64反馈校正 6.16.26.3 今利用反馈校正取代局部结构 G1(s) G(s) G()若G(O)H(a)1 He(s) 1+G(S)H(S) 则G(o) H(0) ◆利用反馈校正改变局部结构、参数 比例反馈包围积分环节: /K Gs)=K/s,H(s)=K,G(s) h h 1+S/KK h 比例反馈包围惯性环节 1+KK G1(s) , H(s)=K, G(s) 1+Ts T 微分反馈包围惯性环节: 1+ 1+K K G1(s) H2(S)=K,s,G(s)= 1+Ts 1+(T+KK,)s 微分反馈环节包围振荡环节: K K G()=1,2n2,H(S)=K,s,G(S)= +25s+ l+(25T+KK,)s+7s6.4 反馈校正 ❖ 利用反馈校正取代局部结构 1 ( ) ( ) ( ) ( ) 1 1 G s H s G s G s + c = 若G1 ( j)Hc ( j) 1 ( ) 1 ( )   H j G j c 则  h h c h s KK K G s K s H s K G s 1 / 1/ ( ) / , ( ) , ( ) 1 + = = = s KK T KK K H s K G s Ts K G s h h c h + + + = = + = 1 1 1 , ( ) , ( ) 1 ( ) 1 T KK s K H s K s G s Ts K G s t c t 1 ( ) , ( ) , ( ) 1 ( ) 1 + + = = + = 1 2 2 2 2 1 (2 ) , ( ) , ( ) 1 2 ( ) T KK s T s K H s K s G s Ts T s K G s t c t + + + = = + + =   G1 (s) Hc(s) ❖利用反馈校正改变局部结构、参数 ➢比例反馈包围积分环节: ➢比例反馈包围惯性环节 ➢微分反馈包围惯性环节: ➢微分反馈环节包围振荡环节: 6.1 6.2 6.3