[例4]积分环节 e.fidr G(s)= E.(s) I(s) School of Mechanical Engineering ME369-Lecture 4.1 Shanghai Jiao Tong University Fall 2015 微分环节 KTI5+DT+25+) G(s)= 1+s+257.5+0 理想 现实 传递函数： G(s)= X(5)=Ks 惯性 X,(s) X(s)KTs G(s)= X(s)Ts+1 运动方程式： ()=K在) XT有限 dt T→0 School of Mechanical Engineering ME369-Lecture 4.1 Shanghai Jiao Tong University Fall 2015 88 ME369-Lecture 4.1 Fall 2015 School of Mechanical Engineering Shanghai Jiao Tong University 1 d c e i t C   ( ) ( ) ( ) E s c G s I s  [例4]积分环节 ME369-Lecture 4.1 Fall 2015 School of Mechanical Engineering Shanghai Jiao Tong University 微分环节 理想 dt dx t x t K r c ( ) ( )  Ks X s X s G s r c   ( ) ( ) ( ) 运动方程式： 传递函数： 现实 ( ) 1 ( ) ( )    Ts KTs X s X s G s r c 2 2 1 1 2 2 1 1 ( 1) ( 2 1) ( ) ( 1) ( 2 1) b c i ai ai ai i i d e i ni ni ni i v i K s s s G s s T s T s T s                     惯性 KT 有限 T  0