北京理工大学810自动控制原理考研课件6.pptVIP

* Changed！ 1. Zero-degree root locus The close-loop characteristic equation: magnitude requirement angle requirement No change！ * Rules for drawing zero-degree root locus 1. Number of root locus branches is the number of characteristic roots. 2. The symmetry of root locus. 3. The start point and end point. 4. The locus on the real axis has even number of real poles and zeros on its right. 5. The Asymptotes of the Root Locus . No change！ Changed！ No change！ No change！ No change！ Changed！ * 6. The breakaway point of the root locus 7. The angle of departure of the locus from complex poles and the angle of arrival at complex zeros. 8. The root locus crossing the imaginary axis. No change！ Changed！ No change！ * Example 5.12: A positive-feedback system: Drawing the zero-degree root locus * * Example 5.13: Feedback system Drawing the parameter root locus. 2. Parameter root locus * * * 5.4 Parameter Design by the Root Locus Method The root locus method can be readily extended to the investigation of two or more parameters. Example 5.14: The closed-loop characteristic equation is with two parameters: * The effect of varying b is determined from the root locus equation: First of all, let b=0, and therefore we evaluate the effect of varying a by the equation: Rewritten as: * The sketch of the root locus is shown in the figure. Let a=a1, the root locus equation of the closed-loop system becomes: * The root locus as b varies is shown in the figure. * As a be selected to different value, the root locus of b is changed as shown in the figure. * 5.5 Relationship between Performance and the Distributing of Close-loop Zeros and Poles 2. If there is a closed-loop zero close to a pole, then the residue at this pole is small and the coefficient of the transient response term corresponding to this pole becomes small. So a pair of closely located pole and zero will effectively cancel each other. 1. If a pole is located very far from the origin, The transients corresponding to