实验备课教案4(讲义).docVIP

实验四 根轨迹法的MATLAB自控实现 实验目的 熟悉并掌握MATLAB的工作环境。 了解根轨迹控制技术的基本理论。 在MATLAB工作环境下，选择适当的例子，实现根轨迹法控制，讨论控制效果。 实验内容 Closed-Loop Poles The root locus of an (open-loop) transfer function H(s) is a plot of the locations (locus) of all possible closed loop poles with proportional gain k and unity feedback: The closed-loop transfer function is: and thus the poles of the closed loop system are values of s such that 1 + K H(s) = 0. If we write H(s) = b(s)/a(s), then this equation has the form: Let n = order of a(s) and m = order of b(s) [the order of a polynomial is the highest power of s that appears in it]. We will consider all positive values of k. In the limit as k - 0, the poles of the closed-loop system are a(s) = 0 or the poles of H(s). In the limit as k - infinity, the poles of the closed-loop system are b(s) = 0 or the zeros of H(s). No matter what we pick k to be, the closed-loop system must always have n poles, where n is the number of poles of H(s). The root locus must have n branches, each branch starts at a pole of H(s) and goes to a zero of H(s). If H(s) has more poles than zeros (as is often the case), m n and we say that H(s) has zeros at infinity. In this case, the limit of H(s) as s - infinity is zero. The number of zeros at infinity is n-m, the number of poles minus the number of zeros, and is the number of branches of the root locus that go to infinity (asymptotes). Since the root locus is actually the locations of all possible closed loop poles, from the root locus we can select a gain such that our closed-loop system will perform the way we want. If any of the selected poles are on the right half plane, the closed-loop system will be unstable. The poles that are closest to the imaginary axis have the greatest influence on the closed-loop response, so even though the system has three or four poles, it may still act like a second or even first order system depending on the location(s) of the dominant pole(s). Plotting the root locus of a transfer functio