现代控制工程-第十三节.pptVIP

6-1 Basic concepts Denote the CL transfer function as: Steady-state response is: Example 6.1 Notes: （1）Frequency characteristics have clear physical meaning, can be measured by experiments and be used to induce the transfer function in black-box situation. （2） Frequency characteristics describe the steady–state response of stable system. （３） Frequency characteristics are right the Fourier Transform of the response. 6-2 Frequency characteristics plots 　3 kinds: Polar plot, Bode diagram, log-magnitude-phase diagram （1） Polar plot（ magnitude-phase curves） 　represent the frequency characteristic using the real and imaginary parts as: 　 　taking ω as parameter, when ω changes from 0 to ∞, plot the frequency characteristic curve using the real and imaginary parts as coordinates. (magnitude-phase curve). 　 on the magnitude-phase curve, the magnitude and phase of every point is right the magnitude and phase characteristics respectively. Example 6.2 given Demerits: complex calculations calculate again when new zeros or poles added. can not tell the change with ω directly （2）Bode diagrams merits: can be obtained by adding the plot of each factor moderate accuracy of asymptotic method easy for transfer function identification （3）log-magnitude-phase diagram (omitted see p461) vertical coordinate: （db） horizon coordinate: the frequency ω is parameter 6-3 Frequency characteristics of typical factors 1. minimum phase typical factors （1）constant gain（2）integrator （3）differentiator （4）pole on real axis （5）zero on real axis（6）conjugate poles （7）conjugate zeros The general form of transfer function is: write the transfer function as: （1）constant gain magnitude and phase curves are both horizon lines. （2）