《北航自控原理课件8(英文版)》.pptVIP

Non-minimum phase system a system with zeros or poles in the right hand side of the s-plane is called a non-minimum phase system Delay component Magnitue Bode Plot Draw asymptotes of magnitude plot going from first to last break frequency Magnitue Bode Plot Draw asymptotes of magnitude plot going from first to last break frequency Transfer Function from Bode Plot Transfer Function from Bode Plot Transfer Function from Bode Plot 8.5 Performance specifications Now that we know how to draw a Bode plot, the following questions are natural: How does the frequency response of a system relate to the expected transient response of the system ? How can the steady state performance (position and velocity constants) be inferred from the Bode plot ? Performance specifications The first question can be answered easily for first order and second order systems Assume the standard second order system without zeros with transfer function (c) Suppose From the analysis above, we can conclude that: (1). When ω=0, the open-loop amplitude-phase characteristic is determined by proportional and integra1 components completely. (2). When ω=∞, if nm, |G(jw)|=0, and phase is equal to (m-n)π/2. (3).If the numerator of G(s) include s factor the curves of G(jω) bends with the change of ω. (4). The intersection of curves G(jw) in negative real axis is very important. 2、 Plots of open-loop logarithm frequency characteristic curves. Example : Sketch the Bode diagram for the following transfer functions. (a) (b) (c) 1 10 20dB -20dB 40dB 20dB 0.1 1 2 10 20 -20dB From some examples we can conclude that: (1). The curves shape in the low frequency section only have relation with the open-loop gain and the number of the integral components. (2). The last slop in the high frequency section is -(n-m)20dB/+, and the last phase is -(n-m)π/2. (3). The frequency in the intersection of L(ω) and abscissa is called the cutoff frequency,ωc where, |G(jωc )|=1, L