§3.6.4 动态误差糸数法(2) (1)动态误差系数法解决问题的思路 Φ() E(s) Φ(0)+,Φ(0)s+Φ”(0)s2+…+,Φ((0)s+ R(S) (0)i=0,1,2 +C1s+C2+…=∑C i=0 E(S=(S).R(S) R(S)+CsR(S)+C25r(s)+.+CSr(s) ()+C;(1)+C2()+…+C;r"()+…=∑Cr()§3.6.4 动态误差系数法(2) (1) 动态误差系数法解决问题的思路 e = = e +  e + e  + e i s i + i s s R s E s s Φ (0) ! 1 Φ (0) 2! 1 Φ (0) 1! 1 Φ (0) ( ) ( ) Φ ( ) 2 ( ) Φ (0) 0, 1, 2, ! 1 ( ) = i = i C i i e i i i C C s C s C s  = = + + + = 0 2 0 1 2  E(s) Φ (s).R(s) = e ( ) ( ) ( ) ( ) ( ) ( ) ( ) 0 ( ) 0 1 2 e t C r t C r t C r t C r t C r t i i i i s i   = = +  +  ++ += = C0R(s) + C1sR(s) + C2 s 2R(s) ++ Cis iR(s) +