自控理论ch6.pptVIP

Automatic Control Theory Chapter 6 Compensation method of linear system A feedback control system that provides an optimum performance without any necessary adjustment is rare. We have found that to achieve the desired system response, it is possible to adjust the system parameters but it is often not enough. It is required to reconsider the structure of the system and redesign the system. Thus the design of a control system is concerned with the arrangement of the system structure and the selection of suitable components and parameters. Compensator: A compensator is an additional component or circuit that is inserted into a control system to equalize or compensate for a deficient performance. Utilizing the methods of the previous chapters we develop several design techniques in the frequency domain that enable us to achieve the desired system performance. 6.1 Design and compensation of system 6.1.1 Performance indexes Notes: High performance means high cost. Required performance specifications may be contradictory to each other. Practical specifications： 3. *Relationship of the performances in the time-domain and frequency-domain 1) second order system 6.1.2 Determination of system bandwidth 6.1.3 Compensation mode Features: Complicated in analysis and design; Special results may be obtained by using simple compensator. 3. Forward control 6.1.4 Basic control rule Cascade compensation Basic compensation rules: P、PI、PD、PID 6.2 General compensator and its characteristic 6.2.1 Passive compensation network 　The max point of phase is the geometrical center of the two frequencies. Bode diagrams of the phase-lag network Pole-zero allocation The two sets of one pole and one zero: similar to [a lead comp. + a lag comp.] 6.2.2 Active power compensator 6.3 Cascade compensation 6.3.1 Compensation of frequency response method 6.3.2 Cascade lead compensation 1. Steps (PD) (1) Determine the desired OL gain K according