自控理论课件TM13-Nyquist Stability Criterion.ppt

0 [F] (0, j0) in F(s) plane ? mapping (-1, j0) in GH plane [GH] （-1，j0） 0 IDEA- s F(s) GH(j?) GH(s)=F(s)-1 Step4 jv u [s] [GH] GH(j?) s= j? GH(-j?) s=-j? -1 P = 0, Ncw = 0 ? Z= 0 N = 0 P = 0 ? Z = N+P = 0 Determine P from open-loop TF Draw Nyquist curve (-∞,∞), Determine N Z=N+P ? stability 13.2 Nyquist stability criterion Z = 0 Nccw= P Nccw= for the contour ?GH ,the number of counter clockwise encirclements of the (-1,j0) of GH(s) plane P = the number of poles of GH(s) with positive real parts 0 [s] ?s ??0 0- 0+ The fourth part of ΓGH is: It is a semicircular path of radios approaches infinity clockwise traverse from j0- to j0+ This fourth part of s plane is: If GH(s) has the pole in origin (integral element)—— P = 0, N = 0, ? Z = 0 System is stable [s] [GH] P = 0, Ncw = 2 Or Nccw = -2, ?Z = 0 +2 = 2 jw u [GH] -1 Solution of Example 1 Solution of Example 2 jw u -1 [GH] unstable P = 1; Ncw = 1 or Nccw = -1 ? Z = P + Ncw = 1 +1 = 2 stable P = 1; Ncw = -1 or Nccw = 1 ? Z = P + Ncw = 1 -1 = 0 jw u -1 jw u -1 [GH] [GH] Solution of Example 3-4 If GH(s) has the two open loop poles located on the imaginary axis 0 [s] ?s r?0 R?? 1） ?从?n- ? ?n + ，顺时针转半径为无穷大的半圆。 2）?从- ?n- ? - ?n + ，顺时针转半径为无穷大的半圆。 Sample Problem 13.3 Solution of Example 5 13.3 Some Comments (-1,j0) —— critical point [GH] root locus For ?0, viewed in the direction of increasing frequency. (P252.Section 5) If the critical point (-1, j0) passes on the left ? stable If the critical point (-1, j0) passes on the right ? unstable (1) Minimum-phase system (P=0 ) Im 0 ?=0+ ?=+? -1 ? Re For a system to be stable, the magnitude of GH(j?) must be less than unity when evaluated at the frequency that makes the phase of GH(j?)= -180? ( P254. Section2) (2) N- and N+ 0 [GH] （-1，j0） 负穿越 N- : Negative pass through clockwise direction Ncw 正穿越 N+ : Positive pass through counterclockwise direction Nccw ?=0- ?=0+ ?= -? ?= +? N =2( N-－N+) = Ncw－Nccw Stable. -1 Unstable. -1 Unstable. -1 De