自控理论ch过程稿.pptVIP

Automatic Control Theory School of Information Science and Engineering,CSU * Chapter 4 Root Locus Method of Linear System 4.1 Introduction 1. Definition of Root Locus The root locus is the path of the roots of the characteristic equation traced out in the s-plane as a system parameter is changed from 0 to infinity. An approximate sketch can be used to obtain qualitative information concerning the system. 1) stability 2) steady-state accuracy 3) dynamic performance (determined by the location of system’s closed-loop poles in s-plane) 4) If the root locations are not satisfied, the necessary parameter adjustments often can be readily ascertained from the root locus. So, the root locus method can be used to analyze and design a system. Note: When plotting the root locus, only the angle requirement is the sufficient and necessary condition (because s is vary with K ). The magnitude requirement is used to determine K for a given root s1. The angle requirement is used to verify a test point s1 as a root location. 4.2 Basic rules for drawing root locus 4.2.1 Basic rules 　Rule 1：Starting point and end point 　　　　　根轨迹的起点和终点 The loci begin at the n open-loop poles (the closed-loop poles for K=0), and ends at the m open-loop zeros (the closed-loop zeros for K=∞). The number of branches approaching to infinity is n-m. Proving： 　Rule 2：The number of loci, symmetry and continuity 根轨迹的分支数、对称性和连续性 　The number of loci is equal to the number of CL poles, i.e. the order of the characteristic equation. The root loci must be continuous and symmetrical with the respect to the horizontal real axis because complex roots must appear as pairs of complex conjugate roots. Rule 3：The asymptotes of the root loci 　　　　　根轨迹的渐近线 　Rule 4：The root locus on the real axis 　　　　　实轴上的根轨迹 　The root locus on the real axis has odd number of poles and zeros on its right, complex poles or zeros and poles and zeros on its left have no effect.　 It can b