自控理论课件TM15-Review.ppt

Review - Nyquist Diagram (1) Review - Nyquist Diagram (2) Review - Nyquist Diagram (3) Review - Nyquist stability criterion Review - Relative Stability Review - Relative Stability Examples Test 2 Test 3 Limit of the Nyquist diagram 15.1 Definition of Bode Diagrams (Logarithmic Plot) ? log10?, a logarithmic scale of frequency (十倍频程) M ?Mdb= 20log10|GH(j?)|, units are decibels (dB-分贝) ? ? ? =?GH(j?) Semi-Logarithmic Table NACA（NASA的前身） 15.2 Bode Diagram of Simple system 15.2 Bode Diagram of Simple system 15.2 Bode Diagram of Simple system 15.2 Bode Diagram of Simple system 15.2 Bode Diagram of Simple system 15.2 Bode Diagram of Simple system 15.2 Bode Diagram of Simple system Effect of Constant Terms Effect of Individual Zeros and Poles at the origin Effect of Individual Zeros and Poles NOT at the origin 15.3 Bode Diagrams of open-loop transfer function Example 1 Example 2 Example 3 Example 4 The Steps of Plotting the Bode Diagram ( P307) Example 5 At the end of this lecture students should be able to Plot the Bode Diagram Determine the phase-frequency curve or transfer function according to the magnitude-frequency curve for a minimum-phase system. HOMEWORK 15.1（选2） 15.2（选2） 15.3 15.5 Open-loop transfer function Frequency response Preparation Step – Writing the open-loop frequency response in Bode form firstly: Sample Problem 15.2 Step 3– Plot the straight line magnitude approximation (近似直线幅值） Step 4– Graphically add all element magnitude. Step 5– Plot Deviations (画出转折频率处的偏差） Step 6– Complete the magnitude curve. Step 7– Plot the phase-frequency curve. Step 1– Calculate the break frequencies: Step 2– Determine the frequency range to be plotted: ?1=2 ?2=10 ?3=20 ?1 ?2 ?3 ?1 ?2 ?3 Automatic Control Theory * Minimum-phase system Type 0 system Type 1 system Type 2 system Minimum-phase system n-m=3 n-m=1 n-m=2 jw u -1 [GH] jw u [GH] -1 Z=N+P Z ≠0 ? unstable Z = 0 ? stable PM=phase margin PM 0 ? stable PM 0 ? unstable Test 1 The open-loop Nyqui