大三上自控原理five1.pptx

Chapter5-1FrequencyResponsemethods重点掌握1、频率特性的定义及系统在正弦信号作用下的稳态输出。2、绘制频率特性图（Nyquist曲线和Bode图）。3、根据Bode图求传递函数。

Maincontents5.1ThedefinitionofFrequencyresponse.5.2Frequencyresponseplots.5.3Frequencyresponseplotsofsometypicalcomponents.5.4Frequencycharacteristicofopen-loopsystem.5.5TransferFunctionfromBodePlot.

5.1ThedefinitionofFrequencyresponseThesteady-stateoutputofacontrolsystemduetoasinusoidalinputsignal.Considerthesystemoutput.whereassumedtobedistinctpoles.Thenwehave

TakingtheinverseLaplacetransformIfthesystemisstable,thenallhavenegativerealparts,andwhere

Thesteady-stateoutputamplitude.Thesteady-stateoutputphase.

Theamplitudefrequencyresponse.ThephasefrequencyresponseThefrequencyresponse(characteristic)canbedefinedas：TheratiooftheamplitudeofsteadystateoutputofaLTIsystemexcitedbysinusoidalsignalandtheamplitudeofinputiscalledtheamplitudefrequencycharacteristic,andthephasedifferencebetweenoutputandinputiscalledthephasefrequencycharacteristic.ThecomplexratioofsteadypartofoutputandinputwhenaLTIsystemexcitedbythesinusoidalsignal,iscalledthefrequencycharacteristic.

Example:Theclosed–looptransferfunctionofacontrolsystemisDeterminethesteady-stateoutputwhen.Attention:1.Theconceptnotonlyappliestothesystembutalsotothecomponents,elementsandsoon.2.TheconceptonlyappliestotheLTIsystem.3.Theconceptcanbeexpandtounstablesystem.4.Thismethodavoidresolvinghighorderdifferentialequation.

5.2FrequencyresponseplotsNyquistplotBodeplotExample:frequencyresponseofafirstordersystemThefrequencyresponseofthesystemisWhenT=10,wehaveAmplitudefrequencyplotPhasefrequencyplot

AmplitudefrequencyresponsePhasefrequencyresponse

Frequencyresponse(Nyquistplot)