北航自控原理课件9(英文版).ppt

Cauchy’s Argument Principle Example 1: Assume complex function Example 2: Assume complex function Example 3: Assume complex function 9.4. Logarithm frequency stability criterion 9.4. Logarithm frequency stability criterion performance Example : A unity feedback with a loop transfer function Determine gain margin and phase margin for K=1. Determine the maximum value of K for the system stable. Answer: Gain margin=20. Phase margin= (1) (2) K=20 Example :Consider that the loop transfer function of a close system is Determine phase margin and gain margin for K=1 and . When K=1,to find the critical value of the time delay for stability. Find the critical valve of K for stability when . Answer （1） Phase margin= (2) Gain margin=15.6db (3) Gain margin=4.5db Gain margin 9.6 Time-domain performance criteria specified in the frequency39 domain Frequency characteristic of the open-loop transfer function and the closed-loop transfer function So Setting M a constant, we can draw a cluster of circles, called constant M circles. u=-0.5 1 M So Setting N a constant, we can draw a cluster of circles, called constant N circles. Ⅱ. Nichols chart If the open-loop frequency characteristic states as We have 34 that can be into Set M(ω) and constants, we can get a cluster of curves called Nichols chart. 30db20lgA(w)-25db * Chapter 9 Stability in the Frequency Domain 本章重点掌握： 1、奈奎斯特（Nyquist)稳定判据。 2、稳定裕度的定义和计算。 Main contents 1、 Introduction 2、 Mapping contours in the s-plane 3、 The Nyquist criterion 4、 Logarithm frequency stability criterion 5、 Relative stability and the Nyquist criterion 6、 Time-domain performance criteria specified in the frequency domain Stability of closed-loop system Location of closed-loop poles relative to imaginary axis (left/right) Nyquist Criterion Location of closed-loop poles as a function of gain Root-Locus Routh-Hurwitz Poles and zeros open-loop Frequency Response open-loop Characteristic Eq