[例3]惯性环节 以=Ri+d G(s)= U.(s) U,(s) School of Mechanical Engineering ME369-Lecture 4.1 Shanghai Jiao Tong University Fall 2015 积分环节 Kr+门r2s2+25arrs+l0 G(s)= s+7*+25.s+) 传递函数： G(s)= X.(s)K X(s)s 运动方程式： 0=Kx,0一0=Kxh dt School of Mechanical Engineering ME369-Lecture 4.1 Shanghai Jiao Tong University Fall 2015 77 ME369-Lecture 4.1 Fall 2015 School of Mechanical Engineering Shanghai Jiao Tong University 1 d r u Ri i t C    1 d c u i t C   ( ) ( ) ( ) c r U s G s U s  [例3]惯性环节 ME369-Lecture 4.1 Fall 2015 School of Mechanical Engineering Shanghai Jiao Tong University ( ) ( ) c r dx t Kx t dt  ( ) ( ) ( ) c r X s G s X s K s   运动方程式： 传递函数：   t c r x t K x t dt 0 ( ) ( ) 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                     积分环节