线性控制考点.ppt

The Principle of Automatic Control Review Zhang Qi 张 祺 Bilingual Course Review Transfer Functions - Laplace transform - Derivation of Transfer Function Block diagram algebra - Serial elements - Parallel elements - Feedback loops - Multiple inputs First-order system - Transfer function - Step Response of First-order system, time domain response - Other time domain response - Pole and zero; dominant poles Second-order system - Transfer function; Derivation - Step Response of Second-order system: ζ overshoot, time domain response -Time Domain Performance Specifications - Other time domain response - Harmonic response - Relationship Between System Poles and Transient Response Higher order systems reduction to lower order Systems - The identification of dominant poles - Effect of higher order pole and closed-loop zero Steady state error - Final value theorem - Table 8.1 - The Steady state error of None-unity-feedback control system Routh’s Stability Criterion - Routh’s method Root Locus - magnitude and phase equation - Rules for Plotting the Root Locus - System design in the complex plane: Multi-loop design, ξ , ωd and ωn Nyquist diagram - Frequency response - Nyquist diagrams from transfer functions Nyquist Stability Criterion - Stability Criterion - Nyquist contour and the corresponding GH(s) diagram - Comments on Nyquist Stability - GM and PM Bode diagram - Bode diagrams from system transfer functions: method1, method2. - PM, GM, stability - System type and steady state error from Bode diagrams Closed Loop Time Response from Open loop Phase Margin - Fig. 17.5 Phase lead compensation Phase Lag compensation Multimode controller: The effect of P, I, D; Parameter setting method. PID controller: Ziegler and Nichols first and second method. 非线性系统 －典型非线性静特性； －描述函数定义，描述函数负倒特性曲线（负实轴 方向 A:0-∞） －使用描述函数法分析系统（饱和、死区、理想继电器等负实轴