根轨迹立体（Root locus）.doc

根轨迹立体（Root locus） Example 4-1 set a unit of feedback control system open loop transfer function as follows, and try to draw the root trajectory of the system. Routine method According to the rules of drawing the root trajectory, the root trajectory of the system is shown as follows: The starting point and number of the root trace: So lets draw the system, lets call it the open loop pole. The distribution is shown in figure 4-8. The system has three trace branches, whose starting point is the open loop pole (0, -1, -2). Since there is no ring zero, all three trace branches are going to infinity along the asymptote. Figure 4-8 - The root of the real axis: The line segment between 0 and minus 1 and -2 to minus infinity in the solid axis is the root trajectory. -- -- -- -- -- -- -- By rule five, the asymptote of the root trajectory of the system has three. According to its Angle formula of the real axis: Lets see, 60L, 180L, 300L. The intersection of the asymptote and the real axis Thus, the asymptote of the root path can be made, as shown in the solid line in figure 4-8. 1. Separation points: It starts from the two roots of 0, -1, and as it increases from 0 to infinity, there is some one that separates the root from the solid axis and goes into the complex plane. At this point, the corresponding closed loop pole, the separation point. Thats the point on the plane of the eigenvalue. According to the formula: That is: To: Because the separation point has to be between 0 and minus 1, not the actual separation point. Its the actual separation point. The intersection of the root and the imaginary axis: The equation of the characteristic equation becomes the equation That is: The real and imaginary parts of the above equation are equal to zero. So you get this: Therefore, the root path intersects the imaginary axis at omega equals plus or minus points, and the corresponding value is equal to 6. According to the above results, the complete root path of the system is shown in