北航自控原理课件10(英文版).ppt

Bode diagram Bode diagram Bode diagram Therefore the damping ratio should be .The settling time Requirement is Thus we will choose a desired dominant root location as so K=8.2 (2)The phase-lag network design The transfer function of the phase-lag network is Assume open-loop transfer function of uncompensated system is The open-loop transfer function of compensated system is Steps: 1. Obtain the root locus of the uncompensated system. 2. Determine the transient performance specifications for the system and locate suitable dominant root locations on the uncompensated root locus that will satisfy the specifications. 3. Calculate the loop gain at the desired root location and the system error constant. 4. Compare the uncompensated error constant with the desired error constant ,and calculate the necessary increase that result from the pole-zero ratio of the compensator, . 5. With the known ratio of the pole-zero combination of the compensator, determine a suitable location of the pole and zero of the compensator So that the compensated root locus will still pass through the desired root location.Locate the pole and zero near the origin of the s-plane in comparison to . Example :consider the uncompensated system has a open-loop transfer function Design a compensation network to satisfy the damping ratio of the dominant complex roots be 0.45,and velocity constant equal to 20. * Chapter 10 The Design of feedback Control System 10.1 introduction Ⅰ. Performance specifications Typical time domain indices: Overshoot: σ% Settling time: ts Raising time: tr Open-loop gain: K Steady state error: Typical frequency domain indices: Gain margin: GM Peak value : The resonant frequency: bandwidth: Phase margin: Cutoff frequency: Typical complex domain indices: ψ η Ⅱ Several types of compensator compensator process (a) Cascade compensator (b) Feedback compensator (c) Input