传递函数定义（续） K-1 ao i=1 =1 i=1 Gain First order(derivative)factor Quadratic(derivative)factor Derivative factor 比例环节 一阶微分环节 二阶微分环节 纯微分环节 K(+l)r后s2+2sras+） S G(s)= 1= s'Π(Ts+lΠT2+25Ims+) e i=1 =1 Delay factor Integral factor First order(integral)factor Quadratic (integral)factor 延滞环节 积分环节 惯性环节 振荡环节 School of Mechanical Engineering ME369-Lecture 4.1 Shanghai Jiao Tong University Fall 2015 放大环节/比例环节 KII(ts+D)II(+2+) TF:G(s)= X(s)=K G(s)= X,(s) s'(Ts+(T2s2+25Ts+1) ODE:x(t)=Kx,(t) i=1 主动齿轮齿数，转速 Zm N2(s) Z G(s)= N(s) 从动齿轮齿数，转速 Z2,n3 School of Mechanical Engineering ME369-Lecture 4.1 Shanghai Jiao Tong University Fall 2015 55 ME369-Lecture 4.1 Fall 2015 School of Mechanical Engineering Shanghai Jiao Tong University Gain 比例环节 First order(derivative) factor 一阶微分环节 Quadratic (derivative) factor 二阶微分环节 Integral factor 积分环节 First order(integral) factor 惯性环节 Quadratic (integral) factor 振荡环节 Delay factor 延滞环节 Derivative factor 纯微分环节 2 2 1 1 2 2 1 1 ( ) ( 2 ) ( ) ( ) ( 2 ) 1 1 1 1 b c i ai ai ai i i d e v i ni ni ni i i K s s s G s s T s T s T s                     s s e               e k k d j j c l l b i i T T a b K 1 2 1 1 2 0 1 0 1 1   传递函数定义（续） ME369-Lecture 4.1 Fall 2015 School of Mechanical Engineering Shanghai Jiao Tong University 放大环节/比例环节 x (t) Kx (t) c  r ( ) ( ) ( ) c r X s G X s K s   ODE： 2 2 TF： 1 1 2 2 1 1 ( 1) ( 2 1) ( ) ( 1) ( 2 1) b c i ai ai ai i i d e v i ni ni ni i i s s s G s s T s T s T s K                     2 1 ( ) ( ) ( ) N s G s N s  1 1 Z n, 主动齿轮齿数,转速 2 2 Z n, 从动齿轮齿数,转速