线性控制课件 module 17_18 08-4-21-english_new.ppt

The approximate damping ratio * Linear Control Systems Engineering 线性控制系统工程 Module 17 Time Response from frequency response 频率特性与时域响应 1 Time domain: PO, ts , tr , tp . 2 Frequency domain: (open-loop) ? PM, GM, ?gc, h (closed-loop) ? ωb, M(0), Mp， ωP Specifications in: ?Closed-loop time response from open-loop phase margin Consider the response of a standard closed loop second order system. R C Fig.17.4 Second-order closed-loop system. + - (1)Plot the Bode diagram (2)Relate the phase margin to the damping ratio (3)Relate the gain crossover frequency ωgc to the undamped natural frequency ωn. - - To find the frequency when the magnitude is unity - Substitute it to phase expression - M=1 - For 0ξ0.6, the relationship between the phase margin and the damping ratio: - The relationship between the gain crossover frequency ωgc and the undamped natural frequency ωn. From Fig 175: ???? PO? ? PM? For Fig 176: ???? ?gc ? ? t s ? (?3/??n ) When ?? very small ?gc? ?n ? For the higher order system, it may be approximated to second order as long as dominant closed loop poles are significantly dominant. The guideline for high order system (or the system with a closed loop zero) approximation: 1. When a zero or pole is present, there is no unique relationship between the phase and damping ratio. It is usually assumed that other system poles or zeros have little effect on the damping ratio. 2.It is customary to equate the gain crossover frequency to the undamped natrual frequency. The Response of Higher Order Systems ? Time response of higher-order system 1 use dominent poles 2 ?gc? ?n Problem: Consider the system with the open loop transfer function Draw the Bode diagram and estimate