自动控制原理-孙炳达-课后答案[1-4章].khda

1.18cSM___1Q2Qfi*c()*c()*c1.4.11.4.11.4.1M2201.19T()()1.4.5-1.4.51.3TR)oTx6()00ioi1.4.51.4.5oiiTGoTXiSMTG1.4.61.41.4.41.5(a)(b)(a)110v(b)(a)uKSMGfi(a)110V(b)uKfiG0fi(b)(b)110V2.1(a)21212()ooidxdxdxmfffdtdtdt()(b)12121()oiodxdxfKKKKxKfdtdt(c)121()oioidxdxfKKxfKxdtdt2.22f0xix2K1K1f1u0u1C2R2C1RxAB(a)22212121122212121122121122111()()11()()111oiRUsCsRRCCsRCRCsUsRRCCsRCRCRCsRCsRCsRCs(b)A221()()()iooiodxdxdxdxfKxxfdtdtdtdt1B11()odxdxfKxdtdt212221()()ioiodxdxfKxxKxdtdt33x22212112121222121221212()()ooiioidxdxdxdxfffffffffxxKKdtKKKdtKKdtKKdta(b)CsCs()()1()()111()()1()()121212112221212112211CsRRCCsRCRCsCsRRCCsRCRCs2121211222121211220xx2121211222121211221112111()()1()()1()()1111CsRRCCsRCRCsCsRRCCsRCRCs212121122212121122()()1()()11RCsCs11CsRR1111221111~,~,~,~KKfRfRCC2.302KQPP2.42242()32ssGsss1212()[1]()212ttgtLteess2.512111112222212(1)(2)(3)(4)ihhqRdhCqqdthqRdhCqqdt2221122112221()()()()1iHsRGsQsRCRCsRCRCRCs2.6()10()()35CsGsEss2()41Hss2()10()100(41)()1()()122325CsGssRsGsHsss22()1010(12235)()1()()122325EsssRsGsHsss2.7120011001110100001()()11()1oiRUsRCRCsRCRCsCsUsRCsRCsRCs2.81030180/11330180mEKVrad()()HsHs()()()()10()100(41)()10()100(41)()1()()122325()1()()122325()10()100(41)()10()100(41)()10()100(41)()1()()122325()1()()122325()1()()122325()1()()122325()1()()122325()1()()1223251122112221()()1()()1()()1()()11122112221()()1()()1()()1()()1()()1()()111221122214141s414141412()10()100(41)()10()100(41)()1()()122325()1()()1223252()10()100(41)()10()100(41)()1()()122325()1()()122325()1()()12232522()10()100(41)()10()100(41)()10()100(41)()1()()122325()1()()122325()1()()12232522()1010(12235)()1010(12235)()1()()122325()1010(12235)()1010(12235)()1()()122325123,2KK2mT()()1mamKsUsTsmK1()/radsVtK1/()Vrads22301230123111ommtimmTKKKKssKKKKKKKKKK2.90123mmmm111mmtmmt221TKTK2TKTK11mmtmmt211ssssmmtmmtmmtKKKKKKKKKKKKKKKKKKKKmmtmmtmmtTKTKTKmmtmmtmmtmmtmmtmmtssssssssmmtmmtmmt01230123mm0123012323mmtmmt2323KK232323232323KKmmtmmtmmtKKmmtssssKKKKKKKKKKKKKKKKKKKK012301230123mmtmmt2323ssssssmmtmmt23232.103.10.62/nrads%9.5%232,2.51psnntsts28()2.44sss3.2244()64(0.8)(5.2)sssss5.21,40.81331.253.75stTs4111.140.17()(0.8)(5.2)0.85.2Csssssss0.85.2()11.140.17ttctee3.30.434.3/nrads22354()27.41177sss3.415%0.520.84.6/nrads1211()(1)tKssKKsK2121.2nK0.18tK210.730.3,0.54,1.251drsnnntststs3.51233.6122j3j45j3.711,2.5K3.8nnnndrsdrs0.3,0.3,0.3,0.3,0.3,drsdrsdrsdrsdrs0.3,0.3,nnnn0.3,0.3,tsts1111(1)(1)1111(1)(1)11(1)(1)(1)110.3,0.3,0.3,0.3,drsdrs0.3,0.3,0.3,0.3,tstsdrsdrsdrsdrsnnndrsdrsdrsdrsdrs2drsdrs22nnnnnnnnn1nnnnnn1nn0.80.811211nKK112tststststststsdrsdrs33.9114K21sz320.0250.2750.3750.6750zzzK4.8K3.10212(21)()(1)sGsss,,12pvaKKK212(21)()(24)sGssss,0.5,0pvaKKK3.110.75K0,1.333.1210.11/nrads%72.9%33.2,30psntsts20.51/nrads%16.3%33.6,6psntsts3.14KK12(21)12(21)()()GsGs()()ssGs3.1512212(1)ENKsTsKK110()10,()10,ssnssnnteKntte221TT222121(1)(1)ENKssTsKKTs22KKsTsKKsTsKK1()10,010()10,ssnssnntentteK44.14.2sujv112()()()(21)szspspk(2)()(1)(21)ujvujvujvk(21)21vvvarctgarctgarctgkuuu1xyarctgxarctgyarctgxy22(21)2vuvvarctgarctgkuuuv2222(21)212vuvvuuuvarctgkvuvvuuuv2202vuvvuuuv22420uuv222(2)(2)uv4.34.4-300-250-200-150-100-50050100-200-150-100-50050100150200RootLocusRealAxis2150K321d|21||2150||21100|9.65000K2nm9.6K-108-21-219.6RootLocusRootLocus4.512(4)420bsss-9-8-7-6-5-4-3-2-10-5-4-3-2-1012345RootLocusRealAxis-8.5230(40)bss-40-35-30-25-20-15-10-50-15-10-5051015System:sysGain:13.3Pole:-20-0.0466iDamping:1Overshoot(%):0Frequency(rad/sec):20RootLocusRealAxis-204.64.74.8Frequency(rad/sec):20-25-25Frequency(rad/sec):20-12-10-8-6-4-2024-8-6-4-202468RootLocusRealAxis248rK22j048rK33rK-0.85-4.33rK348rK448rK22/rads50.58.3rK4.9-7-6-5-4-3-2-10123-2-1012RootLocusRealAisKr31.73j3Kr91-1-4.3-4.38.3RootLocusRootLocus