1型系统的稳态误差 KIIGs+D =1 KII(+D G(s)H(s)= s+) sfGa+D K。=limG(s)H(s) 1 eap-T+Kp K,lim sG(s)H(s) d) 1 ea-K. K.=lims'G(s)H(s) ) c(r) 1 esd= Ka School of Mechanical Engineering ME369-lecture 6.3 Shanghai Jiao Tong University Fal12015 2型系统的稳态误差 KI(E+1) =2 KT+D G(s)H(s)= siCs+D GD K=limG(s)H(s) 1 eap=1+Kp r)4 K,limsG(s)H(s) 340 c(t) 1 ean-K, K。=lims2Gs)H(s) r() 1 0 K。 School of Mechanical Engineering ME369-lecture 6.3 Shanghai Jiao Tong University Fall 2015 66 ME369-lecture 6.3 Fall 2015 School of Mechanical Engineering Shanghai Jiao Tong University 1 1 1 ( 1) ( 1) m i i n i i K s s T s          0 lim ( ) ( ) p s K G s H s   1 1 ssp p e K   0 lim ( ) ( ) v s K sG s H s   1 ssv v e K  2 0 lim ( ) ( ) a s K s G s H s   1 ssa a e K  1 1 ( 1) ( ) ( ) ( 1) m i i v i v n i K s G s s H s T s          v=1 1型系统的稳态误差 ME369-lecture 6.3 Fall 2015 School of Mechanical Engineering Shanghai Jiao Tong University 0 lim ( ) ( ) p s K G s H s   1 1 ssp p e K   0 lim ( ) ( ) v s K sG s H s   1 ssv v e K  2 0 lim ( ) ( ) a s K s G s H s   1 ssa a e K  1 1 ( 1) ( ) ( ) ( 1) m i i v i v n i K s G s s H s T s          1 2 2 1 ( 1) ( 1) m i i n i i K s s T s            v=2 2型系统的稳态误差