控制工程3英文.ppt

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Ch6 The Stability of Linear Feedback Systems;6.1 The concept of stability;精品资料; 你怎么称呼老师? 如果老师最后没有总结一节课的重点的难点,你是否会认为老师的教学方法需要改进? 你所经历的课堂,是讲座式还是讨论式? 教师的教鞭 “不怕太阳晒,也不怕那风雨狂,只怕先生骂我笨,没有学问无颜见爹娘 ……” “太阳当空照,花儿对我笑,小鸟说早早早……”; Absolute stability: We can say that a closed-loop feedback system is either stable or it is not stable. This type of stable/not stable characterization is referred to as absolute stability. ;2020/11/24;2020/11/24;6.2 The Routh-Hurwitz stability criterion;where ;A necessary and sufficient condition for a feedback system to be stable is that all the poles of the system transfer function have negative real parts. ;A necessary condition: All the coefficients of the polynomial must have the same sign and be nonzero if all the roots are in left-hand plane (LHP).;;CASE1 No element in the first column is zero. ;Consider the characteristic polynomial;Case 3;2020/11/24;Design example: welding control;6.3 The relative stability ;2020/11/24;Consider control system;The Routh array is ;The Routh array is ;Design example: Tracked vehicle turning control;2020/11/24;Summary;Assignment;Ch7 The Root Locus Method;7.1 The Root Locus Concept;Closed-loop control system with a variable parameter K;unity feedback control system, the gain K is a variable parameter;2020/11/24;2020/11/24;2020/11/24;7.2 The Root Locus Procedure ;Step3 Locate the poles and zeros on the s-plane with selected symbols. The locus of the roots of the characteristic equation 1+KP(s)=0 begins at the poles of p(s) and ends at the zeros of p(s) as K increases from 0 to infinity. with n poles and M zeros and n>M. Step4 The root locus on the real axis always lies in a section of the real axis to the left of an odd number of poles and zeros. Step5 Determine the number of separate loci, SL, the number of separate loci is equal to the number of poles.;Example7.1 Second-order system;Step6 The root loci must be symmetrical with respect to the horizontal real axis with angles. Step7 The r

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