自動(dòng)控制理論下(參考版)
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【正文】 校正裝置傳函為 ? ? D ??? 校正后，系統(tǒng)的相角裕量為 ???? ? 將 11???zzw 代入 ??wD ，可得校正裝置的脈沖傳遞函數(shù) ? ? ????? zzzD 第九章 91 解 )]()([)( ?? ?? tXtXER dttXtXT TTT ???? ?? )()(21lim ? dttAtAT TTT ???? ???? ])(s i n[)s i n(2 1l i m ????? dttTA TTT ???? ???? ]c os)22[c os (4l i m 2 ?????? TTTttTA??? ?????? ???? ??????? c os)22s i n(2 14l i m 2 ??cos22A? ??? ??? ? ??? ?? deR j 1)()( 1 ???? ??? ??? ?? deA j 1c os2 2 ???? ?? ??????? djA )s i n(c osc os2 112 ?? ?? 0 12 c osc os22 ????? dA ?? ???? 0 112 ])c os ()[c os (2 ??????? dA )]()([2 112 ??????? ???? A 92 解 給定誤差傳遞函數(shù) )()1()1(111)()(2121sKKTss TsssKTsKsR sE e???? ?????? 擾動(dòng)誤差傳遞函數(shù) )()1()1(11)()(212212sKKTss TsKsKTsKsKsNsCn?????????? 給定控制隨機(jī)信號(hào)的譜密度 ??? ??? ? ??? ?? deR jrr )()( =???? ?? ????? deea j||2 =2?? ?0 ||2 cos ????? dea = 2122222 )(22 ???????rjaa ????? 擾動(dòng)隨機(jī)信號(hào)的譜密度 21222 )()()( ????? ?? nNNjNn KKdeK ???? ??? ??? ? 系統(tǒng)的均方誤差 222 nr eee ?? = ]|)()(||)()(|[2 1 2121 ??????? djdj nnre? ? ???????? ??? ? ???? ?? ??? ??? ??? ??? dj aKKTjj Tjj22212)1()1(21 ??? ?? dKKKTjj TjK N? ??? ?? ??? 2212 )1( )1(21 ? ????? ??? ???? j jjs dsKKsKKsTTs sasaTj2212123222)()1(2221??????? dsKKsTs KKTsKKj j j NN? ??? ?? ?? 2212222 1? TK KKTKKKKKT aKKaTaT NN 122222212122212222 ???? ??? ?? ??? 93 解 給定誤差傳遞函數(shù) Ks ssGsR sEse ?????? )(1 1)( )()( 擾動(dòng)誤差傳遞函數(shù) Ks KsGsGsN sCsn ?????? )(1 )()( )()( )(?r? = 2122 )(2244 ???rj ????? )(?n? = 2122 )(422168 ??? nj ????? ?2e ]|)()(||)()(|[2 1 2121 ??????? djdj nnre? ? ???????? ??? ? ? ???????? ??? ??? ??????? ?? djKj KdjKj j22
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