现代控制工程第十一章.pptVIP

5-1 The Root Locus Concept Step response of 2-order System Example 5.2 If the damping ratio is required to be less than 0.5, tell when it is satisfied ? Example 5.3 What we can tell about the stability from the root locus? 5-2 The Root Locus Procedure Magnitude and Angle Requirements Magnitude and Angle Requirements Requirements Check for CL Poles 3. Step by Step Rule 1 Starting from OL poles Terminating at OL zeros Rule 2 The number of branches of the root loci equals the number of CL roots, namely, the order of the system. Rule 3 Root loci must be symmetrical with respect to the horizontal real axis. The complex roots must appear as pairs of complex conjugate roots. Only CL root loci on the upper s plane are calculated. Rule 4 The root locus on the real axis always lies in a section of the real axis to the left of an odd number of OL zeros and poles. Study a general case : Example5.4 Given OL transfer function as Rule5 Breakaway/break-in points (if any) Example5.4 Given OL transfer function as Rule6 Imaginary Axis Crossing Points Rule7 Conservation of the Sum of System Poles when n-m2 Rule8 Angle of Departure from Complex poles and Angle of Arrival at Complex Zeros so Rule 9 Asymptotes of root loci Example 5.7: The OL transfer function is given as: Solution: （1）a=3, OL poles: 0, -3, -1+j, -1-j From rule 7 （2）a=2, OL poles：0,-2,-1+j,-1-j Break-in point (on real axis) takes a maximum Breakaway point (on real axis) takes a minimum CL poles satisfy Repeated CL poles satisfy (at least) this gives i.e at the same time so the necessary condition is: Note: Breakaway/break-in points are only those points that satisfying （4）Breakaway/break-in points？ j 0 -2 -1 （3）Is the complex part of the root locus a circle？ Angle requirement Breakaway/break-in points -0.586; -