《計(jì)算機(jī)控制系統(tǒng)》課后題答案-劉建昌等科學(xué)出版社

或或1圖1.8內(nèi)部并行總線及組成信號(hào)轉(zhuǎn)換驅(qū)動(dòng)存儲(chǔ)器模塊計(jì)算機(jī)系統(tǒng)總線圖1.10系統(tǒng)總線及組成3圖1.11外部總線及組成T轉(zhuǎn)n位VoutBBBBV()2V1233n22222noutFSR式中，VBBFSR1n以4BBBBII()12334422222out/圖1.12使用電流源的DAC概念圖4圖1.13權(quán)電阻法D/A轉(zhuǎn)換器的原理圖Tn100VVfgVVVV11gfgf011VgVf圖1.14逐次逼近式轉(zhuǎn)換器原理框圖V在TTgVV與Vrefrefg5(a)(b)圖1.15雙積分式A/D轉(zhuǎn)換器原理及波形圖圖1.16操作指導(dǎo)系統(tǒng)框圖圖1.17直接數(shù)字控制系統(tǒng)6圖1.18SCC加調(diào)節(jié)器的系統(tǒng)框圖加顯示信息系統(tǒng)DCC打印計(jì)控制報(bào)警算機(jī)信息采集外存儲(chǔ)器圖1.19SCC加DCC的系統(tǒng)框圖簡(jiǎn)述集中控制系統(tǒng)的結(jié)構(gòu)和特點(diǎn)。7（12（3）操作人員接口（4）圖1.21集散控制系統(tǒng)8圖1.23以太控制網(wǎng)絡(luò)組成模3圖1.22傳統(tǒng)控制系統(tǒng)與現(xiàn)場(chǎng)總線控制系統(tǒng)結(jié)構(gòu)的比較兩種，一種是485串行方式，另一種是以太網(wǎng)方式。信號(hào)變換問(wèn)題對(duì)象建模與性能分析z9控制系統(tǒng)實(shí)現(xiàn)技術(shù)如zsmaxf(t)*F()f(t)*maxT/maxmaxsmax8位位。uuRuumax21nRnlgu/u1/lg2。maxR108位8。，u為uuumax21nminnlgu/u1/lg2。maxminf(t)的zZ(f(t))Z[ftZ[ftF(z)f()z。k*k01Z[a]k1az1令f(kT)eklnaTF(z)ezk1ez1elna*(2T)z2lna*()lnaTk0elnaTzF(z)ezezlnaT1lna*(2T)21F(zelnaTzF(z)=1，11F(z，1-111zF()Z[akf(t)]azzF()f()f()zaZ[aftkkkkaak0k0dTzF(z)dzZ[tf(t)]由z變換定義得:F(z)f(kT)zkk0dF(z)dzkdzf(kT)kf(kTzk1dzk0k0dF(z)TzkTf(kT)zZtft)]kdzk0Tzz)211Zt]2z)13Tz1證明：Zt]z)12dz)Tzz)21211Zt]Zt]2z)z)1313z1]Zteez)121證明：Z[e]1ez1dezTez21Zte]Tz[e]Tzdzez)(1ez)1212F(az)Z[af(t)]tT證明：F(az)f(az)f(azZ[aftTTkktk0k0z1F(s)s(s1211F(s)F(s)ss1111與相對(duì)應(yīng)的連續(xù)時(shí)間函數(shù)相應(yīng)的zs;與1z1s+11的z,1ezT111e)zT1F(z)1z11ezzez)T11T1上式有兩個(gè)單極點(diǎn)，s0,s1,m2,則121z1zF(z)[s][(s1)s0]s(s1)zes(s1)zes1zzzeT)z1zeT(zzeT)s1F(s)(s3)(s21F(s)F(s)s3s222與與相對(duì)應(yīng)的連續(xù)時(shí)間函數(shù)相應(yīng)的z變換是;s31eTz111相對(duì)應(yīng)的連續(xù)時(shí)間函數(shù)相應(yīng)的z變換是,因而s+21e2Tz1212(1ez)ez)2T1T1F(z)1ez1ezezez)T12T1T12T112ezez2T1T1ezez)T12T1上式有兩個(gè)單極點(diǎn)，s3,s2,m2,則122z2zF(z)[(s3)][(s2)s](s3)(s2)ze(s3)(s2)zes22zzz(z2ee)2TTzeTze2T(zeT)(ze2T)s1F(s)(s2)(s13ABCF(s)F(s)求,B,C：(ss2s12s3A(s2)21(s2)(s1)2s2ds3(s(sB(s2)22ds(s2)(s1)(s2s22s2s3(sC2(s2)(s1)2s1122F(s)(ss2s12z222T1F(z)ez)1ez1ez2T122T1T1(T2)ez222T1ez)1ez2T12T1(T2)ez2z2z2T2(ze)zeT2T21，sm2，2,32n2，F(xiàn)(s)s1(s2)(s3)(s3)1dzzF(z)(s1)221!ds(s2)(s1)ze(s2)(s1)ze22s2s1d3z2zzezeTs2z(szseze)(sz3z)(zeTseTe)2zzeTsTsT(szseze)sT2sTs22z2zez(2z3z)(ze)2z22T22T2T2T2T(2z2eze)zeT2T2T2z2zz2zzeT22T2T22T2T(ez)2T214(T2)ez2z2z2T2(ze)zeT2T2s3F(s)(s(s2122F(s)F(s)(ss2s121Tez22T1與相對(duì)應(yīng)的連續(xù)時(shí)間函數(shù)相應(yīng)的變換是;與相對(duì)應(yīng)(s2)2ez)s+22T1的連續(xù)時(shí)間函數(shù)相應(yīng)222的z變換是;與相對(duì)應(yīng)的連續(xù)時(shí)間函數(shù)相應(yīng)的z變換是,1ezs+11ez2T1T1因而Tez222T1F(z)ez)1ez1ez2T122T1T1[(2T)e2e]zT2)ez2ez2TT1T24T2ez)ez)2T12T1上式有兩個(gè)單極點(diǎn)，s2,s1,m2,n則1,2s32dzs3zF(z)[(s2)ds][(s1)s]2(s2)(s1)ze(s2)(s1)ze-2s12sT2sT[(2T)e2e]zT2)e2e]z2TT2T4T(ze)(ze)2T2T1eF(s)s(s2留數(shù)法：1Z[](1z)Z[]1s(s2d1z1zz)[()]1dsszes1(s1)ze2s0zzeTzez2TTz)[]1(ze)2z1Tz(eTe1)eTeeTTTT2T(ze)2T部分分式法:151Z[]z)Z[]1s(s211111TezT1z)[]z)[]11ss1(s21z11ez(1ez)T1T12z(eTe1)eTeeTTTT2T(ze)2T1eF(s)s(s2留數(shù)法:1Z[F(s)](1z)Z[]1s(s1)2d1z1zzzTzz2z)[()(s)](1z)[]11dss1ze0sze(z2zeTs12z(1Te)z(eTe1)1T2TTzez)1T1部分分式法：1Z[F(s)]z)Z[]1s(s1)2111]z)[Tz111z)[]11ss1s2z)1ez1z112T1z(1Te)z(eTe1)1T2TTzez)1T1Zakf(k)F(z)Z[a]azkkkk011azazaz122331az1ak1f(k)F(z)Z[a]azk1k1kk01a11zazaz1223a1azaaz1121tak1f(t)16由于dZtft)]TzF(z，dzf(k)a的z變換為k1F(z)TazTaz2Ta3...z0112F(z)aF(z)TazTaz...1221(z)TazTaz...azF122331(1az)F(z)TazTaz...112211F(z)1)1211F(z)F(z)a1)12(t)tef25t由于dZtft)]TzF(z，dzf(kT)ez變換為5(z)Z[e]ez1ezT1ez10T2ezT35t5kk0將兩邊同時(shí)乘以ez，得：T1ezF(z)=ezezezT1T110T2T3將上兩式相減，得：1F(z)1ezT1dTezT1[te]TzF(z)Tdzez)T12dTezez)2T1T1Zte]Tzte]2TTdzez)T13z17ze)1F(z)zez)11ze)1原式=1e)zez12e)ze)ze)z122331e)zezze)121e)ze)z(1e)ez1223e)ze)ez223e)zeee)ze)ez2223324ft)etT)*z(1e)F(z)(z1)(ze)F(z)11zz1zeft)1e*z1,ze12ze)Re[F(z)z][(z1)z]1k1k1(zze)z1z1ze)Re[F(z)z]k1[(ze)z]k1(zze)zeaTzeaTeft)1e*z(1e)F(z)(z1)(ze)2zF(z)(zz182z1原式=13z2z122z6z1213z2z2z1122z6z4z1236z4z236z18z12z234ft)2(tT)6(tT)*F(z)22zz2z1f(kT)2kft)(2tkT)*k1k0z1,z2122zRe[F(z)z][(z1)z]2k1k1(zz2)2zz1z1Re[F(z)z][(z2)z]k1k1(zz2)z2z22k1f(kT)22k1ft)(2tkT)*k1k062z1F(z)12zz12610z112zz62z112612z6z1210z6z1210z20z10z123ft)6t)10(tT)*19F(z)64zz1(z2f(kT)64kft)(64ktkT)*k0z11,2d6z2z2Re[F(z)z][(z1)z]64kk12k1(z2z1dsz1f(kT)64kft)(64k(tkT)*k0z1F(z)1zz120.5z0.75z1211.5z0.5z0.5z1120.5z0.75z0.25z1230.75z0.25z230.75z1.125z0.375z234ft)0.5tT)0.75tT)*0.5zF(z)(zzF(z)11zz1zf(kT)1(0.5)kft)(tkT)*kk020z1,z0.5120.5z(zz0.5)0.5zRe[F(z)z][(z1)z]1k1k1z1z1Re[F(z)z]k1[(z0.5)z](0.5)k1k(zz0.5)zz1f(kT)1(0.5)kft)(1(0.5)tkT)*kk03z112zzF(z)1235z112zz3z11236z3z125z3z125z10z5z123ft)3tT)5(tT)*F(z)32zz1(z2f(kT)32kft)(32k(tkT)*k0z1d0.5zRe[F(z)z][(z1)z]2k3k1k1(zz0.5)z1f(kT)2k3dsz1ft)(2k3)tkT)*k0zF(z)(zz221zz2原式=z4z5z214z5z2z32123z4z2314z5z2zz2123z4z5z2z23454z5z2z3454z16z20z8z3456ft)tT)4(tT)*F(z)111zz2z1(z1)2zzzF(z)z2z1(z1)2f(kT)21kkft)(21k(tkT)*kk0F(z)1m2n2z2，z1，，2,3z2z1zRe[F(z)z](z2)zk12kk1(z2)(z2zz1z2zz1n2。2,31dzRe[F(z)z]k1(z1)zk1221!dz(z2)(z2zz2,3z1kz(z2)zdzkk1kdz(z2)(z2)2z1z1k1f(kT)2k1kft)*k(t)kk0z22zZft)F(z)，Zft)F(z)1122(t)af(t)bf(t)a、bfz12F(z)aF(z)bF(z)12F(z)[af(kT)bf(kT)]zaf(kT)zbf(kT)zkkk1212k0k0k0aZ[ft)]bZ[ft)]aF(z)bF(z)1212z(t)0fZftnT)zF(z)nzZft)f()zzf()z(kn)knk0k0knm令Zft)zf()zmnmnt0f(t)0Zft)zf()zzF(z)nmnm0zn1Zft)zF(z)z()fznnjj0f(0T)fT)f(n1)T0則ZftnT)zF(z)nz23Zft)f()zznf()z(kn)kk0k0knr令ZftnT)zf(rTzrnrnn1z[f(rT)zf(rT)z]nrrr0r0n1z[F(z)f(jT)z]njj0fT)f(n1)T0當(dāng)f(0T)ZftnT)zF(z)zf(t)的zF(z)limF(z)zf(0)limF(z)zzF(z)f()zfT)fT)zfT)zk12k0z當(dāng)limF(z)f(0)limf(kT)zk0zz)F(z)f(t)的zF(z)，而(1在z1(z1)limf(t)limf(kT)lim(1z)F(z)limF(z)1ztkz1z1zZft)F(z)f()zkk0Zf(T)zF(z)f(T)zk1k024f()zf(T)zF(z)zF(z)kk1k0k0當(dāng)z1f()zf(T)z]lim(1z)F(z)kk1z1z1k0k0t0f(t)0[f(kT)f(kTT)][fT)f(T)][fT)fT)]k0[fT)fT)]f()limf(kT)klimf(kT)lim(1z)F(z)1kz1zkf(j)j0kg(k)f(j)(k0,1,2,)則j0F(z)zG(z)Zg(k)F(z)1z1z1g(k)與g(k1)kk1g(k)g(kf(j)f(j)f(k)j0j0k0當(dāng)g(k)0z1G(z)zG(z)F(z)，G(z)F(z)11z11k即Zf(j)F(z)1z1j0zf(t)的zF(z)a25F(ze)Zeft)ee。aTatzZeft)f()ezkk0ze令zaT1Zeft)f()zkF(z)11k0zezaT1Zeft)F(ze)zf(t)的zF(z)Ztf(t)TzdF(z)dzzF(z)f()zkk0(z)kf()()zk1k0k0(z)()zZtkk0zf(t)的zF(z)ft)F(z)ft)Zttzt0z26ft)f()zkG(z)Zf()tk0dG(z)11zk1f()zF(z)kTk0k0dG(z)1F(z)dzTzzzF(zdzG(z)limG(z)dz，dzTzzzf(t)limG(z)limtzt0ft)F(z)ft)ZG(z)ttzt0zf(k)和g(k)zF(z)和G(z)t0f(k)g(k)0，t0f(k)g(k)kf(k)g(k)f(ki)gi)f(ki)gi)i0i0k或則f(k)g(k)g(ki)fi)g(ki)fi)i0i0Zf(k)g(k)F(zG(z)Zf(k)g(k)Zf(ki)gi)f(ki)gi)zki0k0i0mkikmi則令f(m)zmgi)ziZf(k)g(k)f(m)gi)zzmimii0mii0m0時(shí)f(m)027Zf(k)g(k)f(m)zmgi)zF(zG(z)im0i0zz*zz*TT*00c0c過(guò)ccsc或T/5c(a)系統(tǒng)預(yù)期開(kāi)環(huán)頻率特性(b)系統(tǒng)預(yù)期閉環(huán)頻率特性圖2.7頻譜法分析系統(tǒng)282到4TNrrNT/T2~4rr*u(t)*u(t)u(kT)tkT,(k0,1,2,)，，u(t)與(k1)TkTt(k1)T的u(t)tu(t)u(t)u(kT)u(t)u(kT)u(kT)(tkT)(tkT)21）2t(k1)TkT。u(t)u(t)u(t)在tu(kT)u(k1)T1u(kT)））Tt1u(kT)u(kT)u(k1)TT1u(k1)Tu(k1)Tuk2TT231u(kT)u(kT)2uk1Tuk2T4）T21u(t)01*u(t)與u(t)h中u(t)hu(t)比u(t)T/2h29圖2.11零階保持器的幅頻特性與相頻特性圖2.14一階保持器幅頻與相頻特性（虛線為零階保持器頻率特性）或*z*zaf(t)T)01表F(s)f(tT30F(s,)F(s)eZ[f(tT)],01TsT)f(tzF(z,)Z[F(s,)]Z[F(s)e]Z[ftT)]f(kTT)z01kk0z圖2.23變換的超前和滯后ba*zf(t)zF(z,m)Zft)zZf()z1f()z1kmk0caz析2)3y(k1)2y(k)0,已知y(0)1,y(1)2）y(kk0時(shí)y(2)3y(1)2y(0)628當(dāng)k1時(shí)y(3)3y(2)2y(1)24420當(dāng)當(dāng)k2時(shí)y(4)3y(3)2y(2)601644k3時(shí)y(5)3y(4)2y(3)13240921,y(1)2,y(2)8,y(3)20,y(4)44,y(5)92,y(0)312)3y(k1)2y(k)t),已知y(0)0,y(1)0）y(kk0時(shí)y(2)3y(1)2y(0)(t)(t)當(dāng)當(dāng)k1時(shí)k2時(shí)y(3)3y(2)2y(1)(t)4(t)y(4)3y(3)2y(2)(t)11(t)0,y(1)0,y(2)(t),y(3)4(t),y(4)11(t),y(0)）y(k)2y(k1)k2,已知y(0)1k1時(shí)k2時(shí)k3時(shí)k4時(shí)y(1)2y(0)122123y(2)2y(1)226226y(3)2y(2)32123211y(4)2y(3)42224224當(dāng)當(dāng)當(dāng)1,y(1)3,y(2)6,y(3)11,y(4)24,y(0)y(k)2y(k1)y(k2)3,已知y(1)0,y(0)0k當(dāng)k1時(shí)y(1)2y(0)y(1)30033k2時(shí)y(2)2y(1)y(0)332當(dāng)當(dāng)k3時(shí)y(3)2y(2)y(1)3183k4時(shí)y(4)2y(3)y(2)3424y(1)0,y(0)0,y(1)3,y(2)3,y(3)18,y(4)42,用z6f(k1)10f(k2)0,已知f(1)1,f(2)3）f(k)zZ[f(k)]F(z)，Z[f(k1)]zF(z)f(1)1Z[f(k2)]zF(z)zf(1)f(2)211)f(2)，f(k2f(2)6f(1)10f(0)0當(dāng)326f(1)f(2)3f(0)1010k1k0當(dāng)當(dāng)f(1)6f(0)10f(1)06f(0)f(1)2f(1)1025f(1)6f(1)10f(2)06f(1)f(0)9f(2)10500F(z)6[zF(z)f(1)]10[zF(z)zf(1)f(2)]012134z110516z10zF(z)123F(z)z3z1210經(jīng)z3f(k)(t)(tT)3(tT)103f(0),f(1)1,f(2)3,102)3f(k1)f(k)1,已知f(0)0,f(1)0）f(kzZ[f(k)]F(z)Z[f(k1)]zF(z)zf(0)Z[f(k2)]zF(z)zf(0)zf(1)22z[zF(z)zf(0)zf(1)]3[zF(z)zf(0)]F(z)22z133zzF(z)3zF(z)F(z)z1zF(z)(zz3z2F(z)z4z12z234經(jīng)zf(k)(tT)4(tT)12(tT)f(0)0,f(1)0,f(2)1,f(3)4,f(4)12,f(k1)f(k2)0,已知f(1)1,f(2)1）f(k)zZ[f(k)]F(z)Z[f(k1)]zF(z)f(1)1Z[f(k2)]zF(z)zf(1)f(2)211)f(2)，f(k2k1k0f(2)f(1)f(0)0f(0)0當(dāng)當(dāng)當(dāng)f(1)f(0)f(1)0f(1)1f(0)f(1)f(2)0f(2)1F(z)[zF(z)1][zF(z)z1]0121z1F(z)1zz12F(z)zz2z123經(jīng)zf(k)(tT)(tT)2(tT)34f(2)1,f(1)1,f(0)0,f(1)1,f(2)1,f(3)2,f(k)2f(k1)x(k)x(k1),已知x(k)k,f(0)1（4）2zZ[f(k)]F(z)，Z[f(k1)]zF(z)f(1)1f(1)k0f(0)2f(1)x(0)x(1)1當(dāng)11f(1)1211F(z)2[zF(z)f(1z)1z1211T3)z2z12F(z)13z2z231(2T3)z5z...12經(jīng)zf(kT)(t)(2T3)(tT)5(tT)...f1f0f1f(2)T3,）kW(s)sTsa)1W(z)ZW(s)Zkk11()sTsa)a1z1aT1ez11T11ek）W(s)ss(sa)351eW(z)ZW(s)Zks(sa)sk111z)Z1assa(sa)a2k1Tz11z)1az)(1z)a(1ez)a1121kkTz1kz)1aaz)aez)2121z）:Y(s)W(s)X(s)2X(s)W(s)E(s)W(s)R(s)H(s)s)11W(s)R(s)W(s)H(sW(s)X(s)*112W(s)X(s)zY(s)2Y(z)W(z)X(z)2X(z)WR(z)WHW(z)X(z)112WR(z)1XY1W(z)12W(zWR(z)11W(z)212）36:Y(s)W(s)X(s)*32X(s)W(s)X(s)*221X(s)W(s)E(s)W(s)s)H(s)s)111W(s)s)W(s)H(sW(s)X(s)*1132zY(z)W(z)X(z)32X(z)W(z)X(z)221X(z)WR(z)WHW(z)X(z)11132W(zWR(z)1X21W(zW(z)2213W(zW(zWR(z)1Y2321W(zW(z)213）:Y(s)W(s)X(s)*2X(s)W(s)E(s)*1E(s)R(s)H(sY(s)R(s)H(sW(s)X(s)*2zY(z)W(z)X(z)2X(z)W(z)E(z)1E(z)R(z)HW(z)X(z)237W(z)R(z)11W(z)(z)12W(zW(z)R(z)11W(z)(z)212）:Y(s)W(sW(s)*21W(s)W(s)W(s)***13W(s)H(sY(s)H(sW(sW(s)*31121W(s)R(s)H(sY(s)R(s)H(sW(sW(s)*2221zY(z)W(zW(z)21W(z)W(z)W(z)13W(z)HWW(z)3121W(z)R(z)HW(z)W(z)221R(z)1HWHWW(z)12212W(z)R(z)21HWHWW(z)12212381e4s,W(s)h0,W(s)Tss1d。1e4s11sTG(z)ZG(s)Z()s1z)411z11ezT1z1z(zez1)T4z(zze)T1eTzeT10.36844z0.368G(z)(z)1G(z)zzC(z)(z)R(z)zz12.528zz1.16z22.528z2.932z8.862z123取zc(t)2.528(tT)2.932(tT)8.862(tT)kzezkTG(z)ZG(s)Zkss1(zze)Tz1Gzz(kke1e)ze02TTT1k1ee0TTTk1ee01TTTe1T39k22eT1eT0k117z119z390）45z321w,z1w1w1w21171w1w3451193901w1ww13320w16w16w8032332016w216w14481w0811.5z0.25z0.40）z321w,z1w1w1w21.51w1w30.250.40w1w1w131.85w5.95w0.55w0.35032w1.8530.55w25.950.35w0.6591w00.3511.001z0.3356z0.005350）z321w,z1w1w1w21.001w30.335610.0053501w1w1w40w132.33125w3.68145w1.64735w0.33995032w2.331251.647353w3.681450.3399521w01.4320.339951zz0.632021w1w,z121ww0.63201w1ww122.632w0.736w0.63202w2.6320.6322w0.7361w0.632011)(z0.5)(z2)0）(zz1,z0.5,z21230.368z0.264）W(z)z1.368z0.3682KFzz2z0.6320F(1)110.6320.6320F(1)110.6322.63201z）W(z)(zzK41Fzzz1.06802F(1)10.3681.0681.70F(1)10.3681.0682.43601aa02zz22）W(z)zzzK32Fzz8.5z21.5z1.96032F(1)18.521.51.9632.9601F(1)18.521.51.9612.04031.96，不滿足aa的條件。0310z）W(z)Kzz0.52F(z)z29z0.50F(1)190.510.501F(1)190.57.5-1F(1)。2n1.5z0.60）z2：zz1z02110.6110.6b00.640.60.61.511.5b142F(1)0F(1)11.50.60.10。(1)F(1)0(1)F(1)11.50.63.10。2na0.61。③a02b0.640.6。④b0n11.7z1.050）z2：z0z1z2111.05111.05b0.10250.08501.051.711.7b1F(1)0F(1)11.71.050.350。(1)F(1)0(1)F(1)11.71.053.750。2na1.051。③a02b0.10250.085。④b0n12.3z1.7z0.30）z32：z13z0z2z-0.311.7-2.3-2.31.71-0.3-0.91-1.01431b10b11b21F(1)0F(1)12.31.70.30.10。(1)F(1)0(1)F(1)(12.31.70.3)5.30。0.31。3na③a03b0.911.01。④b0n12.2z1.51z0.330）z32：z12z3zz0-0.33-2.2-2.211-0.33-0.7841b10b11b21F(1)0F(1)12.21.510.330.020。(1)F(1)0(1)F(1)12.21.510.335.040。0.331。3na③a03b0.89110.784。④b0n11(t),t,t/22441e4s,W(s)h0,W(s)T。ss1d411111T1z1zze1z1zz11ze11GzRzEz1t當(dāng)rtzzEzz11Rzz141e1ze111elimz1Ezlim0.2e)14ss1z1z11ze1當(dāng)rttzz1RzTzzEz2z1z1e412211ze145zz1e)ez1Ez1z1z11ze1當(dāng)rtt/22zz11zz1TzzEz2z132Rz41e12z12z1331ze1zz12z12elimz1Ezlime)1z1z11ze1z1，TsW(z)3(zzB2函數(shù)W(z)K1WzWz解答：由WzBKKzWzzzWz3(z2WzBz13z4z1K21B3(zz210.5w將z10.5w10.5w10.5w0.50.125w0.5w1.52W()2ww110.510.510.5wKw2w34110.5w將代入W(w)得wKjj1120.5j1.50.125j26Wj2jj1192jj1K46伯德圖1W(s)s(sTs。連續(xù)系統(tǒng)奈奎斯特圖47不帶零階保持器的奈奎斯特圖z）勞斯表中出現(xiàn)全00000成余下的計(jì)算，由30*z1zsz2sz3*48TI12T*12zz與ziizzj，zziiiiiiy(k)Az，y(k)AzkkiziiiiziiiA、AzijAAej，AAeAiiiiii將A、A和z、zijiiy(k)y(k)y(k)iiziziiAzeAzej()j()kkiAiAiiiiii2Azcos(k)kiiiAi49:字Tz1TD(s)，s20.2s1D(z)1z1s(得T1D(z)1z）0.21z1+112TTT2z(20.2)zTT12121z2.2z2.221U(z)E(z)(z2.2z2.2)=E(z)D(z)U(z)21zu(k)u(k1)0.45u(k2)0.45e(k)z1s()得T1D(z)（z1）0.2z1+12TTT2(z1)T(z1)T22z21.8z1.8z12150U(z)E(z)D(z)，所以，U(z)(1.8z1.8z1)=E(z)z221zu(k)1.8u(k1)1.8u(k2)e(k2)s1TD(s)s21.4s1D(z)解答:sj1,2zj1,2ZeZz13K10.370zz)11D(z)z(0.3770.324j)z(0.3770.324j)z]11K10.370zz)11z0.247z0.754z121D(z)由D(s)得s0z1K10.370z(1z)s11z,Ks1.4s10.247z0.754z1z221s0z110.370zz)11D(z)zz121U(z)E(z)D(z)0.754z1)(0.3910.246z0.145z)U(z)(0.247z=E(z)2112有u(k)0.754u(k1)0.247u(k2)0.391e(k)0.246e(k1)0.145e(k2)s1TD(s)0.2s1D(z)1z1s()得T511z111Tz10.20.21.1z1TD(z)1z10.30.2z1Tz10.21TU(z)D(z)Uz()(0.30.2z)E(z)(1.1z)1=1E(z)zu(k)0.67u(k1)3.67e(k)3.33e(k1)5(s2)TD(s)s8D(z)2z1:s()Tz12z1521T)zT45zTz1D(z)2z1T)z2T6z18Tz1U(z)E(z)D(z)Uz()(146z)E(z)(5545z)1=1zu(k)0.43u(k1)3.93e(k)e(k1)k(k)Ke(j)Ke(k)e(k解答:位置式數(shù)字PID控制算法:u(k)Kepidj1u(k)K(k)(k1)Ke(k)Ke(k)(k1)(k2)增量式:推導(dǎo)出位置式數(shù)字PID控制器（變換形式）為：pidzU(z)E(z)T)Tz1D(z)K1dT(1z)Tp1i1KKKz)11z1pid推到出增量式PID控制器形式為：U(z)D(z)Kz)KK2zz)211E(z)pid52積分分離是當(dāng)偏差大于某一規(guī)定的門(mén)限值時(shí)，取消積分作用；只有當(dāng)誤差:作用對(duì)系統(tǒng)動(dòng)態(tài)性能的有害影響。當(dāng)(k)eu(k)0,u(k)u(k1),0當(dāng)(k)eu(k)。0e0u(k):、K、T和TKKKpidpidk、T、Tpid:大KpKpKpKKppKpTiTiTTii53TdTdTd1(s)K(1)K3T0.5s，，DTsipPiTst)et)6etdtt:u,0ut)u()t)e()eetTek()()t0i1k則Tkku(k)Ke(k)e(j)e(k)0.6e(j)Tipj1j110.17sD(s)0.085s解答:可知()2()11.77t(),對(duì)該模擬控制器進(jìn)行離散化處理可得utetetdt0ut)u()t)e()eetTek()()t0i1TkTk省略采樣周期，即記為則TTkku(k)Ke(k)e(j)e(k)4.35e(j)pj1j1iu(k)u(k)u(k1)=4.35e(k)2e(k1)增量式控制算法:2.5sTu6KuT0.43T1.08i，iTu54TT0.09，T0.23Tiu0.20T0.50d，TiuK0.342.04，KpKpu軋機(jī)hr測(cè)厚儀式厚度自動(dòng)控制系統(tǒng)的不穩(wěn)定現(xiàn)象AhArAB方向偏離基準(zhǔn)值（比hBrC呈2*已知某被控對(duì)象的傳遞函數(shù)為W(s)，設(shè)計(jì)的模擬控制器為s(s0.35(s0.06)D(s)T和s0.0041z1s():T1z10.350.060.350.021T0.35zT1D(z)1z11Tz10.004T55121ezT2W(z)Z1)zez)s(s1T1，1當(dāng)TR(z)1z1，21ez10.10.190z1zez)11.905z0.905zD(z)0.35,W(z)10.1112D(zW(z)z1W(z)1D(zW(z)1zzB120.0665z110.0665z11zz0.905zY(z)W(z)R(z)1z0.905z1zB121123當(dāng)T21ezz1111.264z1D(z),W(z)z1zez)11.368z0.368z(111112D(zW(z)W(z)zz121D(zW(z)2.373zzzB123Y(z)W(z)R(z)B0.469z0.442z1122.373z1.737z0.368z1z12310.469z0.442z121.004z4.110z2.105z0.368z123當(dāng)T21ezz1211.729z1D(z),W(z)z1(1zez)11.135z0.135z12112D(zW(z)W(z)0.678z0.605z121D(zW(z)zzzB12356Y(z)W(z)R(z)B0.678z0.605z1121.0082.144zz0.135z1z12310.678z0.605z121.008z3.415z1.406z0.135z123*1TD(z)KpKpY(z)+-T圖1帶數(shù)字PID的計(jì)算機(jī)控制系統(tǒng)Z1e105105TsG(z)ZZ(1e)Tss(ss2)s(s1)(s2)0.0453zz)0.0453(z110.905zz)(z0.905)(z11KD(z)p0.0453Kz0.904Wzpz1.724z0.7410.0453Kz0.04095KB2ppYz。y()lim(z1)W(z)R(z)Bz10.0453z(z0.904)Klimpz1.724z0.7410.0453Kz0.04095K2z1pp0.08625Kp0.0170.08625Kp125時(shí)y()0.835,e當(dāng)K當(dāng)K當(dāng)K0.165。pss時(shí)y()0.901,e0.09。pss時(shí)y()e0.038。pss57Kp的*規(guī)es(s)W*s1u(k)。（1）計(jì)算反饋回路偏差e(k)e(k)r(k)y(k)()yk1TsNT設(shè)m()1Ys()Ds(Ws)e)esmsU(s)1s1()dyty(t)u(t)u(t1)dt11(1)(2)uk()yk(1)ykuk22()ek()()()ekekyku(k)u(k)u(ku(k)u(kK(k)(kK(k)piK(k)(k1)(kdz58W(z)BW(z)W(z)W(z)ddB[1W(z)]W(z)中設(shè)置了與W(z)BedW(z)的B122zW(z)B0.5z1W(z)TsD(z)，10.5z1d59tr(t)1W(z)W(z)(1z)，W(z)2zz1212BeB1212dBz(2zz)112Y(z)W(z)R(z)B12234y(0)0,yT)0,y(2T)2,yT)3,y(4T)4,112W(z)W(z)R(z)z)12dd4z4z5z6z12341z12Y(z)W(z)R(z)B2zzzz123412U(z)R(z)dd234zz(2zzz)1121Y(z)W(z)R(z)z)B13z3.5z7z11.5z2345zY(z)W(z)B2z(10.5z)(1z)1121U(z)W(z)W(z)R(z)(1z)13dd2z6z10.5z16z1234y(t)r(t)u(t)z(1z)11e()lim(1zW(z)R(z)lim(1z)(1z)111122(1z)e13z1z1Ts圖中，若W(s)s(sD(z)u(k)y(k)1611eW(z)Z(1z)Z1s(s1.251)s(s1.251)sd23z)Z1s2ss1.251s3)z1.070(1)zzz1121(1z)1(1z)(1z)1z1ez1131210.263z(1z)(12.83z)111=z)(1z)1211(t)1(t)R(z)，r。1z1(z)WBW(z)fz(10.189z)(12.83z)111B1f1(z)1由WBz1f(10.189)(12.83)1，f0.21911W(z)0.219z(10.189z)(12.83z)111B1W(z)10.219z(10.189z)(12.83z)(1z)(10.205z)(10.576z)111111BD(z)1W(z)D(z)BW(z)1W(z)dBzz)z(1z)(12.83z)11111z2.83z)(1z)(1z)(1z)11111zz)110.205zz)11D(z)）u(k)u(k)Y(z)W(z)U(z)R(z)BW(z)W(z)dd620.219z(10.189z2.83z)(1z)(10.286z)11111210.263z11z1z2.83z)(10.189z)(12.83z)11110.833z0.238z0z123可見(jiàn)，U(z)y(k)z(1z)(12.83z)111Y(z)W(z)R(z)1z1B0.219z0.664z0.117z1230.219z0.883zzz123410.50)t(u-1.5012345678910t21.51)t(y0.50012345678910tz1圖中，若W(z)1z1d1m11(t)R(z)，1r(t)，1z1(fzfz)(20.2z)W(z)W(z)B121B12W(z)|(ff)2.21Bz112ff0.2)(2)12W(z)|B(1z1.21.442630.15f0.6f，12W(z)(0.15z0.6z)(20.2z)121BW(z)D(z)(0.15z0.6z)(20.2z)121BW(z)1W(z)20.2z111.2z10.3z1.17z0.12z)123dB(0.15z0.6z)(11.2z)1210.3z1.17z0.12z)123D(z)）u(k)u(k)Y(z)W(z)(0.15z0.6z1.2z)121U(z)R(z)BW(z)W(z)(1z)1dd0.15z0.57z1.29z1.29z1234(z)可見(jiàn)，Uy(k)(0.15z0.6z)(20.2z)121z141Y(z)W(z)R(z)B0.3z0.87zzz123(z)中z1z1時(shí)最嚴(yán)重，離z1越WuR(z)1/(1z)W(z)1zuz13章u(k)D(z)z1z1D(z)64zc/cccz11z2112cc(1e)(1e)TT/TT/1212eT/0ezez)T/21T/T1D(z)1Keeeze)z(N]T0TT/T2/T01//1解答：通過(guò)選擇合適的采樣周期TT0*D(z)u(k)2*(z)Fzz1()(1)'()1WWzz1mBB1W(1)101(11)F'(z)0z1B(1,0)*65國(guó)在*5)u0t(00.5123t32.521.51t(0.5000.511.5t23*66*W(z)'BW(z)[fzfzfzfz'12m(m1)B12mm1z)z)zfz(mp)11Lmp1n，f，，f，，，f12mp12n為W(z)nW(z)'W(z)BBn(1cz)1ii1W(z)cidW(z)dD(z)*和TT0TRA0RATT67T之比(/T；W(z)W(z)；dB或當(dāng)a(22)/2或TT/ln(22)0若Na3TT0/ln3或*U(z)R(z)Y(z)W(z)U(z)R(z)W(z)R(z)BW(z)W(z)uddW(z)D(z)W(z)BW(z)1D(zW(z)udd(z)R(z)到是U(z)1/(1z)W(z)zR1uz1KW(s)e(N)Ts11012章z1esTK(z)ZW(s)(1z)Ze(N)W1sTs1)sd11/KT1z)zZeKz)zZe1N1NsTs1)s(s1/T)11bbzz1e)T/T1Kz)z1zN11N121z11ezT/T11bz11be(1)，bKb，bK(bb)。T/111268W(z)BeT/Tbz)01W(z)W(z)ezbbz)uT/T110d12eT/0zb/b。z21在b/b121t)At)Bt)xxuyt)Cxt)220,C10,T0.25s。,BA0.50.750.5解