自控理论课件TM03First-Order Systems.ppt

例1简单的RC电路 可以得到系统的传函，?为时间常数，与电路参数有关 结论： 极点决定响应的特征模式 零点决定各模式的相对权重 Transfer function simplify Dominant pole: ? ? ?? Roles of zeros -1 -2 -3 -4 0 1 -1 Im Re -1 -2 -3 -4 0 1 -1 Im Re Step response Step response Conclusion For the response to be stable, the real part of the roots are in the left hand portion of the s-plane. The dominant poles determine the particular response modes that will be present. The zeros establish the relative weightings of the individual mode function. Open-loop Closed-loop C(s) R(s) Open-loop vs Closed-loop The steady state error can be reduced to an arbitrary small value by increasing K. Closed loop, K=4 Open-loop pole vs Closed-loop pole Im Re 0 K?? K=0 Open-loop pole Open-loop Close-loop pole Closed-loop ???? obtain the transfer function of first order systems; find the time response. important concepts Steady state error ; Characteristic equation ; Dominant pole(s) Review Module 3 C(s) R(s) Im Re 0 K?? K=0 The kinds of things you need to know about how we are going to run the course. 课程概况和课程目标What it is you’ll be able to do at the end of this course when you get through. Concepts and tools of computational thinking, which is what we’re primarily going to focus on here. 控制的思维方法和概念 try and help you learn how to think like a control engineer Feel justifiably Confident in their ability to write and read small pieces of code Give you an understanding of the role control can and cannot play in tacking technical problems You will come away with a sense of what you can do, what you can not do, and what kinds of things you should use to tackle complex problems. Have an appropriate level of confidence and competence in your ability to do computational problem solving. You can easily compete for things like your office and summer jobs. Skills:use the basic tools of computational thinking to write small scale programs use a vocabulary of computational tools in order to understand programs written by others. fundame