自动控制理论 I_ch3新.pptVIP

Chapter 3. Feedback Control System Characteristic;3.1 Open-and Close-loop Control Systems;Close-loop systems;Error Signal Analysis;Sensitivity of Control Systems to Parameter variations;An open-loop system’s sensitivity is 1. A closed-loop system’s sensitivity is reduced by the loop gain Gc(s) G(s) , and allows G(s) to be less accurate. ;The Cost of Feedback;3.2 The Transient Response of Control System  with Step Input;There are two parts of solution in the linear differential equation: General Solution and Special Solution. The General solution will be determined by the roots of characteristic equation (eigenvalue), it stand for the response transient motion of system output. The Special solution stand for the steady input.;The transient response is the response that disappears with time.——General Solution The steady-state response is the response that exits for a long time following an input signal initiation.——Special Solution;表3-1、不同极点与运动模态;Test Input Signal;t;The Response of First-order System with Step Input;The Response of Second-order System with Step Input ;When the , then is two real roots.;According to partial fraction, there are ;When , the roots of Characteristic Equation are complex and conjugative, the response of the system is as following:;When , the two eigenvalue located in imaginary axis, ;Transient response of a second-order system;Evaluation only. Created with Aspose.Slides for .NET 3.5 Client Profile 5.2.0.0. Copyright 2004-2011 Aspose Pty Ltd.;3.3 Performance of a Second-order System;;Settling time Ts;Evaluation only. Created with Aspose.Slides for .NET 3.5 Client Profile 5.2.0.0. Copyright 2004-2011 Aspose Pty Ltd.;Rise Time Tr;总结： 1、 Tp只与极点虚部有关，极点虚部绝对值越大，Tp就越小，振荡越激烈； 2、 Ts取决于极点实部，实部绝对值越大，过渡时间越小，稳定得越快； 3、 超调量（Percent overshoot P.O.%）只与阻尼比z有关； 4、设计二阶系统时，可先根据对超调量（P.O.%）的要求求出z ，再根据Ts等指标确定wn。;Example3.1: z =0.6, wn =5rad/s, r(t)=1(t). Calculate tr