节器为比例动作。广义被控对象的传递函数如下,Р 用衰减频率特性法求:ψ=0.75(m=0.221)和ψ=0.90(m=0.366)时,调节器的整定参数。(1)G(s)?1-τs0.8e (2)G(s)? Tas(1?Ts)5Р 解:特征方程为GC(s)G(s)+1=KCG(s)+1=0,令s=-mω+jωР ?1?KCM(-mω+jω)?1得方程组??KC=M(-mω+jω)??φ(-mω+jω)=-πР (1)G(-mω+jω)?eτmωР Taωm2?1ej(-τω-arctgm-0.5π)Р eτmω? ?M=2Taωm?1????φ=-τω-arctgm-0.5πР (A)ψ=0.75(m=0.221?arctgm?0.069π)Р -τω-0.069π-0.5π?-π?ω?1.354/τ?M?0.973τ/Ta?KC?Ta/0.973τР (B)ψ=0.90(m=0.366?arctgm?0.112π)Р -τω-0.112π-0.5π?-π?ω?1.219/τ?M?1.204τ/Ta?KC?Ta/1.204τР (2)G(-mω+jω)?Р 0.80.8e?2.5522(1-Tmω?jTω)(1-Tmω)?(Tω)-j5(arctgTω)1-TmωР 0.8?M= ?2.522(1-Tmω)?(Tω)???Tω?φ=-5(arctg)?1-Tmω?Р (A)ψ=0.75(m=0.221)Р Tω-5(arctg)?-π?ω?0.626/T?M?0.584?KC?1.7121-0.221TωР (B)ψ=0.90(m=0.366)Р Tω-5(arctg)?-π?ω?0.574/T?M?0.901?KC?1.1011-0.366TωР 3.5 某温度控制系统对象阶跃响应中,测得:K=10,T=2min,τ=0.1min,应用动态特性参数法设计PID调节器整定参数。
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