第六章Design via Frequency Response1.pptVIP

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第六章Design via Frequency Response1.ppt

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第六章Design via Frequency Response1.ppt

EE/ME/CHE 431 Chapter 6Design via Frequency Response Design Objectives Produce desired transient response. Reduce steady-state error. Achieve closed-loop stability. Total Response = Natural Response + Forced Response The closed-loop control system’s natural response must not dominate! The output must follow the input. Case Study: Antenna Position Control Case Study: Antenna Azimuth Position Control System Case Study: Antenna Azimuth Position Control System (continued) Case Study: Antenna Azimuth Position Control System Response The Design Process Basic Approach Lag Lead Compensator Format Lead Compensator Frequency Response Maximum Phase Increase forLead Compensation Key Elements of Design Approach Asymptotic Approximation of Closed-Loop Frequency Response Damping Ratio vs Phase Margin Peak Overshoot vsPhase Margin Normalized Bandwidth vsDamping Ratio Lead Compensator Design Visualizing Lead Compensation Design Procedure: Step #1 Design Procedure: Step #2 Transient (Lead Compensator) Design Procedure: Steps #3-7 Design Procedure: Step #5 Design Procedure: Steps #6 7 Steady-State (Lag Compensator) Design Procedure: Steps #8-10 Example of Lead LagCompensation Example: Low-bandwidth Design Example: Low-bandwidth Design Example: Low-bandwidth Design Example: Low-bandwidth Design Example: Low-bandwidth DesignClosed-loop Performance Example: Low-bandwidth DesignClosed-loop Step Performance Example: Low-bandwidth DesignClosed-loop Frequency Response Example: High-bandwidth Design Example: High-bandwidth Design Example: High-bandwidth Design Example: High-bandwidth Design Example: High-bandwidth Design Example: High-bandwidthStep Response Example: High-bandwidthFrequency Response Exercise 1.1 Exercise 1.2 Exercise 1.3 Exercise 1.4 Exercise 1.5 Exercise 2.1 Exercise 2.2 Exercise 3.1 Exercise 3.2 Exercise 4.1 Exercise 4.2 Exercise 4.3 Exercise 5.1 Ex. 1-2 p.7 Ex.1-3 p8 Ex.2-1 p20 Ex.2-3 p24 Ex.4-3 p104 Ex. 5-10 p146 Ex.5-13 p150 Ex.5-14 p153 Ex.5-15 p154