自控理论课件TM16-Bode Analysis.ppt

16.1 System type and Steady-state error from Bode Diagram Steady-state error Example 1 Example 2 Example 3 Example 1 Stability criterion Example 2 Example 3 Example 4 Example 5 16.2 Conditional Stability Stability criterion Example (P328) Example (P327) View P329 Fig.16.10 (error?) Example 2 Example 3 Example 4 Example 5 Example 6 Natural frequency and overshoot Natural frequency and overshoot from Bode plots Transient-state performance Questions HOMEWORK 16.2 16.4 16.10 小结：从时域、复数到频域 PM0 Write the open-loop transfer function. Is the system stable? What is the system type? 1 10 -40db/dec -60db/dec -20db/dec 20 20 The Bode diagram of an open-loop system is shown in Fig. It is stable. (because the slop at the gain crossover frequency is –20db/dec). It is type 0 system. Middle—frequency region Middle -frequency Region (ωgc) Phase margin (PM) and ωgc or the slope of this region is –20dB/dec (Stability and Transient-state performance) The frequency-domain region The time-domain region ω→ωgc the slope of Mdb at ωgc and PM the middle frequency region Stability The frequency-domain region 开环幅频特性 闭环幅频特性 Middle—frequency region Middle -frequency Region (ωgc) Phase margin (PM) and ωgc or the slope of this region is –20dB/dec (Stability and Transient-state performance) The frequency-domain region The time-domain region ω→ωgc → ωn PM the middle frequency region t → Tp;Tr; Ts the damping ratio ? (overshoot) (transient process) The frequency-domain region High—frequency region High -frequency Region the slope and magnitude of Mdb must be very negative ( for restraining of high-frequency noise ) The frequency-domain region The time-domain region ω→ 0 ( low frequency region ) the magnitude at low frequency ω→ωgc ( gain crossover frequency ) the middle frequency region the slope of Mdb at ωgc ( or PM ) ω→ ∞ ( high frequency region) the magnitude must meet the requirement for noise retrained t →∞ ( steady-state) the stead