自动控制原理胡寿松主编课后习题答案详解

21118Q12QHF0H0H0QQH021QQ==0H=21QQ≠HQ21Q−)()()(02010QQQQdtHHdF−−−=−21QQdtdHF−=22257ix0x257257(a)100201)(xmxfxxfi&&&&&=−−dtdxfdtdxffdtxdmi1021202)(=++[])()()(10212ssXfsXsffmsi=++2110)()(ffmsfsXsXi++=257(b)AAxBAB)()(01xxfxxKi&&−=−)(002xxfxK&&−=xdtdxfKxKKdtdxKKfi1021021)(=++212110)()()(KKsKKfsfKsXsXi++=257(c)0x0201)()(xKxxfxxKii=−+−&&iixKdtdxfxKKdtdxf10210)(+=++0)0()0(0==xxi)()()(2110KKfsKfssXsXi+++=2-32-58()(b)22-58a11111//111111111111+=+=+==sTRsCRRsCRsCRsCRZ()()1111122222222+=+=+=sTsCsCRsCsCRZ)1)(1()1)(1()1(11)1(1)()(2121212211222120+++++=++++=+=sTsTsCRsTsTsTsCsTRsTsCZZZsUsUi(b)AA1K1fx)()()(010202xxfxxfxxKii&&&&−=−+−1)(011xxfxK&&−=23xKxxfxxKii10202)()(=−+−&&3xKxxfxxKii&&&&&&&10202)()(=−+−441)()()()(021021011021021xxffxxKfxfKxxfKxxKKiiii&&&&&&&&&−−−−=−+−iiiixKKxfKxKfxffxKKxfKxfKxKfxff21212121021021011021021+++=++++&&&&&&&&&3[][])()()()(212121221021211121221sXKKsfKKfsffsXKKsfKfKKfsffi+++=++++21221221212212212122122121212111212212121212210)1)(1()1)(1(1)(1)()()()()(1111KfsKfsKfsKfsKfKfsKfKfsKKffsKfKfsKKffKKsfKfKKfsffKKsfKKfsffsXsXi+++++=+++++++=+++++++=2-58()(b)242-59a:Ciuuu=−0dtduCCC=i11RuiCR=()210021210)(RRuudtuudCRRudtduCRiiuiiCCRC−+−=+=+=iiuRRCdtduCRuRRCdtduCR122012021+=++(b):10Ciuuu=−1dtduCiCC111=2dtRiudCdtduCiRuiRRiuCCCCCCCC)(210222111112i−==+=++=34dtRiudCiRuCCC)(210211−=[phone])(2dtudRCCdtduCdtuudCRuuCii−=−+−20221222102011022dtudRCCdtudRCCdtduCdtduCdtduCRuRuiii+−=−+−dtduCRudtudRCCRudtduCCdtudRCCiii122210012202212)2(++=+++2-5x(t)(1);)()(2ttxtx=+&2s+1Xs=1/s212411)12(1)(22++−=+=ssssssXte5.0−)1(2)(21tettx−−−=()ttxtxtx()()()(δ=++&&&1)()1(2=++sXss4/3)2/1(1)1(1)(22++=++=ssssX−tet23sin2/=−tetxt23sin32)(2/3ttxtxtx(1)()(2)(=++&&&ssXss1)()12(2=++222)1(1111)1(1)12(1)(+++−=+=++=sssssssssX5e)1(tt+−)1(11)(teteetxttt+−=−−=−−−2-6PKQ=KPQP),(00PQA00PKQ=)()()(000xxdxxdfxfyx−+=Q)(010PPKQ−=−011210PKdPdQKPP===2-71.165.12yF=A1.10065.12yF=)()()(000xxdxxdfxfyx−+=)(010yyKFF−=−1.001.0011.1915.131.165.120yydydFKyy×=×===2-8αcos0ddEe=A00cosαddEE=6)()()(000xxdxxdfxfyx−+=)(cos000ααα−=−sddKEe00sinααααddsEddeK−===2-9r(t)=1(t)ctteet−−+−=21)()2)(1(2411211)(2++++=+++−=sssssssssC)(1)()()(sssRssCΦ=Φ=22111)2)(1(1)2)(1(24)(2+++−=+++=++++=Φsssssssssstteettg2)()(−−+−=δ2-10232)()(2++=sssRsCc(0)=-1,(0)r(t)=1(t)c(t)c&)(2)(2)(3)(22trtcdttdcdttcd=++11)(2)(2)0(3)(3)0()0()(2sRsCcssCcscsCs=+−+−−&22sssCss123)()23(2=++++2214123622)23(32)(222+++−=+++−=++−−=sssssssssssssCtteetc2242)(−−+−=72-112-60)(20)(10)(6tetcdttdc=+)(10)(5)(20tctbdttdb=+)(/)(sRsC)(/)(sRsE10620)(+=ssG52010)(+=ssH250230120)520(200200)520)(106()520(200520101062011062010)()(1)(10)()(2+++=++++=++++=+=ssssssssssHsGsGsRsC25023012050015001200200)520)(106()106)(520(105201010620110)()(110)()(22++++=+++++=+++=+=sssssssssssHsGsRsE2-122-61a0000000000001111//CRTsTRsCRsCRsCRZ=+=+==8)1()()(001010+−=−=sTRRZRsUsUib0000000000001111//CRTsTRsCRsCRsCRZ=+=+==1111111111CRTsCsTsCRZ=+=+=)1)(1(1)()(0110010++−=−=sTsTsCRZZsUsUic2221221221221221221121)1(111//)1//(CRTRsTsTRsCsTRsCsTRsCsTRsCRRZ=+++=+++=+=+=11)()(122010120+++−=−=RsTsTRRRZsUsUi2-132-62U()()2-620101)()()(RZsUsUsUi−=+10212)()(RZsUsU−=20220)()(RRsUsU−=3123902020100)()()(RRRZRZsUsUsUi−=[phone])()(1)()()(RZZRsUsURZZRsUsUsUii−=+−=+1)()(221300−−=RZZRsUsUi21302121221130221122130221221300)1(111111)()(RRsRCsTRRRsCsTRRRsCsTRRZZRRZZRZZRsUsUi++−=+++−=+−=+−=2-142-2)(/)(sUsamΩ)(/)(sMscmΩ2-22-32-4)()()(sIRsLsEsUaaaaa=+−)()(sCsEmeaΩ=)()(sMsICmam=)()()(sfsJsMsMmmmcmΩ=+−Ua(s)Ia(s)CmCeMmMc1Las+RaJms+fm1m(s)10memmaammmaamemmaamamCCfsJRsLCfsJRsLCCfsJRsLCsUs+++=+++++=Ω))((111)()(memmaaaammaamemmcmCCfsJRsLRsLfsJRsLCCfsJsMs++++=++++=Ω))((111)()()(/)(0ssiθθ0016515VK=310301==K210202==K)()()(0sssieθθθ−=)()(0sKsesθ=)()(21sUKKKsssa=)()()()(sEssILsIRsUbaaaaa++=)()(sICsMamm=)()()()(002sMsMsfssJscm−=+θθ)()(0sKsEbbθ=2-152-63K3,o330max=θ(1)K0K1K2(2)(3)2-6312UU11K0K1K2Ks1Las+RaCmKb1Js2+fsiUsUaEbMmMc0e0(3))(/)(0ssiθθmsbmaamsbmaamsbmaamsaabmaamsaabmaamsiCKKKKKCfJsRsLsCKKKKKCfJsRsLsCKKKKKCfJsRsLsCKKKKfJsRsLsKCfJsRsLsCKKKKfJsRsLsKCfJsRsLsCKKKKss2102102102102102100))(())((1))(())((1))((1))((1))(()()(++++=+++++++=+++++++++++=θθ2-162-6412)1/(33+sKτ2-144K5K123Ω)(/)(sUsi1sRCsTsRCsCRRsCRRZsUsUsUfiST11111111111)()()(+=+=+==−sRCsTsRCsCRRsCRRZsUsUsUdlfkSTLT22222222111)()()(+=+=+==−2T1s+1Ua1Las+RaCmCe1Jms+fmUiUSTULTEbMmMcUfRC1sT2s+1RC2s3s+1K3IaK4K5(3)Ω)(/)(sUsi)(/)(sUsiΩ0=cMT1s+1Ua1Las+RaCmCe1Jms+fmUiUSTULTEbUfRC1sT2s+1RC2s3s+1K3IaK4K5K4T1s+1Ua1Las+RaCmCe1Jms+fmUiUSTULTEbUfRC1sT2s+1RC2s3s+1K3IaK4K5Jms+fmCm13T1s+1UaLas+Ra(Jms+fm)+CeCmCmJms+fmUiUSTULTUfRC1sT2s+1RC2s3s+1K3K4K5Jms+fmCmT1s+1Cm{RC2s[(Las+Ra)(Jms+fm)+CeCm](3s+1)}+K3K4Cm(Jms+fm)(T2s+1)UiUfRC1sK3Cm2(T2s+1)K5RC1s{Cm{RC2s[(Las+Ra)(Jms+fm)+CeCm](3s+1)}+K3K4Cm(Jms+fm)(T2s+1)}+K5K3Cm2(T2s+1)(T1s+1)UiK3Cm2(T2s+1)(T1s+1)[]{}{})1)(1()()1())(()1)(1()()(12235433211223+++++++++++=ΩsTsTCKKfsJCKKsCCfsJRsLsRCCsRCsTsTCKsUsmmmmmemmaammiτ2-172-65C(s)/R(s)142-652-17aG1(sG2(sG2(s)G3(s)R(s)C(s)G1(sG2(sG2(s)G3(s)R(s)C(s)15G1(s)+G2(s)1+G2(s)G2(s)R(s)C(s)132211)()(GGGGsRsC++=bG1(sH1(s