自控理论课件TM10-Rules for Plotting the Root Locus.ppt

* * * * * * * * * * 根轨迹起于开环极点(K=0)，终于开环零点(K=?)。 趋于无穷远处的根轨迹线段数有n-m条。 若nm，有n-m条根轨迹线段终止于无穷远 若nm，有m-n条根轨迹线段起始于无穷远 * * * * * * * * 规则＃1 根轨迹的起点和终点 根轨迹的起点（K＝0），根轨迹为开环极点 根轨迹的起点（K??），根轨迹为开环零点 * 根轨迹起于开环极点(K=0)，终于开环零点(K=?)。 趋于无穷远处的根轨迹线段数有n-m条。 若nm，有n-m条根轨迹线段终止于无穷远 若nm，有m-n条根轨迹线段起始于无穷远 * 规则＃2 根轨迹实轴部分 根据相角方程 位于实轴的根轨迹只与位于其右侧的零极点的个数有关。 30 Oct 07 Zhang Rong, HUST CEEE Re 0 Im -2j -2 -4 2j -2.83j 2.83j K= -s(s+2)(s+4) (-2s10) K 0 0 s 0 -2 试探法（高阶方程） -1.5 -1.0 -0.5 2.625 3.00 1.875 -0.75 3.047 3.079 -0.85 *Another method (2) 30 Oct 07 Zhang Rong, HUST CEEE j 0 -1 3 poles j 0 -1 q coincident poles Rule #8 is? 30 Oct 07 Zhang Rong, HUST CEEE Rule #8 The angle between the direction of emergence (or entry) of q coincident poles (or zeros) on the real axis is given by The directions are symmetrical about the real axis, and if q is odd, the negative real axis is one of the directions. q 条根轨迹在实轴相遇，其分离点轨迹间的夹角为360/q, 其方向对称于实轴，当 q 为奇数，则负实轴是分离点轨迹的方向之一。 30 Oct 07 Zhang Rong, HUST CEEE The gain at a selected point st, on the locus is obtained by joining the point to all open-loop poles and zeros and measuring the length of each line |st+pj|, |st+zi|. The gain is given by Remember that moving st towards the poles reduces the gain；moving away from the poles increases the gain. Rule #9 From Magnitude Equation 30 Oct 07 Zhang Rong, HUST CEEE When n-m?2 Rule #10 is? 30 Oct 07 Zhang Rong, HUST CEEE If there are at least two more open-loop poles than open-loop zeros, the sum of the real parts of the closed-loop poles is constant, independent of K, and equal to the sum of the real parts of the open-loop poles. 闭环极点的实部之和等于开环极点的实部之和，为常数，与K取值无关。(n-m?2) Rule #10 30 Oct 07 Zhang Rong, HUST CEEE Example 30 Oct 07 Zhang Rong, HUST CEEE The starting points and the end points (根轨迹的起点和终点） The Segments of Root Locus on the Real Axis (实轴上的根轨迹） The Real Axis intercept of the asymptotes (渐近线和实轴的交点） 0 j Summary (1) 30 Oct 07 Zhang Rong, HUST CEEE The Angle of Emergence from Complex Poles and The Ang