《控制工程基础》第9章 频域稳定性 第10章 反馈控制系统的设计-英文教学课件（非AI生成）.ppt

Ch9StabilityintheFrequencyDomainMappingcontoursinthes-planeTheNyquistCriterionRelativeStabilityandNyquistCriterionTime-domainperformancecriteriaspecifiedinthefrequencydomainSystembandwidthThestabilityofcontrolSystemwithtimedelays1

9.1Mappingcontoursinthes-planeContourmapConformalmappings-planeF(s)-planeAcontourmappingthatretainstheanglesonthes-planeontheF(s)-plane2

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PrincipleoftheargumentIfacontourinthes-planeencirclesZzerosandPpolesoftheF(s)anddoesnotpassthroughanypolesorzerosofF(s)andthetraversalisintheclockwisedirectionalongthecontour,thecorrespondingcontourintheF(s)planeencirclestheoriginoftheF(s)-planeN=Z-Ptimesintheclockwisedirection.ThepolesL(s)arethepolesoftheF(s),thezerosofF(s)arethecharacteristicsrootsofthesystemsandindicateitsresponse.4

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9.2TheNyquistCriterionFigure7Single-loopfeedbackcontrolsystem8

Theclosed-loopcharacteristicequation:9

ThenumberofzerosofF(s)withinthecontouris:forasystemtobestable,allthezerosofF(s)mustlieintheleft-hands-plane.10

NyquiststabilitycriterionAfeedbacksystemisstableifandonlyifthecontourintheL(s)-planedoesnotencirclethe(-1,j0)pointwhenthenumberofpolesofL(s)intheright-hands-planeiszero(P=0)Afeedbacksystemisstableifandonlyif,forthecontour,thenumberofcounterclockwiseencirclementsofthe(-1,j0)pointisequaltothenumberofpolesofL(s)intheright-hands-plane.11

ApplicationofNyquistcriterionExample1:systemwith2realpoles12

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Example2:systemwithapoleatorigin14

Example3:systemwith3poles15

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Example4:systemwith2polesatorigin18

Example5:systemwithapoleintherighthands-plane19

Furthermore,theopen-looptransferfunction20

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Example6:systemwithazerointherighthands-plane22

9.3RelativeStabi