第四章控制系統(tǒng)的定量分析

4.1穩(wěn)態(tài)響應(yīng)和穩(wěn)態(tài)誤差穩(wěn)態(tài)響應(yīng)的定義：4.1.1典型輸入信號(hào)和穩(wěn)態(tài)響應(yīng)1.單位階躍輸入2.單位斜坡輸入3.單位正弦輸入1tr(t)t11r(t)tr(t)14甘.回1旁.儀2環(huán)穩(wěn)塵態(tài)押誤辱差貢及紡其睬計(jì)坐算Gc(s)F(s)Gp(s)R(s)D(s)Y(s)+--+E(s)y(t)e(t)r(t)d(t)穩(wěn)適態(tài)輪誤改差框定寒義由召輸滲入?yún)捕ǖ袅x由希輸夫出醋定辯義對(duì)竹于脖單刻位讀反躁饋博系薪統(tǒng)董兩筐者熊等著價(jià)期呆望劑值傾(南設(shè)未定腿值域)實(shí)筋際墊值對(duì)桿一員般碑結(jié)夕構(gòu)鏈系團(tuán)統(tǒng)對(duì)應(yīng)會(huì)使種用扣輸萬出芝定慣義+-4損.匙1宇.羞2木穩(wěn)泉態(tài)祖誤垃差幸及拐其日計(jì)蔑算穩(wěn)笑態(tài)廉誤句差洗計(jì)杯算棄：權(quán)利此用L牧a板p熱l璃a騙c橋e變左換簡(jiǎn)終粒值把定增理?xiàng)l瘋件臭：s亦E(s)的唐極宏點(diǎn)怠位論于瞧左哥半許開博平窩面站，忘或e(t)有軍極傲限拿。按委輸千入孩誤紙差間定鞠義碌：開否環(huán)風(fēng)傳謊遞泄函艷數(shù)4搭.首1用.據(jù)2率穩(wěn)香態(tài)論誤法差泉及兩其非計(jì)動(dòng)算時(shí)送間川常民數(shù)吐表巖達(dá)衛(wèi)式誓零憑極塘點(diǎn)黑表慈達(dá)怒式K為濾開貿(mào)環(huán)被放鮮大氣倍惜數(shù)系夫統(tǒng)洞階丙次頸為n匹=井N睜+叨rN為典積象分梢環(huán)司節(jié)N毯＝啊0零腹型翻系冒統(tǒng)N星＝擴(kuò)1趕Ⅰ型翻系慌統(tǒng)N扮＝幅2辦Ⅱ型女系北統(tǒng)4舅.活1杏.庭2炸穩(wěn)嘴態(tài)攏誤堪差貞及摧其金計(jì)贈(zèng)算1址,事單航位儉階代躍勁輸擺入定叛義紐奉位恥置萄誤錢差鼠系勵(lì)數(shù)有您差緣瑞系爺統(tǒng)無吹差寇系年統(tǒng)R(s)E(s)Y(s)r(t)e(t)y(t)+-e(t)貴=置0不葡變e(t)袖>多0增e(t)摟<瞇0減無朽差嘗系吉統(tǒng)擁一輸定性有茫積枝分富環(huán)財(cái)節(jié)積保分敏器爹輸愛出4蔑.鍬1拴.棟2仰穩(wěn)涼態(tài)疏誤派差蹦及遼其羞計(jì)麗算2會(huì),糾單宏位藏斜柔坡槍輸帥入定諒義繁速旺度燒誤極差法系呈數(shù)要宴減罪小怪穩(wěn)鑒態(tài)鞏誤猾差鵝，點(diǎn)必綿須孟增亂加倍開躁環(huán)馳總控增謝益k或訓(xùn)積村分豎環(huán)沃節(jié)仍數(shù)N塵,這充可烤能題給雄動(dòng)饒態(tài)榨性太能窗或痕穩(wěn)溉定拌帶缺來殃問淘題幅，彼一乎般櫻系暈統(tǒng)N饒≤最2注飽意沸：咸無璃靜為差到系跡統(tǒng)唉，嘆動(dòng)涂態(tài)魯過涌程夢(mèng)并澡不勿是富無辟差4劣.擋1熟.砌2昌穩(wěn)朝態(tài)計(jì)誤查差代及屆其策計(jì)醬算例4.1系統(tǒng)的開環(huán)傳遞函數(shù)為求輸入和時(shí)系統(tǒng)的穩(wěn)態(tài)誤差。(1)(表2鉛)不敬能住用劑終買值上定杏理斧（熄無猛極齡限花）G(jω川)G0(s)R(s)E(s)Y(s)+-其徒中ωφk4屯.逼1齒.皮2郊穩(wěn)爹態(tài)幫誤厲差惕及責(zé)其依計(jì)參算外詳部丟擾飯動(dòng)猴對(duì)成穩(wěn)悔定澇誤總差翼的菠影意響吩及摸其程補(bǔ)刮償善措庸施Gc(s)Gp(s)F(s)R(s)D(s)Y(s)++--擾漿動(dòng)頸誤棋差毒與機(jī)輸懸入句誤蹤蝶差舟不想是密一效回誕事茶，早輸胞入環(huán)無歡差鳥，刃擾秘動(dòng)結(jié)不刷一東定某無畢差理，鵲要既看龍積符分輪環(huán)番節(jié)河的甘位供置渾。設(shè)4育.賣1艇.決2凡穩(wěn)跳態(tài)耐誤義差鞋及呆其搏計(jì)尺算G0(涼0逗)蹄≥仿1結(jié)雄論默：櫻要怪減浮小砍或揀消泰除透穩(wěn)漲態(tài)攔擾瘡動(dòng)曉誤煮差次，憐必恐須耐增瓣加材擾爬動(dòng)抖作刃用輕點(diǎn)階以聰前矮的楊控侍制珍器評(píng)放安大革倍笛數(shù)顆或侄設(shè)著置坦積霞分芒環(huán)悟節(jié)監(jiān)。Gc(s)Gp(s)F(s)R(s)D(s)Y(s)++--Gd(s)+對(duì)經(jīng)擾難動(dòng)認(rèn)的批補(bǔ)宮償共－下－緊復(fù)存合卡控丑制4煎.痕1關(guān).電2稱穩(wěn)鴉態(tài)篇誤矩差鑰及四其離計(jì)草算4貌.價(jià)1乏.度3接系剛統(tǒng)患的宴靈邁敏酒度縣分暑析賺(鞠分此析掏參潛數(shù)喝變?cè)倩謱?duì)鄭系時(shí)統(tǒng)汪的曠影約響無)G擴(kuò)(握s休)F趴(攔s瓣)R(s)Y(s)+-單臨位孝階織躍膀輸頌入尼的滴穩(wěn)涼態(tài)斬輸暮出靈額敏吐度矮：默輸培出向穩(wěn)乓態(tài)醋值廟的憐相索對(duì)辱變廁化姑與染系模統(tǒng)拿參愧數(shù)納相企對(duì)舒變脈化槍之停比科。負(fù)命反男饋婆系油統(tǒng)唱對(duì)漢前蝴向扮通