自控理论课件TM06-Disturbance Rejection and Rate Feedback.pdf

MODULE 6 Disturbance Rejection and Rate Feedback Disturbance rejection via Feedback; Effect of velocity feedback Disturbance and Environment A disturbance signal is an unwanted input that affects the system’s performance . Outline Open/Closed-loop Disturbance Rejection Effect of Rate (Velocity) Feedback Outline Open/Closed-loop Disturbance Rejection Effect of Rate (Velocity) Feedback 6.1 Open/Closed-loop Disturbance Rejection D(s) controller plant R(s) - C(s) G (s) G (s) 1 2 C=?R+?D D(s) controller plant R(s) - C(s) G (s) G (s) 1 2 − sensor H(s) Open-loop Disturbance Rejection C D(s) controller plant Open loop R(s) - C(s) G (s) G (s) 1 2 D C (s) G G ⋅R (s) −G ⋅D (s) open 1 2 2 ∆C −G D (s) open 2 Closed-loop Disturbance Rejection D(s) controller plant R(s) G (s) - G (s) C(s) C Closed loop 1 2 − Open loop sensor H(s)