现代控制工程CH05-2frequencyresponse.pptVIP

CH.5 frequency response 5-2 Frequency characteristics of typical elements The general form of OL transfer function is: write the transfer function as: 7班 5班 6 * 5-1 Concept of frequency characteristics 5-2 Frequency response of typical elements 5-4 Stability criterion of control system in frequent domain 5-5 Relationship between the frequency characteristics of open-loop system and the performance of closed-loop system 5-3 Plotting for the open-loop transfer function Obtaining the polar plot for it would be a formidable task. Bode diagram can be obtained quite easily by adding the plot of each individual element. The frequency characteristics are: thus finally Proportional element Integral element Differential element Inertial element 1-order differential element Oscillation element 2-order differential element 1-order unstable element Magnitude-phase characteristics Proportioning element Transfer function: Frequent characteristics: Magnitude-frequency: Magnitude and phase curves are both horizontal lines. Phase-frequency: (K+j0) Re Im Transfer function: Frequency characteristics: Integral element Magnitude-Frequency characteristics: Phase-Frequency characteristics: Magnitude-phase: Magnitude curve is a line, while the slope is -20dB/dec (decrease 20dB in a dec), crossing point with real axis： ω = K if the transfer function is k/s. Phase curve is horizon line. 40db 0.1 1 10 -20dB/dec Integral element 20db 0.2 2 20 0db -20db -40db Transfer function: Differential element Manitude-Frequency characteristics: Magnitude-phase: Frequency characteristics: Manitude-Frequency characteristics: Magnitude curve is a line, while the slope is 20dB/dec (increase 20db in a dec), crossing point with real axis： ω = 1/K if the transfer function is ks. Phase curve is horizon line. 40db 0.1 1 10 20dB/dec Differential element 20db 0.2 2 20 0db -20db -40db Transfer function: Inertial element Frequency characteristics: Manitude(