《控制工程基础》第4章 反馈控制系统特性 第5章 反馈控制系统的性能-英文教学课件（非AI生成）.ppt

Ch4FeedbackcontrolsystemcharacteristicsOpen-loopandclosed-loopcontrolsystemsSensitivityofsystemtoparametervariationsTransientresponseofsystemDisturbancesignalinafeedbackcontrolsystemSteady-stateerrorThecostoffeedbackExamplesandsimulation1

Anopen-loop(direct)systemoperatewithoutfeedbackanddirectlygeneratestheoutputinresponsetoaninput.Anclosed-loopcontrolsystemusesameasurementoftheoutputsignalandcomparisonwiththedesiredoutputtogenerateanerrorsignalthatisappliedtotheactuator.4.1Open-loopandclosed-loopcontrolsystems2

TherolesoffeedbackReduceerror(eliminatingtheerror)ReducesensitivityorEnhancerobustnessDisturbancerejectionoreliminationImprovedynamicperformanceoradjustthetransientresponse(suchasreducetimeconstant)3

4.2SensitivityofsystemtoparametervariationsSystemaretime-varyinginitsnaturebecauseofinevitableuncertaintiessuchaschangingenvironment,aging,andotherfactorsthataffectacontrolprocess.Alltheseuncertaintiesinopen-loopsystemwillresultininaccurateoutputorlowperformance.However,aclosed-loopsystemcanovercomethisdisadvantage.4

Aprimaryadvantageofaclosed-loopfeedbackcontrolsystemisitsabilitytoreducethesystem’ssensitivitytoparametervariation.

SensitivityanalysisRobustcontrol5

6

Thesystem’ssensitivityisdefinedastheratioofthepercentagechangeinthesystemtransferfunctiontothepercentagechangeoftheprocesstransferfunction.

thesensitivityisdefinedas(inthelimit,forsmallincremental)

thesensitivityofthefeedbacksystemsis7

thesensitivityofthefeedbacksystemstochangesinthefeedbackelementis

thechainrule

T(s)isafractionoftheform

thesensitivitytoas8

4.3TransientresponseofsystemOneofthemostimportantcharacteristicsofcontrolsystemsistheirtransientresponse.Transientresponseistheresponseofasystemasafunc