根轨迹绘制基本的准则.pptVIP

* Sichuan University of Science and Engineering * 例题2图 G(s) = s2(s+a) k*(s+1) a=5 a=11 a=9 j 0 j 0 j 0 -11 -1 -1 -1 -5 -9 j 0 -1 -5 j 0 -1 -9 -3 例5图 j 0 -1 -11 -4.62 -2.38 * Sichuan University of Science and Engineering * 根轨迹示例1(补充) j 0 j 0 j 0 j 0 0 j 0 j * Sichuan University of Science and Engineering * 根轨迹示例2 (补充) j 0 j 0 0 j j 0 0 j * Sichuan University of Science and Engineering * 根轨迹示例3 (补充) j 0 j 0 j 0 0 j j 0 j 0 * Sichuan University of Science and Engineering * 根轨迹示例4 (补充) j 0 j 0 0 j j 0 0 j j 0 * Sichuan University of Science and Engineering * 零极点微小变化例1(补充) a=8.8 a=9 a=9.2 0 j -1 d=-3 d1=-2.73 d2=-3.37 * Sichuan University of Science and Engineering * 零极点微小变化例2(补充) G(s)= s(s-1)(s2+4s+a) k*(s+1) a=16 a=19 a=17 a=18 j 0 虚部 3.464 3.606 3.742 3.873 * Sichuan University of Science and Engineering * 自动控制原理 本次课程作业 4 — 1，6，8 * Sichuan University of Science and Engineering * 各种说法(补充) * Sichuan University of Science and Engineering * 证明题1(补充) 证明 证毕 * Sichuan University of Science and Engineering * 证明题2(补充) * Sichuan University of Science and Engineering * 例题3 (补充) 已知单位反馈系 j 0 1 -1 -2 d1=0.366 k1=0.0718 d2= -1.37 k2=13.9 s=0.7j k1=0.332 统根轨迹如图所示 1 求闭环出现重根时 Φ(s)的零极点表达式 2 求欠阻尼状态下单位斜坡输入时ess的范围 解：1 2 k= -2k* ess=1/k -1.5＜ess＜-0.036 k1=0.0718 k2= 0.332 k3= 13.9 * Sichuan University of Science and Engineering * 例题4 (补充) 单位反馈系统开环传递函数 1、绘制闭环根轨迹 2、确定分离点处Φ(s) 零极点表达式 0 -1 -4 j -0.354 k=0.04 j k=1 2 4 1 2 3 * Sichuan University of Science and Engineering * 例题5(补充) 已知单位反馈系统开环传递函数 其中T0 ，试绘制闭环系统根轨迹草图。 由该图知，开环有一个负实根，两个正实部的共轭复根 由劳斯判据知，闭环在T0.254时系统稳定，所以渐近线在左边。 * Sichuan University of Science and Engineering * 例题6 (补充) (a0) * Sichuan University of Science and Engineering * 例题7 (补充) -12 -8 -4 0 j * Sichuan University of Science and Engineering * 例题8 (补充) s=-1,a=1 s=-5,a=9 -3 -2 0 1 -4 * Sichuan University of Science and Engineering * 绘制 的根轨迹。 例题9 (补充) * Sichuan University of Science and Engineering * 例题10 (补充) -2 j 0 已知系统的开环极点分布如图，试确定a的值使根轨迹有一个分离点、有两个分离点， 并绘制根轨迹。 j -a 1 0 * Sic