线性控制课件module1908427english_new.pptVIP

(1) The steady state error relates to the magnitude at low frequency. (2) The transient response requirement relates to gain crossover frequency. There are two system compensating method for the example: The maximum phase lead occurs at ωm, the magnitude (α = 6) Therefore, make the ωm as the compensated gain crossover frequency----Place the maximum phase at the frequency with magnitude In the example, the phase lead increase from 45o to 50o ? α = 7.5 The new gain crossover frequency ωm = 66 rad/s Sample Problem 19.1 Sample Problem 19.2 Sample Problem 19.3 - Repeat the previous step Set the desired phase lead 60 ° ? α =15 - Compensator transfer function - The result meets the requirement, the gain K=1*α =15 separate Homework 19.2 19.8 19.9 Fig.19.14 Bode diagram of compensated system 1 10 100 60 40 20 0 0 -90 -180 The process to design phase lead compensator: (1) Plot uncompensated system for the gain that satisfies the steady state error constraint. (2) Determine uncompensated PM, and estimate the PM required in order to satisfy the transient response requirement constraint. (3) Calculate the phase lead, add 10% and determine α. (7) Check the compensated Bode diagram, and repeat the previous step if necessary (8) Determine the compensator (9) Increase forward path K by a factor of α (5) (6) 2 1.8 1.6 1.4 1.2 1 0.8 0.6 0.4 0.2 0 1.4 1.2 1 0.8 0.6 0.4 0.2 0 0 0.5 1 1.5 2 2.5 0 0.5 1 1.5 2 2.5 (a) (b) Fig.19.15 Step response of uncompensated and compensated systems Compensated t(s) t(s) Uncompensated c(t) c(t) The open loop (and usually the closed loop) bandwidths ar