第六章频率特性分析法 - 控制科学与工程学系 - 浙江大学.PDF

自动控制理论 第六章第六章 频率特性分析法频率特性分析法 CHAPTER 6CHAPTER 6CHAPTER 6CHAPTER 6 Frequency ResponseFrequency ResponseFrequency ResponseFrequency Response 浙江大学控制科学与工程学系 1 第第五章章回顾 幅值条件幅值条件、相位条件相位条件 根轨迹的定义 根轨迹的绘制规则 广义根轨迹 基于根轨迹的性能分析基于根轨迹的性能分析 基于根轨迹的补偿 一种图解方法 2 第第六章章关键键词（Keyy Words)) 频率、频率响应、频率特性 幅频特性幅频特性、相频特性相频特性 对数频率特性（BODE图） 极坐标图（奈魁斯特图） 奈魁奈魁斯特稳定稳定判据 稳定裕度稳定裕度 （（幅值裕度幅值裕度、、相位裕度相位裕度）） 频域性能 3 第第六章章主要要 内容 概述 Bode 图(对数坐标图) 极坐标图极坐标图 Nyquist稳定性判据 基于频率响应的补偿器设计基于频率响应的补偿器设计 系统的闭环频率特性 4 概述概述: Hendrik Wade Bode ((1905-1982)) – an American engineer, researcher, iinventtor, auththor andd sciientitistt, off DDuttchh ancestry. As a pioneer of modern control theory and electronic telecommunicationstelecommunications – He received his B.A Degree in 1924,M.A,1926, Ohio State University – Sponsored by Bell Lab., he successfully completed his Ph.D, in physics in 1935. – In 1938, he developed his asymptotic phase and magnitude plots. – /wiki/Hendrik/wiki/Hendrik_ Wade_Bode 5 概述概述: Harryy Nyqyquist ((1889-1976)) – He received a Ph.D. in physics at Yale UUniiversitity iin – He developed the Nyquist stability criterion for feedback syystems in the 1930s. – He worked at ATTs Department of DevelopmentDevelopment andand ResearchResearch fromfrom 1917 to 1934, and continued when it became Bell Tel