[讨论]稳态误差系数与稳态误差 KIIG8+D K. G(s)H(s）= Type 0 R 0 0 i+ Type 1 0 Type 2 0 0 单位阶跃输入 单位速度输入 单位加速度输入 eop ear eu Type 0 1/(1+0 国 Type 1 0 L/K Type 2 0 0 1/R School of Mechanical Engineering ME369-lecture 6.3 Shanghai Jiao Tong University Fall 2015 [例3]稳态误差系数法求稳态误差 Desired K G()=- (rs+万 H(s)=1 ○ Sensor signal Magnetic disk head Motor School of Mechanical Engineering ME369-lecture 6.3 Shanghai Jiao Tong University Fall 2015 77 ME369-lecture 6.3 Fall 2015 School of Mechanical Engineering Shanghai Jiao Tong University Kp Kv Ka Type 0 K 0 0 Type 1  K 0 Type 2   K 单位阶跃输入 essp 单位速度输入 essv 单位加速度输入 essa Type 0 1/(1+K)   Type 1 0 1/K  Type 2 0 0 1/K 1 1 ( 1) ( ) ( ) ( 1) m i i v i v n i K s G s s H s T s          [讨论]稳态误差系数与稳态误差 ME369-lecture 6.3 Fall 2015 School of Mechanical Engineering Shanghai Jiao Tong University 1 ( ) H(s)=1 ( 1) ，    K G s s s [例3]稳态误差系数法求稳态误差