[工学]现代控制系统.pptVIP

u jv 0 -2K jv 0 -2K 9.4 Relative stability and the Nyquist criterion Stability margin Gain margin h Phase margin r For example: Draw the polar plot ( Nyquist graph) We got , Locus intersects the u-axis at a point u jv -1 For a gain K= , Clockwise encircle the point (-1,j0) 1 time From Z=P+2N=0+2*1=2. ∴The system is unstable. N=1 When K , gradually approach the point (-1,j0) The system is marginally stable, and we have: as K is decreased below this marginal value, to , doesn’t encircle the point (-1,j0) , the closed-loop system is stable. u jv -1 1. Gain margin h: 2. Phase margin 3. From the Bode Diagram The gain and phase margins are easily evaluated 0 With a minimum-phase system: The system of closed-loop is stable The greater the are , more stable the system is Example 1 Determine the gain margin and phase margin. The Bode diagram is shown as follow: 0.1 1 5 10 h 20 40 From the figure, we have =1rad/s, so So the closed-loop system is stable Example 2 The Bode diagram is shown as follow, 0.1 1 10 20 40 So the closed-loop system is marginal stability Example 3 Determine the stability margin. Solution, * Chapter 9 stability in the frequency domain 9.1 introduction The characteristic equation of closed-loop system: For the single-loop control system of Figure (9.1) , G(s) H(s) - R(s) Y(s) For a multi-loop system, in terms of signal-flow graphs, the characteristic equation is Therefore, we can represent the characteristic equation of single-loop or multiple-loop system by equation (9.1) 9.2 mapping contour in the s-plane contour map: is a contour or trajectory in one plane mapped of translated into another plane by a relation F(s) Since s is a complex variable, the function F(s) is itself complex; it can be defin