线性控制系统课件Module4(免费)学习课件.pptVIP

* Linear Control System Engineering Module 4 Second-order System Second-order system: a system is represented by a second order differential equation. The behavior of second-order system is different from that of first-order system, and it may cause oscillation response (振荡相应) and overshoot(系统超调) The UO(s) is written as: The transfer function is: Second-order electrical system example: Standard form of the second-order system: There are two characteristic parameters here: ζ－ the damping ratio(阻尼比) ωn － the undamped natural frequency (无阻尼自然频率) For the R-L-C circuit, Compare with the standard form: Fig.4.14 Generalized closed-loop transfer function Open-loop transfer function DC motor position control system The block diagram of this system Fig.4.13 position control system block diagram 1. Motor field winding electrical circuit Taking the Laplace transform yields This gives the transfer function 2. Motor torque where Km is the motor torque constant. 3. The system equations using Newton’s second law Taking the Laplace transform Compare with the standard form: Step Response When the second-order system is subjected to a step input The characteristic equation and the roots The step response for the four cases of ζ When ζ=0 —the undamped case When ζ=1 —the critically damped case When ζ1 —the overdamped case When ζ1 —the underdamped case We can recognize from here (P65) The system oscillates at frequency ωd The response decays due to the exponent –ζωn The overshoot depends on the value of ζ The relationship between overshoot and damping ratio when system is underdamped. *