西北工业大学：《自动控制原理》课程教学资源（实验指导）引言.doc_大学文库

1 目录引言····················································································6 实验一典型环节的模拟研究························································15 一．实验目的······································································15 二．实验内容······································································15 三．实验步骤······································································15 1．观察比例环节的阶跃响应曲线·················································15 2．观察积分环节的阶跃响应曲线·················································16 3．观察比例积分环节的阶跃响应曲线·············································16 4．观察微分环节的阶跃响应曲线··················································17 5．观察比例微分环节的阶跃响应曲线·············································18 6．观察比例微分积分环节的阶跃响应曲线········································19 7．观察惯性环节的阶跃响应曲线·················································20 8．观察二阶振荡环节的阶跃响应曲线·············································21 四．实验结果······································································22 实验二典型系统的动态特性与稳定性测试·····································24 一．实验目的······································································24 二．实验内容······································································24 三．实验步骤······································································24 1．典型二阶系统的响应曲线·····················································24 2．典型三阶系统的响应曲线·····················································25 四．实验结果······································································26 实验三二阶系统特征参数对系统性能的影响···································28 一．实验目的······································································28 二．实验内容······································································28 三．实验步骤······································································28 1．观测特征参量ξ对二阶系统性能的影响·······································28 2．观测特征参量 n 对二阶系统性能的影响·······································29 3．观测斜坡输入作用下二阶系统的静态误差·······································30 四．实验结果·······································································31 实验四线性系统的串联校正······················································34 一．实验目的······································································34 二．实验内容······································································34 三．实验步骤······································································34 1．待校正线性系统································································34 2．串联滞后校正··································································35 3．串联超前校正··································································36

2 4．串联 PD 校正··································································37 四．实验结果······································································38 实验五线性系统校正·······························································39 一．实验目的······································································39 二．实验内容······································································39 三．实验步骤······································································39 1．待校正二阶线性系统··························································39 2．反馈校正二阶线性系统························································40 3．待校正三阶线性系统···························································41 4．超前滞后校正三阶线性系统····················································42 四．实验结果······································································43 实验六开环增益与零极点对系统性能的影响···································44 一．实验目的······································································44 二．实验内容······································································44 三．实验步骤······································································44 1．原始二阶系统·································································44 2．闭环极点对原始二阶系统的影响··············································45 3．闭环零点对原始二阶系统的影响··············································46 4．开环极点对原始二阶系统的影响··············································49 5．开环零点对原始二阶系统的影响··············································50 6．开环增益 K 对二阶系统的影响················································52 四．实验结果······································································52 实验七典型系统的频率特性测试················································57 一．实验目的······································································57 二．实验内容······································································57 三．实验步骤······································································57 1．一阶惯性环节的频率特性·····················································57 2．二阶环节的频率特性曲线·····················································58 四．实验结果······································································59 实验八典型非线性环节静态特性测试···········································60 一．实验目的······································································60 二．实验内容······································································60 三．实验步骤······································································60 1．继电特性······································································60 2．饱和特性······································································61 3．死区特性······································································61 4．间隙特性······································································62 四．实验结果······································································64

3 实验九非线性系统的相平面法分析··············································65 一．实验目的······································································65 二．实验内容······································································65 三．实验步骤······································································65 1．继电型非线性二阶系统························································65 2．带速度反馈的继电型非线性二阶系统··········································66 3．饱和型非线性二阶系统························································67 四．实验结果······································································68 实验十非线性系统的描述函数法分析···········································69 一．实验目的······································································69 二．实验内容······································································69 三．实验步骤······································································69 1．继电型非线性三阶系统························································69 2．饱和型非线性三阶系统························································70 四．实验结果······································································71 实验十一状态反馈································································72 一．实验目的······································································72 二．实验内容······································································72 三．实验步骤······································································72 1．待校正二阶系统·······························································72 2．状态反馈系统·································································73 四．实验结果······································································74 实验十二 A/D 与 D/A 转换及零界阶保持器·····································75 一．实验目的······································································75 二．实验内容······································································75 三．实验步骤······································································75 1．A/D 与 D/A 转换·······························································75 2．零阶采样保持·································································75 四．实验结果······································································76 实验十三离散控制系统动态性能和稳定性的混合仿真研究···················77 一．实验目的······································································77 二．实验内容······································································77 三．实验步骤······································································77 1．原始二阶系统··································································77 2．离散控制二阶系统·····························································78 四．实验结果······································································78 实验十四步进电机控制实验······················································79

4 一．实验目的······································································79 二．实验说明······································································79 三．实验内容······································································79 四．实验步骤······································································79 实验十五直流电机转速控制实验·················································80 一．实验目的······································································80 二．实验说明······································································80 三．实验内容······································································80 四．实验步骤······································································80 实验十六温度控制实验···························································81 一．实验目的······································································81 二．实验说明······································································81 三．实验内容······································································81 四．实验步骤······································································81 实验十七随动系统实验·······················································82 一．实验目的······································································82 二．实验说明及内容································································82 三．实验思考题····································································83