【正文】 stem performance requirements. Correction can be divided into series pensation, feedback (parallel) correction, precorrection and disturbance pensation. Series and shunt calibration correction are the most mon two correction mode according to the characteristics correcting means correcting device can be divided into lead correcting means correcting device lag and lag lead correction means. Correction means is most monly used in PID control law. PID control PID control is short, it can be described as Correcting means may be an electrical work, work mechanical, hydraulic works, puting devices, or measuring member, which is more up to the electrical work, usually an active or passive circuit calculus, and a variety of sensors. 【 Key Words】 Automation Secondorder system Root locus Correction means Correction mode 重慶郵電大學移通學院畢業(yè)設(shè)計（論文） VII 目 錄 前 言 .............................................................................................................................................. 1 第一章 概述系統(tǒng) .......................................................................................................................... 2 第一節(jié) 關(guān)于自動控制的發(fā)展史 ........................................................................................... 2 第二節(jié) 簡介系統(tǒng) ................................................................................................................... 2 一 、 系統(tǒng)的物理模型結(jié)構(gòu)圖 ............................................................................................. 2 二 、 給定系統(tǒng)環(huán)節(jié)的介紹 ................................................................................................ 3 第三節(jié) 系統(tǒng)設(shè)計的要求 ....................................................................................................... 4 一、系統(tǒng)基本指標 ............................................................................................................ 4 第二章 系統(tǒng)的建模 ...................................................................................................................... 5 第一節(jié) 各環(huán)節(jié)建模與分析 ................................................................................................... 5 一 、 了解各環(huán)節(jié) ................................................................................................................ 5 二 、 比較器分析 ................................................................................................................ 5 三 、 比例環(huán)節(jié)分析 ............................................................................................................ 6 四、積分環(huán)節(jié)分析 ............................................................................................................ 7 五、慣性環(huán)節(jié)分析 ............................................................................................................ 7 六、反饋環(huán)節(jié)分析 ............................................................................................................ 8 第二節(jié) 系統(tǒng)的模型 ............................................................................................................... 9 第三節(jié) 系統(tǒng)結(jié)構(gòu)框圖 ......................................................................................................... 11 第三章 系統(tǒng)分析 ........................................................................................................................ 12 第一節(jié) 分析系統(tǒng)的穩(wěn)定性 ................................................................................................. 12 一、在頻域中分析 .......................................................................................................... 12 二、勞斯判據(jù) .................................................................................................................. 14 三、 Nyquist 判據(jù) ............................................................................................................ 15 第二節(jié) 穩(wěn)態(tài)精度分析 ......................................................................................................... 15 一、系統(tǒng)跟蹤能力 .......................................................................................................... 15 二、誤差計算 .................................................................................................................. 15 重慶郵電大學移通學院畢業(yè)設(shè)計（論文） VIII 三、原系統(tǒng)的開環(huán)傳遞函數(shù)和閉環(huán)特征方程 .............................................................. 16 第三節(jié) 動態(tài)性能分析 ......................................................................................................... 17 一、動態(tài)平穩(wěn)性討論 ...................................................................................................... 17 二、快速性討論 .............................................................................................................. 17 三、原系統(tǒng)根軌跡 .......................................................................................................... 18 第四節(jié) Bode 圖映證 ........................................................................................................... 23 一、截止頻 率的計算 ...................................................................................................... 23 二、計算 ? ................................................................................................................... 23 第四章 系統(tǒng)的綜合 .................................................................................................................... 24 第一節(jié) 綜合分析 ................................................................................................................. 24 一、分析 .......................................................................................................................... 24 二、超前、滯后的說校正明 .......................................................................................... 25 三、穩(wěn)態(tài)性能指標 .......................................................................................................... 25 四、動態(tài)性能指標 .......................................................................................................... 25 五、考慮如下幾點確定系統(tǒng)的校正方案 ...................................................