第五章节Stability-Performance-of-Feedback-Systems.pptVIP

Chapter 5Stability Performance of Feedback Systems Nyquist Criterion: Four Important Concepts Nyquist Criterion: Mapping Contour Definitions Vector Representation ofMapping The Nyquist Contour Criterion Mapping GH(s) Segment Around a Singularity:Segment EA is Typical Example Example : Nyquist Plot of GH(s) Example : Nyquist Plot Zoomed in on -1+j0 Example Example Example Example Example Gain Phase Margin Bode Stability Criterion A system is stable if Ar is less than 1.0 at the critical frequency (i.e., w that corresponds to f=-180o) Closed loop stability of a system can be analyzed by applying the Bode Stability Criterion to the product of the transfer functions of the controller and the process, i.e., Gc(s)Gp(s). Gain Margin Gain Margin Gain Margin = 1/Ar* Where Ar* is the amplitude ratio at the critical frequency. Controllers are typically designed with gain margins in the range of 1.4 to 1.8 which implies that Ar at the critical frequency varies between 0.7 and 0.55, respectively. Phase Margin Phase Margin PM = f* - (-180) Where f* is f at the crossover frequency. Controllers are typically designed with a PM between 30o to 45o. Tuning a Control from the Gain Margin Tuning a Control from the Phase Margin Phase margin determines the phase angle at the crossover frequency. The amplitude ratio at the crossover frequency is one; therefore, the controller gain can be calculated from the equation for the amplitude ratio. Example of a Pulse Test Developing a Process Transfer Function from a Pulse Test Limitations of Transfer Functions Developed from Pulse Tests They require an open loop time constant to complete. Disturbances can corrupt the results. Bode plots developed from pulse tests tend to be noisy near the crossover frequency which affects GM and PM calculations. 控制系统的稳定性分析 （1）稳定性的基本概念 稳定性定义：当系统受到扰动作用后，将偏离原来平衡状态；当扰动消除后，如果系统能在一定的时间范围内以足够的准确度恢复到初始平衡状态，则称系统是稳定的系统，反之则称系统是不稳定系统。 （2）线性系统稳定的充分和必要条件 ： 线性系统稳定的充分和必要条件是系统特征方程的根全部具有负实部，或者说，闭环传递函数的极点均位于复平