控制工程（周川）ac20158.pptVIP

Ch6 The Root Locus Method Main content The Root Locus Concept The Root Locus Procedure Generalized root locus or Parameter RL Parameter design by root locus method PID controllers and RL method Examples and simulation by MATLAB Summary Introduction 6.1 The root locus concept Definition: The root locus is the path of the roots of the characteristic equation traced out in the s-plane as a system parameter is varied. Root locus and system performance Root locus equation Relationship between the open-loop and closed-loop poles and zeros Root locus equation: Basic task of root locus How to determine the closed-loop poles from the known open-loop poles and zeros and gain by root locus equation. Angle requirement for root locus Magnitude requirement for root locus An example 6.2 The Root Locus Procedure Step 1:Write the characteristic equation as Step 2: Rewrite preceding equation into the form of poles and zeros as follows: 6.2 Root locus procedure Step 3: Locate the poles and zeros with specific symbols, the root locus begins at the open-loop poles and ends at the open-loop zeros as K increases from 0 to infinity. 6.2 Root locus procedure Step 4: The root locus on the real axis lies in a section of the real axis to the left of an odd number of real poles and zeros. Step 5: The number of separate loci is equal to the number of open-loop poles. Step 6: The root loci must be continuous and symmetrical with respect to the horizontal real axis. 6.2 Root locus procedure Step 7: The loci proceed to zeros at infinity along asymptotes centered at and with angles : 6.2 Root locus procedure Step 8: The actual point at which the root locus crosses the imaginary axis is readily evaluated by using Routh criterion. Step 9: Determine the breakaway point d (usually on the real axis): 6.2 Root locus procedure Step 10: Determine the angle of departure of locus from a pole and the angle of arrival of the locus at a zero by using phase angle criterio