2015/12/1 T例1-11 P控制（续） 设定量单位阶跃(D(s)=O) 扰动量单位输入(R(s)=O) Step Response Step Response K2=0.1 K=5 0.8 K。=0.5 K。=0.5 0.6 K。=1 0.4 K。=0.1 K。=2 0.2 K。=5 234567891 2 3 456 7 89 10 Time(sec) Time (sec) School of Mechanical Engineering ME369-lecture 8.2 Shanghai Jiao Tong University Fall 2015 例1-2] PI控制 系统设计要求：1)零稳态误差；2)阶跃响应时超调量小于10%； 3)2%允许误差范围时的调整时间小于6秒。 Disturbance D(s)I Reference Comt山oller Control Plant Ge(s) Input Input+ 4 Output R(s) E(s) Gc(s) Us) (2s+1D(0.5x+1) s Sensor H(s) 1 1 G.(s)=Kp+K Kps+K Kos+KI 4 G(s)G(s) (25+1(0.55+1) 4(Kp3+K) G(5)= 1+G(s)G(3)H(s) 1+8+K 4 5(25+1(0.55+1)+4K-+K,) (25+10(0.55+1) G(s)= G(s) +Gc(s)-Gp(s)H(s)s(2s+10(0.5s+1)+4(Kps+,） School of Mechanical Engineering ME369-lecture 8.2 Shanghai Jiao Tong University Fall 2015 32015/12/1 3 BE315-Lecture 8.2 Fall 2011 ME369-lecture 8.2 Fall 2015 School of Mechanical Engineering Shanghai Jiao Tong University 设定量单位阶跃(D(s)=0) 扰动量单位输入(R(s)=0) [例1-1] P控制（续） BE315-Lecture 8.2 Fall 2011 ME369-lecture 8.2 Fall 2015 School of Mechanical Engineering Shanghai Jiao Tong University [例1-2] PI控制 系统设计要求：1）零稳态误差；2）阶跃响应时超调量小于10%； 3）2%允许误差范围时的调整时间小于6秒。 I 1 ( ) K P I c P K s K G s K s s    