4.5伺服系统性能分析 开环传递函数：反馈与偏差之比 G(5)-E(5) B(S)=G,(SG:(S)H (S) 闭环传递函数：输出与输入之比 Gn(S)= C(S) G,(S)G,(S) G,(S)G,(S) R(S)1+G(S)G2(S)H(S)1+Gk(S) 干扰的闭环传递函数：输出与噪声之比 Gy(S)=C(S) G2(S) G,(S) N(S)1+G(S)G2(S)H(S)1+Gk(S) 0 系统误差的函数：偏差与输入之比 GN(S)= E(S) R(S)1+G(SG2(S)H(S)1+Gk(S) 4  开环传递函数：反馈与偏差之比  闭环传递函数：输出与输入之比  干扰的闭环传递函数：输出与噪声之比  系统误差的函数：偏差与输入之比 ( ) ( ) ( ) G (S )G (S )H (S ) E S B S G S K = = 1 2 ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) 1 G (S ) G S G S 1 G S G S H S G S G S R S C S G S K 1 2 1 2 1 2 B + = + = = ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) 1 G (S ) G S 1 G S G S H S G S N S C S G S K 2 1 2 2 N + = + = = ( ) ( ) ( ) ( ) ( ) ( ) 1 G (S ) 1 1 G S G S H S 1 R S E S G S 1 2 K N + = + = = 4.5 伺服系统性能分析