[工学]根轨迹_3.ppt

CHAPTER 4 Root Locus By Hui Wang hwang@ FTP:9/168 Outline of Chapter 4 Introduction Basic Concepts of Root Locus Method Geometrical Properties (Construction Rules) Generalized Root Locus Performance characteristics ……… Thanks. Root locus Generalized root locus 3. Root locus of Non-minimum phase system 2) there are two branches of the root locus 3) The root locus exists on the real axis between 0 to -2 and 1 to ∞ σ jω -2 0 1 4) The angles of the asymptotes are The real-axis intercept of the asymptotes: The breakaway (approaching) angle: Root locus Generalized root locus 3. Root locus of Non-minimum phase system 5) The breakaway and breakin points d on the real axis are found as following σ jω -2 0 1 -0.71 2.71 6) The crossing point on imaginary-axis 1.41 -1.41 So, the system is conditioned stable (when 0K2). Root locus Generalized root locus 4. Transport Lag Some element in control systems are characteristic by dead time or transport lag, this appears as a dead interval for which the output is delayed in response to an input. Deadtime τ ei(t) eo(t)=ei(t- τ)u-1(t- τ) eo(t) ei(t) τ t The transfer function of the transport-lag element Ei(s) Eo(s)=e -?s Ei(s) * * Root locus Generalized root locus: 1. Parameter root locus The common root locus ------ the root of the characteristic equation of the closed-loop system as a function of the gain of the root locus. For example The parameter root locus ------ the root of the characteristic equation of the close-loop system as a function of the other parameter (not the gain of root locus), such as the time constant T. For example Definition: The method of plotting the parameter root locus: Writing the open-loop transfer function G(s)H(s) The characteristic equation 1+G(s)H(s)=0 The equivalent open-loop transfer function G′(s)H′(s) (let the parameter you care is the gain of root locus) Plot the root locus with the equivalent open-loop transfer function G′(s)H′(s) using the root-locus plotting rules as before. Root locus G