现代控制工程 Lecture 11 学习课件.pdf

Lecture11

ControlSystemAnalysisandDesign

byRootLocusMethods

(RootsLocusPlotsNegativeFeedbackSystems)

Instructor’sName:

ProfessorDr.HuGuoqing

Dr.JahangirAlam

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Outline

Rulesforbreakawayandbreak-inpoints,

AngleofDepartureandArrival,

CrossPointsofRootlocionImaginaryAxis,

ChooseaTestPointinneighborhoodofjωAxis

Origin,

DetermineClosed-LoopPoles,

Examples;

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ROOTLOCUSMETHODOFNEGATIVE

FEEDBACKSYSTEMS[4-8]

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4.Findbreakawayandbreak-inpoints

Thebreakawaypointsandbreak-inpointseitherlie

ontherealaxisoroccurincomplex-conjugatepairs;

Ifarootlocusliesbetweentwoadjacentopen-

looppolesontherealaxis,thenthereexistsatleast

onebreakawaypointbetweenthetwopoles;

iftherootlocusliesbetweentwoadjacentzeros

(onezeromaybelocatedat—)ontherealaxis,

thentherealwaysexistsatleastonebreak-inpoint

betweenthetwozeros;

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4.Findbreakawayandbreak-inpoints

Iftherootlocusliesbetweenanopen-looppole

andazero(finiteorinfinite)ontherealaxis,then,

nobreakawayorbreak-inpointsortheremayexist

bothbreakawayandbreak-inpoints.

Toplotrootlociaccurately,mustfindbreakaway

point,wheretheroot-locusbranchesoriginatingfrom

thepoles