线性控制课件module908411english_new.pptVIP

The stability of system can be determined by the position of closed-loop poles. - The poles of higher order system are difficult to achieve. - The Routh’s method can determines the number of roots located in right half of complex plane without actually solving the characteristic equation Suppose st is the trial guess for s. In the below figure The s and s+1 are defined by vector and . The argument equation (2) Magnitude equation -As the K increase form zero to infinity, the corresponding location of s move form open loop pole toward infinity. - the two poles are coincident with each other at s=-0.5. Sample Problem 9.1 Sample Problem 9.2 Sample Problem 9.3 When k increase - One of tree poles move from s=-4 toward -∞; - The other two roots emanate from s=-2 and s=0, and break away from real axis at somewhere between s=-2 and s=0. - Consider k= ∞, the argument equation The other two poles go to infinity along asymptotes　(渐近线） inclined at ±60° to the positive real axis. - The asymptotes The intersecting point at real axis Pi the real part of open loop poles; Zi the real part of open loop zeros; n the number of poles; m the number of zeros; - Search the point that two poles departure from the real axis. The point corresponds to the maximum gain between s=0 and s=-2. Method (1) : Select points at 0.2 intervals between s=0 and s=-2, and calculate the gains at the those points. Form the table, breakaway point is s=0.85. Method (2) : Make the characteristic equation differentiated and equated to zero. Breakaway point - Determine the locations of poles on locus as it crossed the imaginary axis. Set the point , substitute it to equating the imaginary to zero = When K48, system is unstable - The roots for K