CH05-4 stability criterion in frequency domain课件.pptVIP

CH.5 frequency response;5-4 Stability criterion of control system in frequency domain;Merits: A graphic method; No need to calculating the closed-loop characteristic roots. Instead, the open-loop frequency characteristics is utilized to decide the stability. In addition, the way to improve the stability can also be detected. ;Zeros of F(s) are poles of the closed-loop transfer function; Poles of F(s) are poles of the open-loop transfer function.; Nyquist criterion: a graphic method to decide if the zeros of F(s) lie on the right half of s plane.;No poles of s=0 in the open-loop system;Closed path on s plane ; If Гencloses zero of F(s) only:; If Г surrounds clockwise Z zeros of F(s), Г′goes clockwise around the original of F(s) plane Z times. ; For a clockwise closed loop on the s plane: ;N0: clockwise N0: anticlockwise;Nyquist criterion： 1、The open loop system is stable, i.e. P=0. When ? changes from -? to +?, if the Nyquist curve G(j?)H(j?) doesn’t surround (-1, j0), i.e. N=0, Z=0, it means the closed loop system is stable. Vice versa, it’s unstable. 2、 The open loop system is unstable, i.e. P0. When ? changes from -? to +?, if the time of the Nyquist curve G(j?)H(j?) surrounds anticlockwise (-1, j0) equals P, i.e. N=P, Z=N+P=0, it means the closed loop system is stable. Vice versa, it’s unstable.;Example 1：the open loop transfer function for a unit negative feedback system is: Try to determine if the closed loop system is stable when K =4 and K=-4.;Example 2：the open loop transfer function for a unit negative feedback system is: Try to determine if the closed loop system is stable.;Example 3：the open loop transfer function is: Try to determine if the closed loop system is stable.;Poles of s=0 exist in the open-loop system;庭奢撵米撕骋沁蒋恒症诽确笋减后缺恢盒诫己提绸品旗砂桐粥垂燎诌秘柬CH05-4 stability criterion in frequency domain课件CH05-4 stability criterion in frequency domain课件;Logarithmic frequency characteristics and relative stability;When the magnitude-frequency curve crosses t