线性控制课件moduleenglishnew.pptVIP

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2017-02-05 发布于江苏
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线性控制课件moduleenglishnew.ppt

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Sample Problem 20.2 Problem: Consider the system with open loop transfer function Design a phase lag compensation element that enforces the following performance specificities on the closed loop system: (1) A damping ratio of ? = 0.5 (2) A velocity error of no more than 10% Sample Problem 20.1 Solution: For (2) Plot the Bode diagram for K=10: PM0, system is unstable. For (1) , PM=50o. The PM required The above PM occur at ω = 0.27, and the corresponding magnitude is 31db. 0.001 0.01 0.1 1.0 10 -270 -180 -90 0 20 40 60 80 M=31db Fig.SP20.1.1 The high break frequency is set one decade below the new gain crossover frequency ω = 0.27. The compensated open loop transfer function * Linear Control Systems Engineering线性控制系统工程 Module 20 Phase Lag and Lead- Lag Compensation (相位滞后和滞后-超前校正) Module 20 Phase Lag and Lead- Lag Compensation ▽Transfer Function of Phase Lag Element Phase lag networks -1/βτ -1/τ 1/?? 1/? 90? ?? ? β 1, the designing of phase lag compensation element include the specification of τ and β. The maximum phase lag occurs at Note: The phase part of Bode diagram are no consequence at all in the design of the compensator The attenuation at high frequency 1/?? 1/? 90? ?? ? Example: (1) The velocity error for unit ramp is to be no more than 0.32% ? K = 316 (2) Maximum percentage overshoot is to be no more than 20 %. ? ? k = 6.3 Plot the Bode diagram for K=316 Phase Lag Compensation Process 60 40 20 0 0 -90 -180 Fig.20.3 Uncompensated system with K=316. The required PM = 45o occur at ω = 5 rad/s 1 Phase lag compensation: use a phase lag element to reduce the uncompensated system gain to 0db at ω = 5 rad/s. 2 During phase lag compensating, it is assumed that no modification of composite phase ? 45o + 10% = 50o ? ω = 3 rad/s 3 New gain crossover frequency ωgc’=3 rad/s 4 At ωgc’= 3