结构图三种基本形式,串 联,并 联,反 馈,结构图等效变换方法,引出点移动,a,b,综合点移动,向同类移动,作用分解,Pk从R(s)到C(s)的第k条前向通路传递函数,梅逊公式介绍 R-C,=1- La+ LbLc-LdLeLf+,其中:,求法:,梅逊公式例R-C,L1L2= (G1H1)(-G 2 H2 ),L1= G1H1,L2= G2H2,L3= G1G2H3,C(s)=,1- G1H1+ G2H2+ G1G2H3-G1H1G2 H2,G3G2,+G1G2,+ G2,R(s) ,N(s),梅逊公式求C(s),(1-G1H1),梅逊公式求E(s),E(s)=,1- G1H1+ G2H2+ G1G2H3-G1H1G2 H2,梅逊公式求E(s),E(s)=,1- G1H1+ G2H2+ G1G2H3-G1H1G2 H2,P1=1,1=1+G2H2,(1+G2H2),P11= ?,+,梅逊公式求E(s),+,梅逊公式求E(s),P2= - G3G2H3,2= 1,P22=?,(- G3G2H3),R(s) ,梅逊公式求E(s),E(s)=,1- G1H1+ G2H2+ G1G2H3-G1H1G2 H2,(1+G2H2),2= 1,P22=?,(- G3G2H3),R(s) ,P1= G2H3,1= 1,(G2H3),+,N(s),P2= - G3G2H3,+,=,1,af,bg,ch,ehgf,+,+,afch,abcd,ed,(1bg),信号流图,习题2-15(p72图2-63),+,30k,20k,10k,10k,10k,10k,ui,ua,uo,ut,u2,u1,位置随动系统原理图,习题2-15方块图,K0=30v/330o=1/11(伏/度)=5.21(伏/弧度),K1=3 k2=2,=1+Rf/Ri=1+20/10=3,ua,ut,u2,u1,uo,ui,