2015/12/1 频域分析-P控制 G(s) C G.(s)= U(s)=Kp E(s) H(s) L(w) 已校正 -20 -20 -40 L(@)=20lgKp 0 40 (o)◆ 校正 p.(o)=0 0° -90 -180 (@)1 K>1 →开环增益个→稳态误差↓ →aoc个过渡过程时间↓ →原系统稳定裕量充分大时才采用P控制 →系统稳定性↓ School of Mechanical Engineering ME369-lecture 8.2 Shanghai Jiao Tong University Fal12015 频域分析-PD控制 G(s)= U=K。+Ts G(s) U(s) G(s) E(s) o) H(s) G.(jo)=K,(1+ Kp L(o)↑ +20 L.(@)=20lgK。+20lgV1+To2 201gk 0 .(@)arctan(T@) p(o)4 +90° +45 K School of Mechanical Engineering ME369-lecture 8.2 Shanghai Jiao Tong University Fall 2015 62015/12/1 6 BE315-Lecture 8.2 Fall 2011 ME369-lecture 8.2 Fall 2015 ( ) ( ) ( ) c P U s G s K E s   Lc Kp ()  20lg c ()  0 Kp>1  开环增益 稳态误差  ωc  过渡过程时间  系统稳定性 原系统稳定裕量充分大时才采用P控制 频域分析--P控制 School of Mechanical Engineering Shanghai Jiao Tong University BE315-Lecture 8.2 Fall 2011 ME369-lecture 8.2 Fall 2015 School of Mechanical Engineering Shanghai Jiao Tong University ( ) ( ) ( ) c p d U s G s K T s E s    ( ) (1 ) d c p p T G j K j K     2 2 Lc ()  20lg Kp  20lg 1Td ( ) arctan( )    c d  T 频域分析--PD控制