nb Input Motor w(s Iw Y Y(s)pot. Vm(s)K,/s m screw Applied O X(s) ght L2 K Measurement S 系统的闭环传递函数用梅逊公式得出为 X(S) (lnl1K1KmK。/ls3) W(s)1+(1 6/1s)+(KmKK/s)+(K, Kmkw/ls)+( bkmk Kr/Is) X(S L. K W(s S(Is+1, b)(s+knkK+wKmkK l1 ( / ) ( / ) ( / ) ( / ) ( / ) ( ) ( ) 2 3 2 2 3 I b Is K K K s l K K K W Is l bK K K Is l l K K K Is W s X s i m s f i i m s c i m s f w i i m s + + + + = 系统的闭环传递函数用梅逊公式得出为 i m s f c m s i i w i i m s s Is I b s K K K W K K K l l l K K K W s X s + + + = ( ) ( )( ) ( ) 2