自动控制原理作业及答案.pptVIP

部分作业及答案 R(s) Y(s) - × KcGc (s) Fig. 2 Fig. 3 Solution (1) Determine the open-loop frequency characteristic of compensated system according to the given Bode plot . Phase-lead compensation network (2) Determine the phase-lead compensation network . Phase-lead angle Due to we have The phase-lead compensation network is (3) Determine the K. The compensation network is 7. The block diagram of a unity feedback system with a cascade compensator is shown in Fig. 4. If the compensated system satisfy that the velocity error constant Kv ≥ 15s-1 , the damping ratioζ= 0.5 and the natural frequencyωn = 6rad/sec, determine which one of the following Y(s) - × KcGc (s) R(s) Fig. 4 cascade compensators you will choose and state your reasons. (1) Phase-lead compensation network (2) Phase-lag compensation network (3) Phase-lag-lead compensation network Solution (1) Analyze the original system . R(s) Y(s) - × The specifications of uncompensated system do not satisfy requirements, so compensation is necessary. (2) Draw the root locus of original system × × (3) Determine the desired dominant poles. The desired dominant poles are × × (5) Determine the additional phase-lead angle at . (6) Determine the zero and the pole of phase-lead compensation network . The phase-lead compensation network is × × × (7) Determine the additional gain . (8) Check the and to determine whether they are dominant poles of compensated system. The compensation network is The open-loop transfer function of compensated network is The closed-loop transfer function of compensated system is The poles s1 and s2 can be approximately considered as dominant poles of the compensated system. (9) Draw the root locus of compensated system and check specifications. × × × From the root locus of compensated system, we can approximately consider the compensated system is a underdamped second-order system by considering dominant poles. Therefore We can s