以纯滞后时间作为参变量的根轨迹地研究.pdfVIP

th Proceedings of the 25 Chinese Control Conference 7-11 August, 2006, Harbin, Heilongjiang 以纯滞后时间作为参变量的根轨迹的研究 刘洪源，左志强，王一晶 天津大学电气与自动化工程学院, 天津 300072 E-mail: zqzuo@tju.edu.cn 摘 要: 针对反馈环内含有纯滞后环节的单回路 SISO 系统, 研究了以纯滞后时间τ 作为参变量的根轨迹的对 称性、 0+ τ → 时和τ →+∞的根轨迹点、在实轴上的分布以及分离点和与虚轴的交点等性质, 并在此基础上 讨论了纯滞后时间变化对系统稳定性的影响. 最后介绍了一种应用计算机扫描算法获得以纯滞后时间作为参变 量的根轨迹的方法. 关键词: 纯滞后,根轨迹,单回路 SISO 系统 Research on the Root-Locus’ Properties as Time Lag Varies Hongyuan Liu, Zhiqiang Zuo, Yijing Wang School of Electrical Engineering and Automation, Tianjin University, Tianjin 300072 E-mail: zqzuo@tju.edu.cn Abstract: For the single-loop SISO system which has pure time delay in its feedback loop, several properties of the root-locus as time lag τ varies were studied, including the symmetry of the loci, τ → 0 + andτ →+∞points, loci and breakaway points on the real axis and intersections with the imaginary axis, etc. The effect on the system stability while time lag varies was also investigated on the basis of previous conclusions. Finally, a scanning method that can be employed on computer to get the root-locus was provided at the end of this paper. Key Words: Pure time delay, Root-locus method, Single-loop SISO system [4] 析和挖掘，因而在实际应用中有一定的局限性 。 1 引言(Introduction) 与此相对应的另一类方法，则不依赖于对纯滞后环 纯滞后环节广泛存在于各种生产过程之中。如 节的近似处理，直接采用图解法处