自动控制理论 课件chap8.pdf

Chapter 8 Frequency-Response Compensation Design (Chapters 9 and 10) 8.1 Introduction 8.2 Lead Compensation 8.2.1 Characteristics of a Lead Compensator The transfer function of a lead compensator is T s + 1 G (s) = K α , 0 α 1 c c αT s + 1 ? T s+1 Denote Gc(s) = αT s+1 , then from ∠G? (jω) = arctan ωT arctan αωT c ? it is clear that ∠G?c(jω) 0 for all ω 0. To determine the Nyquist locus we decompose G?c(jω) as 1 + α(ωT )2 (1 α)ωT G? (jω) = +j ? c 1 + (αωT )2 1 + (αωT )2 △ △ =x(ω) =y(ω) | {z } | {z } Since 1 + α 2 1 α 2 x(ω) + y2(ω) = ?  ? 2α   2α  ? 1+α we see that the Nyquist locus Gc(jω), ω 0, is the semi-circle in the upper half plane centered at 2α with 1 α the radius 2?α , as illustrated in Fig. 8.1. The Nyquist locus indicates that ∠G?c(jω) has a maximum. To determine this maximum, we take the ?rst derivative of ∠G?c(jω) and set it equal to 0, we get d T αT (arctan ωT arctan αωT ) = d ω ? 1 + (ωT )2 ? 1 + (αωT )2 T (1 α)(1 αω2T 2)