南理工控制工程课件_讲义3.ppt

6.1 The concept of stability A stable system is a dynamic system with a bounded output to a bounded input (BIBO). 6.3 The relative stability The relative stability of a system can be defined as the property that is measured by the relative real part of each root or pair of roots. Axis shift and examples Design example： Tracked vehicle turning control Assignment E6.1 E6.4 E6.5 E6.8 7.1 The Root Locus Concept Assignment E7.4 E7.8 8.1 Basic concept of frequency response The frequency response of a system is defined as the steady-state response of the system to a sinusoidal input signal. The resulting output signal for a linear system, is also a sinusoidal in the steady state; it differs from the input waveform only in amplitude and phase angle. Frequency Characteristics Transfer function and Laplace transform Frequency characteristics and Fourier transform Frequency characteristic, Transfer function and differential equation are equivalent in representation of system. Computation of frequency response 8.2 Frequency response plots Polar plot Bode diagram Nichols chart Frequency response plots of typical elements Frequency response plots of typical elements Gain Pole at origin Zero at origin Pole on the real axis (jwT+1) Zero on the real axis (jwT+1) Two complex poles Two complex zeros 8.3 Drawing the Bode diagram 8.4 Performance specification in the frequency domain At the resonant frequency, ,a maximum value of the frequency response ,is attained. Summary Assignment E8.1 E8.5 E8.6 Drawing Bode diagram : (1) (2) Draw the asymptotic approximation of L(?) in the low frequency range； (3) Change the slope at the break frequency; (4) This approximation can be corrected to the actual magnitude. (1) La(w)=20lgK－ 20?lgw (2) w＝1，La(w)=20lgK (3) -20? dB/dec 1 20 lgK w The bandwidth is the frequency, ,at which the frequency response has declined 3 dB from its low-frequency value. In general, the magnitude indicates the r