3.3.4.1比例一微分控制(PD控制) Proportional-plus-derivative Control R(S E(s) s(s+25n) Tds 图3-15PD控制系统 (Is+l) Go C(S)H(S) LyS+Do On(TS+1)25 K(TdS+l) E(s) S(S+25n) (3-33) ≈2t)S(S/25an+1)S(S/25mn+1) n K 25 称为开环增益 n,5有关 闭环传递函数为 LO, (S+-) ()=G) (TS+1) I+G(s) $+25o,S+lo S+o, S+(250, +o )S+a3.3.4.1 比例－微分控制（PD控制） Proportional-plus－derivative Control 1 R(s) C(s) T sd ( 2 ) 2 n n s s    — + E(s) 图3-15 PD控制系统 ( 2 1) ( 1) ( 2 1) ( 1) 2 1) 2 2 ( ( 1) ( 2 ) ( 1) ( ) ( ) ( ) ( ) 2 2 + + = + + = + + = + + = = n d n d n n n n d n d n S S K T S S S T S S S T S S S T S H s E s C s G s               (3-33)   2 n K = 称为开环增益 n , 有关 闭环传递函数为 2 2 2 2 2 2 2 2 (2 ) ) 1 ( 2 ( 1) 1 ( ) ( ) ( ) n d n n d d n n d n n n d S T S T T S S S T S T S G s G s s            + + + + = + + + + = + =