計(jì)算機(jī)控制技術(shù) 第2版 姜學(xué)軍 課后答案[1-5章]

1、 ch1: 1. 2. 7. ddc a/d ddcsccddc scc ddcddc scc 8. 9. ddcddc ddc scc dcs dcs fcs ddc scc cims/cips 11. 13. f (kt) 2 1 ( )|()()()()() 2! t kt f tf ktfkt tktfkt tkt f (t)f (kt)ktt(k1)t zohzero- order hold f (ktkt() )ktkt 22 ( )|()()()()()( )|()()()()() 2 ( )|()()()()()( )|()()()()()( )|()()()()() 2 kt

2、ktt t 1z 1( )1 at f te ( )* 1 at zz f z zze 2( )(1/4)kf t 12 00 ( )()(1/4)(1/4)(1/4)(1/4) nknkkk nn f zf kt zzzz 1 1 (1/4)(1/4) 11 kk z zz 3 6 ( ) (2) f s s s 633 ( ) (2)2 f s s sss 2 2222 333(1) 1(1) t ttt zzez f z zzezeze 4 2 ( ) (1)(3) s f s ss 3 33 112 ( ) 222 ()() tt tttt zzzzee f z zezezeze 21

3、11 ( )() (1)(3)213 s f s ssss 2 1 1 1 2 10 ( ) (1) z f z z 1 1 2 10 (0)lim0 (1) z z f z 1 ( )lim( ) (1) z ff zz 2 12 123 143 ( ) 1262.5 zz f z zzz 2 333(1)333(1) 2 1(1)1(1) t 333(1) 22222222222222222222 zzezzzez333(1)333(1)333(1) 1(1)1(1) 333(1) 2222222222222222 333(1)333(1)333(1) 1(1)1(1)1(1) 22222

4、22222222222 zzezeze1(1)1(1)1(1) ( )()( )() 222 ()()222 ()()222 ()()222 ()() ttt2222 zzezeze 2222 3333 112112 222 ()() 33tttt3333 222 ()() 33 zzzzeezzzzee112112112 222 ()()222 ()() 33 zzzzee 33tttt33 222 ()()222 ()() 21112111 ( )()( )() 211121112111 (1)(3)213(1)(3)213 ( )()( )()( )() (1)(3)213(1)(3)2

5、13 ( )()( )()( )()( )()( )() (1)(3)213(1)(3)213(1)(3)213(1)(3)213 12 123 143 (0)lim1 1262.5 z zz f zzz 1 ( )lim( ) (1)0 z ff zz 3 2 5 ( ) 43 z f z zz 2 5 (0)lim0 43 z z f zz 1 ( )lim( ) (1) z ff zz 4 22 22 (1) ( ) (0.81)(0.8) zzz f z zzzz 22 22 (1) (0)lim1 (0.81)(0.8) z zzz f zzzz 1 ( )lim( ) (1)0 z

6、 ff zz 3z 1( ) 0.5 z f z z 1 0.5 0.5 k z l z ()0.5kf kt 0 ( )0.5() k k fttkt 2 2 ( ) (0.1)(0.8) z f z zz 1 2 1 ()re (0.1)(0.8) k i z f kts zz 11 0.80.1 (0.8)|(0.1)| (0.1)(0.8)(0.1)(0.8) kk zz zz zz zzzz 11 1 (0.80.1) 7 kk 11 0 1 ( )(0.80.1) () 7 kk k fttkt 3 2 0.5 ( ) (1)(0.5) z f z zz 0 0 ( )0.5()(

7、 )0.5() k k ( )0.5()( )0.5()( )0.5()( )0.5()( )0.5()( )0.5()( )0.5()( )0.5()( )0.5()( )0.5()( )0.5()( )0.5()( )0.5()( )0.5()( )0.5()( )0.5() (0.1)(0.8)(0.1)(0.8) (0.1)(0.8) k z 0.5 ( ) 10.5 zz f z zz 11 0.5 1 0.5 10.5 k zz l zz 1 0 ( )(1 0.5) () k k fttkt 4( ) (1)(2) z f z zz 2 1 ()re (1)(2) k i z f

8、 kts zz 12 (1)|(2)| (1)(2)(1)(2) kk zz zz zz zzzz 21 k 0 ( )(21) () k k fttkt 5 1y(k)0.5y(k1)u(k) u(t) 1(t)k0y(k)0 z 1 ( )0.5( )( )y zz y zu z u(t) 1(t) 1 ( )0.5( ) 1 z y zz y z z 1 1222 ( ) 1 0.510.51211121 zzzzzzz y t zzzzzzzz z( )2(1/2)ky k (2)y(k)4y(k1)3y(k2)u(k)5u(k1) u(t)d (t)k0, y(k)0 z 121 (

9、 )4( )3( )( )5( )y zz y zz y zu zz u z 12 122 1 552 ( ) 1434313 zzzzz y z zzzzzz z( )2( 1)( 3) kk y k 6z (1)y(k)2y(k2)3y(k4)u(k)u(k 1) k k 1 0.510.512111211 0.510.512111211 0.510.512111211 0.510.51211121 y( (k k) ) k0 0 1 ( )0.5( )( )0.5( ) 1 ( )0.5( )( )0.5( )( )0.5( ) 1 ( )0.5( )( )0.5( )( )0.5( )

10、( )0.5( )( )0.5( )( )0.5( ) 1212121212 1 0.510.512111211 0.510.512111211 0.510.512111211 0.510.512111211 0.510.512111211 0.510.51211121 ( )2(1/2)( )2(1/2)( )2(1/2)( )2(1/2)( )2(1/2) z 241 ( )2( )3( )( )( )y zz y zz y zu zz u z 143 2442 ( )1 ( ) ( )1 2323 y zzzz g z u zzzzz (2)y(k)y(k 3)u(k)2u(k2) z

11、32 ( )( )( )2( )y zz y zu zz u z 23 33 ( )1 22 ( ) ( )11 y zzzz g z u zzz 7gsz 1 2 ( ) (0.11) g s ss 222 ( ) (0.11)10 g s ssss 11011101 220 (1/10)22 ( ) 1111 tt g z zezzez 2 2(1) ( ) (0.11) ts e g s ss 2(1)22 ( )(1)() (0.11)10 ts ts e g se ssss 1 1010 2222 ( )(1)()2 1 tt zzz g zz zzeze 82.1z ( ) ( )

12、 ( ) y z g z u z 1 1 ( ) 1 g s s 2 1 ( ) 0.11 g s s 2.1 12 1011 ( )( )( )() 9110 g sl g z g zl ss 1101110111011101 220 (1/10)22220 (1/10)22 1101110111011101110111011101110111011101 zezzezzezzez111111111111 110111011101110111011101110111011101110111011101 zezzezzezzezzezzez1111111111111111 11011101 z

13、ezzez 11011101 2(1)222(1)22 ( )(1)()( )(1)()( )(1)() 2(1)222(1)22 (0.11)10(0.11)10 ( )(1)()( )(1)() (0.11)10(0.11)10 ( )(1)()( )(1)()( )(1)() (0.11)10(0.11)10(0.11)10(0.11)10(0.11)10(0.11)10 10 22222222 ( )(1)()2( )(1)()2 1010 1 tt ( )(1)()2 222222222222222222222222 zzezezzeze 10 1 ( )(1)()2( )(1)()

14、2( )(1)()2 10 ( )(1)()2( )(1)()2( )(1)()2( )(1)()2 zzezezzezezzeze1 ( )g zg z ( ) 10 1010 9 tt zz zeze 12 10 10 ( )( )( ) tt zz g zg z g z zeze 92.2 2.2 121 ( )( )( )( )( )( )e zr zg z g z g z e z 2 12 ( ) ( ) 1 ( )( ) r z e z g zg z 12 2 12 ( )( )( ) ( )( )( ) 1 ( )( ) g z g z r z y ze z g z g zg z

15、 12 2 12 ( )( )( ) ( ) ( )1 ( )( ) g z g zy z w z r zg zg z 21 ( )( )( )y zg z e z 1121 ( )( )( )( )( )e ze z g zg z e z 12 2 ( )( )( ) ( ) ( )1( ) g z g zy z g z e zg z 2.22.2 121121 ( )( )( )( )( )( )( )( )( )( )( )( ) 121121 ( )( )( )( )( )( )( )( )( )( )( )( )( )( )( )( )( )( ) 121121121 ( )( )(

16、 )( )( )( )( )( )( )( )( )( )( )( )( )( )( )( ) 2 2 1212 ( ) 1 ( )( )1 ( )( ) 2 2 121212 ( ) 1 ( )( )1 ( )( )1 ( )( ) 2 2 12121212 1 ( )( )1 ( )( )1 ( )( ) 112 212 ( )( )( ) ( ) 1( )1( )( )( ) g zg z g z w z g zg zg z g z : 1.3.1( )y t 20 ( ) (10) g s s s t0.1s e(z)r(z)e(z)g(z)y (z)e(z)g(z) ( ) ( )

17、1( ) r z e z g z ( ) ( )( ) 1( ) g z y zr z g z 20111 ( )() (10)2110 g s s sss 10 1.264 ( )2()2() 110.36810.368 t zzzzz g z zzezzzz ( ) 1 z r z z 2 2 1.2641.264 ( ) 110.3681.2641 (0.1040.368) zzz y z zzzzzzz 12 1.2640.258zz ( )1.264()0.258(2 )y ttttt 2.3.1 1 ( ) (0.11) g s ss t0.1s 1011 ( ) (10)110

18、g s s sss 0.632 ( ) 10.368 z g z zz 0.632 lim(1)1 10.368 v z z kz zz ( )0.1 v v t e k 53.1 10 ( ) (1) g s s s t1s (1) 110.3681.2641 (0.1040.368)110.3681.2641 (0.1040.368) zzzzzz 110.3681.2641 (0.1040.368)110.3681.2641 (0.1040.368)110.3681.2641 (0.1040.368)110.3681.2641 (0.1040.368)110.3681.2641 (0.1

19、040.368) 12 2 2 1.2641.264 110.3681.2641 (0.1040.368)110.3681.2641 (0.1040.368) 2 zzzzzz1.2641.264 110.3681.2641 (0.1040.368)110.3681.2641 (0.1040.368) 2 110.3681.2641 (0.1040.368)110.3681.2641 (0.1040.368)110.3681.2641 (0.1040.368) ( )1.264()0.258(2 )( )1.264()0.258(2 )( )1.264()0.258(2 )( )1.264()

20、0.258(2 )( )1.264()0.258(2 )( )1.264()0.258(2 )( )1.264()0.258(2 )( )1.264()0.258(2 )( )1.264()0.258(2 )( )1.264()0.258(2 ) t t0.1 1011 (2)routh (1)z 1011 ( )10() (1)1 g s s sss 6.32 ( )10()10() 110.36810.368 t zzzzz g z zzezzzz ( )6.326.32 ( ) 1( )10.3686.32(0.076)(4.876) g zzz w z g zzzzzz 1 0.076

21、z 2 4.876z 2 | 1z (2)( ) (1) k g s s s z(z1)(z0.368)0.6321kz0 w 2 0.6321.264(2.7360.632 )0kwwk routhrouth 2 1 0 w w w 0.632 1.264 2.7360.632k 2.7360.632 0 0 k k04.3k k10 6 32 45117119390zzz 32 45117119390zzz w 32 230254254820www routhrouth 3 2 1 0 w w w w 230 254 (230 82) 254 254 82 254 82 0 7 0.632

22、1.264(2.7360.632 )00.6321.264(2.7360.632 )00.6321.264(2.7360.632 )00.6321.264(2.7360.632 )00.6321.264(2.7360.632 )00.6321.264(2.7360.632 )00.6321.264(2.7360.632 )00.6321.264(2.7360.632 )0 2.7360.6322.7360.632 0 0 0 2.7360.6322.7360.6322.7360.632 0.63210.6321kzkz0 0 0.6321.264(2.7360.632 )00.6321.264

23、(2.7360.632 )00.6321.264(2.7360.632 )00.6321.264(2.7360.632 )00.6321.264(2.7360.632 )00.6321.264(2.7360.632 )0 2.7360.632k k 04.304.3k k04.304.304.304.304.304.3 (1) 11 ( ) (1 0.5)(1 2) k g z zz (2) 1 2 ( ) (1) k g z z routhk (1) 11 ( ) ( ) 1( )(1 0.5)(1 2) g zk w z g zzzk z 2 (1)2.510kzz w 2 (0.5)24

24、.50kwkwk 2 1 0 w w w 0.5 2 4.5 k k k 4.5 0 k 0.5k 0.5k (2) 1 2 ( ) ( ) 1( )(1) g zk w z g zkz z 2 (1)210kzz w 2 240kwkwk routhrouth 2 1 0 w w w 2 4 k k k 4 0 0 k 0k 0k 1 2 1( )(1)1( )(1) 1 2 (1)210(1)210(1)210(1)210(1)210(1)210(1)210(1)210(1)210(1)210 240240240240240 4 0 4.1 4.24- 1 0 1 ( ) (10.1 )(

25、10.05 ) g s sss 0.1s 4- 1 1 2 1110.150.020.0025 ( )(1) (10.1 )(10.05 )1 0.11 0.05 ts e g zzzz ssssssss 1 1 1 2111 0.05 (1) (1)11 0.3681 0.135 z z zzzz m2,u 1,v0, n1 111 1 ( )(1)(1 1.536)w zk zc zz 1 21 1 ( )(1) (1) e w zzd z ( )1( ) e w zw z 123123 11111 (2)(21)(1.536)1.536d zdzd zkzk czkc

26、z : 1 11 11 2 21(1.536) 1.536 dk dk c kcd 1 1 1.027 0.973 0.617 k d c 111 1 21 ( )1.027(1 0.617)(1 1.536) ( )(1) (1 0.973) e w zzzz w zzz 4- 14- 1 1 1 (10.1 )(10.05 )(10.1 )(10.05 ) g zzzzg zzzz 1 1 (10.1 )(10.05 )(10.1 )(10.05 ) g zzzzg zzzzg zzzz (10.1 )(10.05 )(10.1 )(10.05 )(10.1 )(10.05 ) ( )(1

27、) (1) 1 21 1 10.150.020.0025 (1) (1) 1 (10.1 )(10.05 ) (1) (1) 1 ssssssssssssssss (1) (1) (10.1 )(10.05 ) (1) (1) (1) (1) (1) (1) (1) (1) 1 ssssssssssssssss(10.1 )(10.05 ) 0.00.05 (1)(1) 1 21111 2111 0.00.05 (1)11 0.3681 0.135(1)11 0.3681 0.135 1 21111 21111

28、 21111 21111 21111 2111 (1)11 0.3681 0.135(1)11 0.3681 0.135 1 21111 21111 2111 (1)(1)(1) 1 21111 2111 (1)11 0.3681 0.135(1)11 0.3681 0.135(1)11 0.3681 0.135 1 111111 1 ( )(1)(1 1.536)( )(1)(1 1.536) 1 ( )(1)(1 1.536)( )(1)(1 1.536) 111111 1 111111111 ( )(1)(1 1.536)( )(1)(1 1.536)( )(1)(1 1.536)( )

29、(1)(1 1.536) 111111 1 1 1 211 211 211 21 111 111 1( )60.4(1 0.617)(1 0.368)(1 0.135) ( ) ( )( )(1 0.482)(1)(1 0.973) e e w zzzz d z g z w zzzz 234 ( )( )( )0.1030.30.4y zw z r zzzz 4.3 1111 1 ( )(1)(1 1.536)(1 0.482)w zk zc zzz 1 212 12 ( )(1) (1) e w zzd zd z ( )1( ) e w zw z 1234 111 1234 112212 (

30、2.018)(0.742.018 )0.74 (2)(21)(2) kzk czkc zc kz d zddzdd zd z 1 112 121 12 (2) (2.018)(21) (0.742.018 )(2) 0.74 kd k cdd kcdd c kd 1 2 1 0.78 1.22 0.38 0.658 k d d c 1111 ( )0.78(1 1.536)(1 0.428) 1 0.658w zzzzz 1 212 ( )(1) (1 1.220.38) e w zzzz 111 121 1( )45.882(1 0.658)(1 0.368)(1 0.135) ( ) (

31、)( )(1 1.220.38)(1) e e w zzzz d z g z w zzzz 11111111 ( )(1)(1 1.536)(1 0.482)( )(1)(1 1.536)(1 0.482)( )(1)(1 1.536)(1 0.482)( )(1)(1 1.536)(1 0.482) 1111111111111111111111111111 ( )(1)(1 1.536)(1 0.482)( )(1)(1 1.536)(1 0.482)( )(1)(1 1.536)(1 0.482) 111111111111 112212112212112212112212 123123 1

32、111 123123 111111111111 123123123123123 12341234 11111111 ( )(1)(1 1.536)(1 0.482)( )(1)(1 1.536)(1 0.482) 11111111 ( )(1)(1 1.536)(1 0.482)( )(1)(1 1.536)(1 0.482)( )(1)(1 1.536)(1 0.482) 1111111111111111111111111111 ( )(1)(1 1.536)(1 0.482) 1111 1 212 12 )w zzd zd zw zzd zd z 1 212 123412341234123

33、412341234 123123 (2.018)(0.742.018 )0.74(2.018)(0.742.018 )0.74(2.018)(0.742.018 )0.74(2.018)(0.742.018 )0.74 123412341234 1111111111 (2)(21)(2)(2)(21)(2)(2)(21)(2) 123123 112212112212112212 ( )( ) ( )( )( ) ( ) e u zd z e zd z w z r z 111 1 1( )45.882(1 0.658)(1 0.368)(1 0.135) ( ) ( )( )(1) e e w

34、zzzz d z g z w zz 12345 4.5885.2996.5896.5926.592zzzzz 4.44- 1 11 ( ) 1 ts e g s ss r(t)1(t)t=1s 1111 ( ) 1() 11 ts ts e g zzze ssss 1 11 11 (1)() 11 0.368 z zz 1 1 0.632 1 0.368 z z m=1u=v=0n=1 1 ( )w zkz 1 ( )1 e w zz 1 ( )1 e w zzk=1 1 1 ( )1.582(1 0.368) ( ) ( )( )1 e w zz d z g z w zz 11 0.3681

35、1 0.368 g s 11111111 ( ) 1()( ) 1() 11111111 1111 ( ) 1()( ) 1()( ) 1()( ) 1()( ) 1() 1111111111111111 ssssssss ( ) 1()( ) 1()( ) 1() 1111ssss1111 1111 (1)()(1)()(1)()(1)() 1111 1111 11 0.368 11 (1)() 1111 11 0.368 (1)() 1111 11 0.368 (1)()(1)()(1)() 4.5 2 ( )1( ), ( ), ( )/2r tt r tt r tt2 1 1 0.63

36、3 ( ) 1 0.368 z g z z 11,0,1muvn 1 ( )w zkz 1 ( )1 e w zz k=1 1 1 ( )1.582(1 0.368) ( ) ( )( )1 e w zz d z g z w zz 22,0,1muvn 111 2 1 ( )(1),( )(1) e w zkc zzw zz ( )1( ) e w zw z 1112 11 1 (1)22, 2 kc zzzzkc 11 1 2 ( )1.582(1)(1 0.368) ( ) ( )( )(1) e w zzz d z g z w zz 33,0,1muvn 1211 3 12 ( )(1)

37、,( )(1) e w zkc zc zzw zz ( )1( ) e w zw z 121123 1212 1 (1)3332,1, 3 kc zc zzzzzkcc 121 1 3 1 1.582(1)(1 0.368) ( ) 3 ( ) ( )( )(1) e zzz w z d z g z w zz 1 1 1 ( )1.582(1 0.368)( )1.582(1 0.368) 1 1 ( )1.582(1 0.368) g z w zz ( )1.582(1 0.368)( )1.582(1 0.368)( )1.582(1 0.368) 22,0,122,0,122,0,1 (

38、 )(1),( )(1)( )(1),( )(1) 1111 1 21 2 ( )(1),( )(1)( )(1),( )(1) 1 21 2 ( )(1),( )(1)( )(1),( )(1)( )(1),( )(1) 1112 1111 (1)22,(1)22, 111211121112 1111 (1)22,(1)22,(1)22, 11121112 111111 ( )1.582(1)(1 0.368)( )1.582(1)(1 0.368) ( )( )(1) 1( )1( )r tt 2( )r tt 2 3( )/2r tt 4.64- 1 0 5 ( ) (1) g s s

39、s 0.1sdz 15 ( ) (1) ts e g zz ss s 11 11 0.025(1 0.9) (1)(1 0.9052) zz zz 121 2 ( )2,( )(1) e w zzzw zz 1 2 1 (1) 1( ) 1 e z w z cz , 12 1 (2) ( ) 1 e c zz w z cz z z 15 23 12 (2) ( )( ) ( ) 1 (1) e c zz y zw z r z czcz 1 2 11 (1) ( )(1( ) ( ) (1)(1) e z e zw z r z czz 1 1 ( )lim(1) ( )0 z eze z 23

40、123 (2) ( )( ) ( ) 1 (2)(12 ) e c zz y zw z r zt czc zcz 1 21 11 2 (1) ( )(1( ) ( ) (1)(1) e ztz e zw z r z czz 1 1 ( )lim(1) ( )0 z eze z c=0 10c 1234 ( )1( ): ( )2r tty zzzzz 234 ( ): ( )234r tt y ztztztz 20.2c 1234 ( )1( ): ( )321.0064r tty zzzzz 234 ( ): ( )1.82.963.992r tt y

41、ztztztz 30.5c 123456 ( )1( ): ( )031.0631.0311.016r tty zzzzzzz 23456 ( ): ( )1.52.753.8754.9365.969r tt y ztztztztztz 40.8c 123456 ( )1( ): ( )281.1021.0821.066r tty zzzzzzz 23456 ( ): ( )1.22.363.4884.595.672r tt y ztztztztztz c=0.5 11 11 60(1 0.905)(1 0.667) ( ) (1 0.9)(1) zz

42、d z zz 12341234 r tty zzzzzr tty zzzzz 123412341234123412341234123412341234 r tty zzzzzr tty zzzzzr tty zzzzz 123412341234 234234 ( ): ( )234( ): ( )234 234234 r tt y ztztztzr tt y ztztztz 234234234 ( ): ( )234( ): ( )234 234234234234234234234234234234 r tt y ztztztzr tt y ztztztz 234234234 ( ): ( )

43、234( ): ( )234( ): ( )234( ): ( )234 234234234 ( )1( ): ( )031.0631.0311.016( )1( ): ( )031.0631.0311.016( )1( ): ( )031.0631.0311.016( )1( ): ( )031.0631.0311.016 ( ): ( )1.82.963.992( ): ( )1.82.963.992( ): ( )1.82.963.992( ): ( )1.82.963.992 234 12341234 (

44、)1( ): ( )321.0064( )1( ): ( )321.0064 123412341234 ( )1( ): ( )321.0064( )1( ): ( )321.0064 123412341234123412341234 ( )1( ): ( )321.0064( )1( ): ( )321.0064( )1( ): ( )321.0064( )1( ): ( )321.0064 123412341234 23423423

45、4234234 ( ): ( )1.82.963.992( ): ( )1.82.963.992 234 123456 ( )1( ): ( )031.0631.0311.016( )1( ): ( )031.0631.0311.016 123456 ( )1( ): ( )031.0631.0311.016( )1( ): ( )031.0631.0311.016 123456 ( )1( ): ( )031.0631.0311.016( )1( ): ( )031.0631.0311.016( )1( ): ( )031.0631.0311.016 123456 ( )1( ): ( )031.0631.0311.016( )1( ): ( )031.0631.0311.016( )1( ): ( )031.0631.0311.016 123456123456 5.4 2 1 0.21 ( ) s