφ∆o5φωφφφ∆+−−=)(1800cpmmomφpmφ)(1ωjGco5φωφφφ∆+−−=)(1800cpmmo—mφγ)(1ωjGcmmφφγsin1sin1−+=1τ1z1p)(1ωjGccmωγωγτ==11γωτcz==111111zpγτγ==2p2z)(1ωjGc10122czωτ==γγτ2221zp==2K0dB0dBcω0lg10)(lg20lg20)(lg20012=−+=γωωccjGKKjGH2K2K0dB0dBcω0lg10)(lg20lg20)(lg20012=−+=γωωccjGKKjGH2KBode)1(1111)(112221⎟⎟⎟⎟⎠⎞⎜⎜⎜⎜⎝⎛++⎟⎟⎠⎞⎜⎜⎝⎛++=γγττγττssssKKsGc6.36.333KKvv15s15s--11cc3.5rad/sec3.5rad/sec,,pmpm5050GMGM10dB10dB)6)(2(10++sssR(s)Y(s)-Gc(s)3(1)(1)KK11)6)(2(10)(0++=ssssG1565)6)(2(10lim)(lim0000=++==→→ssssGKssvKKvv15s15s--11KKvv15s15s--11,,KK11)6)(2(10)(101++=sssKsGK1565)6)(2(10lim)(lim110010≥=++==→→KssKsGsKKssv181≥K181=K)61)(21(15)6)(2(180)()(0101ωωωωωωωωjjjjjjjGKjGHK++=++==(2)(2),,,,GMGM00)(01ωjGHK0cω0pmφKK=15=15dBK5.23lg20=::--20dB/dec20dB/decωj111=2rad/s=2rad/s::--20dB/dec(20dB/dec(2rad/s)2rad/s)211ωj+22=6rad/s=6rad/s::--20dB/dec(20dB/dec(6rad/s)6rad/s)611ωj+(())2rad/sec(1rad/sec,23.5dB)(1rad/sec,23.5dB)--20dB/dec20dB/dec2rad/sec6rad/sec--40dB/dec40dB/dec6tan2tan90)(11ωωωφ−−−−−=o6rad/sec--60dB/dec60dB/dec)j)(j(j)j(GHK61211501ωωωω++=//radrad/sec/sec00.050.10.5123610(()/)/-90-92-94-153-109-126-173-207-228-270sec//radω010−210−110−01035.23decdB/40−decdB/20−dB1020290−o/)(ωφ130−210−30250−o24−5.50cωdecdB/60−170−270−180−4.30gω65204−dB8,,)(01ωjGKsec/5.50radc=ωo240−=pmφsec/4.30radg=ωdBGM80−=o50≥pmφdBGM10≥sec/5.3radc≥ω)(01ωjGK(3)(3)cωsec/5.3radc≥ωsec/4radc=ωsec/41radcm==ωω(4)(4)mφφωφφφ∆+−−=)(1800cpmmosec//radω010−210−110−01035.23decdB/40−decdB/20−dB1020290−o/)(ωφ130−210−30250−o24−5.50cωdecdB/60−170−270−180−dB8−4.30gω65204−4187−(4)(4)mφφωφφφ∆+−−=)(1800cpmmoooooo625)187(18050=+−−−=(5)(5)γ1.1662sin162sin1sin1sin1=−+=−+=oommφφγ(6)(6)1z1psec/11.164111radzc====γωτsec/1.16111radzp===γτγ(7)(7)2z2psec/4.010410122radzc====ωτsec/025.01.164.01222radzp====γγτ(8)(8)2K0lg10lg20)(lg202=+=γωcKjGH)(lg2001−ωcjGKsec//radω010−210−110−01035.23decdB/40−decdB/20−dB1020290−o/)(ωφ130−210−30250−o24−5.50cωdecdB/60−170−270−180−dB8−4.30gω65204−4187−6cω(8)(8)2K0lg10lg20)(lg202=+=γωcKjGH)(lg2001−ωcjGK01.16lg106lg202=−+K0.22=K(9)(9)BodeBode⎟⎟⎠⎞⎜⎜⎝⎛++⎟⎟⎠⎞⎜⎜⎝⎛++=γωτωτωγτωτω1122211111)(jjjjKKjGc⎟⎟⎠⎞⎜⎜⎝⎛++⎟⎟⎠⎞⎜⎜⎝⎛++××=112211110.218pjzjpjzjωωωω⎟⎟⎠⎞⎜⎜⎝⎛++⎟⎟⎠⎞⎜⎜⎝⎛++×=1.1611025.014.0136ωωωωjjjj)()()()(0ωωωωjGjGjGjGHc==)61)(21(651.1611025.014.0136ωωωωωωωjjjjjjj++⋅⎟⎟⎠⎞⎜⎜⎝⎛++⎟⎟⎠⎞⎜⎜⎝⎛++×=)1.161)(61)(21)(025.01()1)(4.01(30ωωωωωωωjjjjjjj++++++=02.05.23dB1020210−30250−170−270−180−204−187−640sec//radω110−0103decdB/40−decdB/20−2o24−5.50cωdecdB/60−4.30gω654025.04.0090−o/)(ωφ130−cωo501102011gωdecdB/40−decdB/20−decdB/20−decdB/40−16dB14−dB8sec/4radc=ωo50=pmφsec/11radg=ωdB10dB14=GM1101530)(lim−−→==ssssGKsv⎟⎟⎠⎞⎜⎜⎝⎛++⎟⎟⎠⎞⎜⎜⎝⎛++×=1.1611025.014.0136)(sssssGc(3)1.1.————)1501)(1101(20)(0++=ssssGo45≈pmφ01.0≤ssesradc/25≥ω2.MatlabMatlab6.36.36.36.333KKvv15s15s--11cc3.5rad/sec3.5rad/secpmpm5050GMGM10dB10dB)6)(2(10++sssR(s)Y(s)-Gc(s)3