现代控制工程-第八篇.pptVIP

4-3 Performance of 2-order systems 1. Mathematic model of 2-order systems 2-order systems are the most important systems, for they are most widely used, and in most cases, higher order systems can be approximated by 2-order systems. When the inductance is neglected, the DC generator can be modeled as: 2. The step response of 2-order system 1.when , the system is overdamped. It has 2 different real negative poles, the closed-loop transfer function can be rewritten as: The Laplace transform of the response to the step input is: 3. When , the system is underdamped. It has a pair of conjugate poles with negative real parts. Step response of 2-order system Step response of 2-order system Conclusion: when , the bigger is, the smaller is, the transient process will be more smooth. As the inverse, the smaller is, the bigger is, and the transient process will be less smooth. If is too big, say, , the response will be quite slow, , , all become bigger; if is too small, the response will be swift, but with heavy oscillation and still a longer settling time , or the closeness become worse. let’s study the impulse response of 2-order system. 3. (underdamped) calculation of performance indices of 2-order systems 1. Rise time 3. P.O. (percent overshoot) 4.Settling time from definition: Performance indices of 2-order system------ parameters relationship Conclusion review: when , the bigger is, the smaller is, the transient process will be more smooth. As the inverse, the smaller is, the bigger is, and the transient process will be less smooth. If is too big, say, , the response will be quite slow, , , all become bigger; if is too small, the response will be swift, but with heavy oscillation and still a