???? (Kirchhoff) ?????:KVL?KCL

1
? ? ?
???????
1. ??????????????? 2. ???????????????
???? (Kirchhoff) ?????KVL?KCL
? ???????
? ????
???????
?? B
? ??????
?????
? ?? 4-1 ??? 4-1(a) ??? RLC ???????? L ???
i(t),????? ? C ??? ec(t)
??????????????????
ltSol.gt
1. ???? C?
(4-1)
???? e(t)
(4-2)
2. ???? L?
3. ???????????????
2
(4-3)
4. ???????? 4-1(b)???
? ?????????????????
? ??????Ec(s)/E(s)?I(s)/E(s) ?
ltSol.gt
???????????????,?? SFG ???????
? 4-1 (a) RLC ??(b) ???
3
(4-4)
(4-5)
? ?? 4-2 ??? 4-2(a) ????,????????? ec(t)
???????? ? i1(t) ? i2(t)
????????????????????
1. ?????? (Kirchhoff) ?????,??????
ltSol.gt
(4-6)
(4-7)
(4-8)
??????????????
(4-9)
4
? 4-2 (a) ?? 4-2 ????(b) ???
5
2. ???????? 4-2(b)???
? ?????? Ec(s)/E(s),I1(s)/E(s) ? I2(s)/E(s) ?
ltSol.gt
3. ????????????? 4-2(b) ???
4. ????,????????????
(4-10)
(4-11)
(4-12)
??,
(4-13)
6
? ??????????
1. ???????????????????,???????????????
2. ?????????,???????????????
3. ?????????????????,??????,???????
4. ???????????????????????????????
? ????
1. ??????????????????????????????????
????????
2. ??????
(4-14)
??????? g 32.174 ft/sec2,???????? g 9.8066
m/sec2
?? ,M ????,? a ?????????????
? ??????????????
??????????
1. ?????????????????????
(4-15)
W ???????,M ??? ,g ???????????
7
?????
???????
? 4-3 ??????????M ?????????????
(4-16)
??, v(t) ?????
? 4-3 ?-????
8
2. ????????????????????????????????,??
???????????
???????????
?????????,????????????????
(4-17)
??,K ????? (spring constant),??? (stiffness)?
?????????
????????????? 4-4 ????????????? T,? (4-17) ??????
(4-18)
? 4-4 ?-????
9
? ???????
??????????????????? ?,????????
????????????,??????????????????????????? ?
?????????????????? (viscous friction)???? (static
friction) ????? (Coulomb friction)?
?????????,?????????,?? 4-5 ???
1. ???? ????????????????????
(4-19)
??, B ????????
B ???
? 4-6(a) ??????????????????
2. ??? ??????????????????
??????
(4-20)
???????????????????????????-???????? 4-6(b) ??
10
? 4-6 ???????????????(a) ????(b) ???(c) ????
3. ???? ?????????????????????,?????????
????????????
(4-21)
??, Fc ???????????????????????? 4-6(c) ???
11
? ????
1. ????????????????????
2. ??????????????????????????????????
????????????
???????????? T???? ?,???? ??
(4-22)
??,J ????,? ??????
? ??????????
1. ?? ?? J ?????????????????????????????
????????????
?????????????
(4-23)
?????????? J ???,?? 4-7 ??, ????????
(4-23)
?? ,? (t) ????,? (t) ????,? ? (t) ? ?????
? 4-7 ??-????
12
?????????????
????
???
???
??
ACSYS ????????,????K?
??
2. ???? ?????? K ??????????,?
????????????????????
? 4-8 ?????????
? 4-8 ??-??????
(4-25)
13
???? K ???
??????????? TP,? (4-25) ?????
(4-26)
3. ??????? ????????????????
???????
?????
(4-27)
????
(4-28)
?????
(4-29)
? ????????????
?????
? 4-9 ??????????? (???)
? 4-10 ??????????? (??????)
? 4-11 ??????????? (?????)
14
? 4-9 ??????????? (???)
? 4-10 ??????????? (??????)
? 4-11 ??????????? (?????)
15
? ?? 4-9?4-10?4-11 ?????????????????????????
????
?????????? r ?????????
1. ?? 4-11,???????????
(4-30)
?? 4-10 ???????? r,???????????? (4-30) ??
2. ?? 4-9,?????? L ????????????????????????
? 4-9 ??????????
? 4-10 ?? 4-11 ????????????? 4-10
?,????????????????? 2? r?
(4-31)
J ?? (oz-in.-sec2) L ????? (in.) W ??
(oz) g ????? (386.4 in./sec2)
? ???
???????????
???????????,?????????????????????????,????????????
????????????
16
? ? 4-12 ???????????
1. ????????????? r1 ? r2 ???,?
(4-32)
2. ?????????????????
(4-33)
3. ????????????????????,?? ????????????
? 4-12 ???
(4-34)
??????????? ?1 ? ?2,?? (4-32) ? (4-34) ?????
(4-35)
? ???????????????????????????????? 4-13?
?? ,T ??????,T1 ? T2 ?????,Fc1 ? Fc2 ???????,B1
? B2 ????????
17
1. ?? 2 ??????
(4-36)
2. ?? 1 ??????
(4-37)
?? (4-35) ?,(4-36) ?????
? 4-13 ???????????
(4-38)
?????????????????????????????????????
? ???? 2 ????? 1 ?????????
18
? ?? 1 ????? 2 ???????????????????????????
? ?????????,??? 2 ????? 1 ?????? (N1/N2)2?
? (4-38) ??? (4-37) ??,??
? ?? 4-3 ????????? 0.05 oz-in.-sec2 ???????? 2
oz-in.,??????? 1?5 ???? (N1/N2 1/5,N2 ?????)
???????????
(4-39)
??
(4-40)
(4-41)
ltSol.gt
(4-42)
? N1 ???????? (1/5)2?0.05 0.002
oz-in.-sec2???????? (1/5) ?2 0.4 oz-in.?
19
? ??????? (?????)
????????????,???????, ????????????
??????????????????? ????
? 4-14 ?????????????????
1. ???????????????????? 4-14 ????
2. ???? b/2 ???????????
3. ?????????,????????,?? ????????????????
4-15 ???
? 4-15 ?????????
20
? ????????
1. ???????????????????
2. ??????????????? (free-body diagram) ??
? 4-16 (a) ??-??-????(b) ?????(c) ???
21
? ?? 4-4 ??? 4-16(a) ????-??-????,???????????
ltSol.gt
1. ?????????? 4-16(b) ??
2. ????????
(4-43)
(4-44)
?????????????????
3. ???????,x1 ? x2
4. ???????
? 4-16(c)
5. ?????
????????????? RLC ??
(4-45)
(4-46)
?? M ????? L,???? K ???????? 1/C,???????? B ?????
R?
22
? ?????????
1. ?? v(t) ???????????,???????? fk (t) ????????
?????
2. ? v(t) ? fk (t) ????????
?????
(4-47)

• ???????
• ???????
• ?????

?????
(4-48)
?????
? Y(s) ? F(s) ??????
? (4-43) ??????,????????
(4-48)
??????????????? 4-16(c) ????
23
? 4-16 (a) ??-??-????(b) ?????(c) ???
24
? ?? 4-5 ???? 4-17(a)?????????????????
ltSol.gt
1. ?????????? ??,?? y1 ? y2 ? ???????????
2. ?????????? 4-17(b) ???
? 4-17 ?? 4-5 ???????(a) ??-??-????(b)
?????(c) ???
25
3. ?????
(4-50)
(4-51)
?????
(4-52)
(4-53)
4. ??????? 4-17(c) ???
5. ??????? x1(t) y2(t) ? x2(t)
dy2(t)/dt,????????????????
(4-54)
(4-55)
? ?????????
1. ??? M ??? v(t) ?????????,??????? fk(t)
??????? ???
26
????????? v(t) ? fk(t),??????????? (4-47)?
2. ?????
(4-56)
??
(4-57)
3. ???????????(? 4-18)
???????????,?? ec(t) ?????? e(t)?
? f (t) ????
v(t) ?? dy2(t)/dt
? 4-18 ???? 4-17 ????????
???? 4-17(c) ????????????
? ???????
(4-58)
(4-59)
27
? ?? 4-6 ?? 4-19(a) ????????????????????????????
??? J???????????,???????????????
B?????????,????????? K?
? 4-19 ?? 4-6 ?????
????????????
ltSol.gt
1. ????? 4-19(b)?
2. ?????????
(4-60)
3. ?????? x1(t) ? (t) ? x2(t) dx1(t)/dt
4. ?????
?
28
? ??4-7 ? 4-20(a) ????????????? K
?????????????????,?????????????????????,??????????
??????????????
Tm(t) ???? Jm ???? Bm ???????? JL ???? K
?????? ?m(t) ???? ?L(t) ???? ?m(t)
???? ?L(t) ????
????????????
? 4-20 (a) ??-????(b) ?????
ltSol.gt
1. ????????? 4-20(b) ???
29
2. ????????
(4-61)
????????????????
(4-62)
3. ????? Jm?JL ? K ?????????,?????????
(4-61) ?? (4-62) ???????
(4-63) ? (4-64) ????? ?m(t) ? ?L(t),?????? ?m(t)
? ?L(t) ????
(4-63)
(4-64)
4. ??????????x1(t) ?m (t) ? ?L(t),x2(t)
d?L(t)/dt ? x3(t) d?m(t)/dt?
5. ?????? 4-21 ???
6. ?????
(4-65)
(4-66)
(4-67)
30
? 4-21 ? 4-20 ???????
?? 4-21 ?????????????
7. ?m(s) ? Tm(s) ?? ?L(s) ? Tm(s) ???????
(4-68)
(4-69)
31
? ?????????????
??????????????????????????????
? ???
1. ???????????,???????????
2. ?????????,????????????????
3. ??????????????????????
? 4-22 ???????????,? 4-23 ???????????????????
4. ? 4-24 ????????????,?????????
???????????????????????
5. ??????????????? 4-25(a)
????????????? r (t) ????? ?c(t) ???, i.e.
Ks ?????
(4-70)
32
? 4-22 ????????? (Courtesy of Helipot Divison of
Beckman Instruments, Inc.)
33
? 4-23 ??????????????? (Courtesy ofWaters
Manufacturing, inc.)
? 4-24 ?????????
? 4-25 (a) ??????????(b) ?????????????????
34
? ? N ???????,???????? 2? N ?????? Ks ?
(4-71)
?? ,E ????????????????
6. ????????,?? 4-25(b) ??,??????????????????
(4-72)
7. ? 4-26 ???? 4-25 ???????????
? ????????
1. ????????????????? 4-27(a) ?
2. ??? ?r (t) ???????,???????????? 4-27(b) ???

• ?????????,????????????????

35
? 4-27 (a) ??????????????????????(b) ? (a)
?????????????
? ??????
1. ????????????? 4-28 (a) ?
2. ????????????? 4-28(b) ???
36
? 4-28 (a) ??????????????????(b) ? (a)
?????????????
3. ?? v(t) ????? ?c?????
(4-73)
4. ????????
(4-74)
37
5. ?e(t) ??????????????
(4-75)
6. ?? 4-28(b) ?? ?e(t) ?,e(t) ??????????
(suppressed-carrier modulated
signal)??????????,????? e(t)?
???????? v(t) ?? (4-74) ?????? ?e(t) ?,???? e(t)
???????????? ?c?
?? ?e(t) ????
(4-76)
??? ?sltlt?c
(4-74) ?
(4-77)
e(t) ???????? ?c ????? ?s,???????? ?c ?s ? ?c ?
?s?
? ???
?????????????
1. ??????????????????????
2. ???????????,??????????????????
3. ????????????? (??????????)?
4. ????????????? 4-29????????? 4-30 ?
38
? 4-29 ??????????????
? 4-30 ??????????????
39
5. ????????,?????????????????????????
? ????????
?????????
1. ????????
Kt ???????????????,?????/1000 rpm (V/krpm)
(4-78)
??,et(t) ?????,? (t) ????? (??? rpm),?(t) ?????
(??? rad/sec),Kt ?????? (??? V/rad/sec)?
2. ????????
Et (s) ? ?(s) ? et(t) ? ? (t) ???????
(4-79)
? ?????
1.?????????????,???????????????????????
2. ?????????????????? (absolute encoder)?
3. ????? (incremental encoder) ??????????????,????
? ??????
40
4. ? 4-31 ? 4-32 ?????????????????????
? 4-31 ??????? (Courtesy of DISC Instruments,
Inc.)
? 4-33 ??????????
? 4-32 ??????? (Courtesy of DISC Instruments,
Inc.)
5. ?????????????????????????,????,?? 4-33
???????????????????????????????????
41
6. ??????????? ??????,???? ??????
7. ? 4-34(a) ?????? ???????????
???,??????? ??????? ?
8. ??????????? ? 90 ?????,??? ????,??
4-34(b) ???
9. ? 4-35 ???????? ??????????? ??
? 4-34 (a) ???????? (??) ?????????(b)
??????????????? (??)
42
? ?? 4-8 ???????????????????????????????? 4-36
??????????????????
1. ??????????????? ???????????????
?,???????????
2. ??????????????? ??,????????????
??????????
3. ???????? 96 ?????, ????? 480 ??????,?
????? 480 ? 4 1920 ??? ??? 96 ??????,????
???? 1920/96 20 ????, ????????? 20 ?????
? 4-35 (a) ????????????????? (b) ??????????????
43
4. ????????????? ????????????? ?????????
5. ???? 500 kHz ?? (?? ??? 500,000 ???),?
????????????? ??????? 500,??? ??
? 4-36 ?????????????
(4-80)