机械控制理论Chap6.pptVIP

* School of Mechanical Engineering 湖南工业大学机械工程学院 Fundamentals of Control Theory Chap 6 Control-system characteristics Fundamentals of Control Theory 2007.3 Chap 6 Control system characteristics 6.1 Introduction 6.2 Routh’s stability criterion 6.3 Mathematical and physical forms 6.4 Steady-state characteristics 6.5 Summary 6.1 Introduction To a controlled system, there are three basic requirements: stability, sensibility and accuracy. The stability is the most important. If the system is unstable, there will be no necessary to discuss the other two requirements. But how to judge whether a controlled system is stable or unstable? According to we have learned before, if there is a system which has the transfer function as follow: 6.1 Introduction The characteristic equation of the system is: We can solve the characteristic equation to find the exact roots, such as s1,s2, ... ,sn, then if all the characteristic roots have minus real parts, the system is stable, otherwise if there is one root with positive real parts, the system will be unstable, if there is one or more roots with zero real parts, the system will be critical stable. 6.1 Introduction In some cases, it is difficult to find the exact solution of the characteristic equation. For example, there is a charac-teristic equation as follow: It will be difficult to some extent to find the exact solution. In most cases, if we only want to judge whether a system is stable or not, it is usually unnecessary to find the exact roots of the characteristic equation. But what methods can we use to solve this problem? Routh, Nyquist and Bode have done large number of work to do this. 6.2 Routh’s stability criterion The Routh’s criterion is an algebra criterion, which utilize the relations between the roots of the characteristic equation and its coefficients to determine the locations of the roots in s plane, without solving for the actual value of the roots.