自控理论课件TM14-Nyquist Analysis and Relative Stability.ppt

14.1 Conditional Stability Relationship between the relative stability and transient response 14.2 Gain and Phase Margins（幅值裕度和相角裕度） Example 14.3 Comment on GM and PM 13.4，13.7，13.8； 14.2，14.3 Some Examples Solutions Test 2 Test 3 Automatic Control Theory * Module 14 Nyquist Analysis and Relative Stability Relative stability 相对稳定性,稳定程度（裕度） K? ? relative stability ? (1) Gain Margins (GM) ?g－ crossover frequency (相角穿越频率) KC －critical open-loop gain K －actual open-loop gain GM1 ? closed-loop is stable GM1 ? closed-loop is unstable Great margin Smallmargin No Margin stable P = 1; Ncw = -1 or Nccw = 1 ? Z = P + Ncw = 1 -1 = 0 jw u -1 [GH] stable P = 0; Ncw = -1 and Nccw = 1 ? Z = P + N = 1 -1 = 0 jw u -1 [GH] ?c ?c— frequency that makes the magnitude unity（截止频率） ?(?c) (2) Phase margins (PM) ?g ?c PM 0 ? stable PM 0 ? unstable Great margin PM=phase margin There are many points which magnitude is unity There are many points which phase is -180o ? Can not use GM ? Can not use PM Concept of Relative stability Gain margin and phase margin At the end of this Module students should be able to know Test 1 The open-loop Nyquist curves of two unity feedback systems are shown, where is the number of open pole in the right-half s plane (RHP). Determine the closed-loop poles number in RHP.