反馈控制系统的性能.pptxVIP

Chapter 5 The Performance of Feedback Control Systems;Define and measure the performance of control systems Stability Transient response：the response that disappears with time Steady-state response: the response that exists for a long time following an input signal initiation Design specifications: for a specified input command Time response indices Desired steady-state accuracy Effective compromise;Step input Ramp input Parabolic input ;Unit impulse The unit impulse function δ(t) has the following properties: The impulse input is useful when we consider the convolution integral for the output y(t) in terms of an input r(t), which is written as The general form of standard test signals: ;If the input is a unit impulse function, we have The integral has a value only at τ = 0; therefore, the impulse response of the system G(s). The impulse response test signal can often be used for a dynamic system by subjecting the system to a large-amplitude, narrow width pulse of area A. The standard test signals are of the general form and the Laplace transform ;5.2 Test Input Signals;With a unit step input; The response as a function of ζ and time is also shown in Figure 5.5(b) for a step input.;With an impulse function input R(s)=1;The swiftness of the response is measured by the rise time Tr and the peak time Tp. For under-damped systems with an overshoot, the 0-100% rise time Tr is a useful index. If the system is over-damped, then the peak time is not defined, and the 10-90% rise time Tr1 is normally used. The actual response matching the step input is measured by the percent overshoot and settling time Ts. The percent overshoot is defined as where Mpt is the peak value of the time response, and fv is the final value of the response. ;The settling time, Ts, is defined as the time required for the system to settle within a certain percentage δ of the input amplitude. For the second-order system with closed-loop damping constant ζω?