线性控制课件-module-7-08-4-11-english-new.ppt

LinearControlSystemsEngineering

线性控制系统工程

Module7Higher-OrderSystems(高阶系统）

Module7Higher-orderSystems◆ReductiontoLowerOrderSystemsExample:AHigher-orderSystemTherearetwoforms:Evansform?Bodeform?-2-10

1.FortheEvansform,if2.Forthebodeform,ifthenthenConclusion:theBodeformmustbeusedinordertocorrectlyobtainthetransferfunctionofthereduced-ordersystem.

◆ThirdOrderSystemTheadvantageofreducinghigherordersystemtosecondordersystem:thetime-domainresponsemaybeestimatedquicklyfromFig4.16,4,17.

?=1.2?=0.2?=0.4?=0.6?=2?=0.8?=4?=1.01.61.41.210.80.60.40.2012456789103Time(s)Fig.4.16Second-orderstepresponseAmplitude

00.20.40.60.81.0605040302010Dampingratio?Fig.4.17Relationshipbetweenovershootanddampingratio

ConsiderathirdordersysteminBodeform:Iftherealpolemaybeneglected-1/τImRe-ζωnωdFig.7.1Complex-planerepresentationofthird-ordersystem

Therealpolewillmaketheresponsemoresluggish(迟钝).Forexample:Thecomplexpoles:

Unitstepresponseforvarious1/τTheinfluenceofrealpole:ifthepolemovestoright,itmaydominatetheresponseandnolongerproducesoscillatoryresponse1.210.80.60.40.200.511.522.533.544.55Fig7.2Unitstepresponseofthird-ordersystemTime(s)

Defineaparameter:TheovershootdecreaseswhentherealpolebecomessignificantFig.7.3

◆EffectofaClosed-LoopZeroazeroinsecondordersystemdoesnotincreasetheorder-1/τImRe-ζωnωdFig.7.4Closed-loopzero

1.Ifthezeroclosetothecomplexpoles,itmakesstepresponsemoreoscillatory;2.If≥10theclosed-loopzeromaybeneglected;3.Defineanewparameter:

Forexample:

Theovershootincreaseswhenthezerobecomessignificant

◆OccurrenceofClosedLoopzerosinvestigatingwheretheclosed-zeroscomefromintermsoftheforward-pathandfeedbacktransferfunctions.XY+-