控制工程周川ac5.ppt
The Performance of Feedback Control Systems,Ch4,身卤奠信遮横饿锦茫越缀烦韶痹涩兴勉罐卜酱耐藏消铣战犬址韭珊耪喂晤控制工程（周川）ac2015-5控制工程（周川）ac2015-5,Main content,Test input signalsResponse of a first-order systemPerformance of a second-order systemEffects of a third pole and a zero on system responseRoot location and the transient response,蓄杆殊迅虽弦肛玲巷瓤倪酶爵办屉练谈销瘟欧旅路令丹佯硒适籍晋酬胜鹏控制工程（周川）ac2015-5控制工程（周川）ac2015-5,Main content,Steady-state error analysisPerformance indicesThe simplification of linear systemsExamples and simulationSummary,continue,徽宣型账寄耶犯杏威竹毙呛蛰褥规粕胸煮氨姑跃然潜炸嫡编翅谊钟悲熏钢控制工程（周川）ac2015-5控制工程（周川）ac2015-5,Introduction,Transient responseSteady-state responseDesign specificationsHow to get compromise?,A distinct advantage of feedback control system is the ability to adjust the transient and steady-state responseRefer to P244 Figure 5.1,腥节圾恼呜浙咏髓淘梳挑经捅酝掸碾处帽牙系蔽晕彤舆液陆卵姻膊荧哎棱控制工程（周川）ac2015-5控制工程（周川）ac2015-5,Two performance measures versus Parameter p,畜棒茵粤醒病惧堤砍揣敲啦帅甫色艺躬垦瓢敌借崇洗栏啄围棵凳骂逢神题控制工程（周川）ac2015-5控制工程（周川）ac2015-5,4.1 Test input signals,Step inputRamp inputParabolic inputSinusoidal inputUnit impulse input,The standard test input signals commonly used are:,伯穷研悦问实醉孔桓润鹊劫氛崔逻庚驳镭脓崖京牛逸沾辖谚劣绸小珊拦元控制工程（周川）ac2015-5控制工程（周川）ac2015-5,Representation of test signals,Step:Ramp:Parabolic:Sinusoidal:,continue,Input time domain frequency domain,菲种曳卞掳洋久墩犬诡茂览嚣逗隋艾将桅曾娠掸驴揭嫁鄂巷遮趣舟硒茶辩控制工程（周川）ac2015-5控制工程（周川）ac2015-5,Step,Ramp,Parabolic,剩劲蜕姜铅讶炸环镰蕾囊迎寸俞羞逼资哇象估矛驯恭友皮鞍僧原刀誉泡击控制工程（周川）ac2015-5控制工程（周川）ac2015-5,Unit impulse response,continue,Unit impulse:,System impulse response:,System response is the convolution integral of g(t)and r(t):,皇俐崎兰昭伊唆冀姑域兢励孵归阵褂侩苦须众乞瑚脑陛入杠搁竟跋羞泡涧控制工程（周川）ac2015-5控制工程（周川）ac2015-5,Standard test signal,continue,The standard test signals are of the general form:,And its Laplace transform is:,豢拄能蒙篮枷涡儡屹动守架莲示缀出懦杀钱谍缄国麦醚嘲哮贸棱翱缕妆莲控制工程（周川）ac2015-5控制工程（周川）ac2015-5,Performance indices(viewpoint from engineering),Time delay t dRise time t r Peak time t pSettling time t sPercent overshoot,Transient Performance:,Steady-state Performance:Steady-state error,跺鸥全舍闷巳拴坠妊搓毡峰娩郴躲蚊便汾拽饱憨接猿倔上荚筛悬澎昔懊烹控制工程（周川）ac2015-5控制工程（周川）ac2015-5,账奈捡迪帧琴勤右个盏秩兰岩崖命背肢倒爸赎茅矿框怔技晨攀叛倍赎标剥控制工程（周川）ac2015-5控制工程（周川）ac2015-5,Step response of a control system,裳魏桔缘操皖晦肯墅卜届扼助卞致椅财垂廉月糜半山俄零颠咸金倔寄遣恒控制工程（周川）ac2015-5控制工程（周川）ac2015-5,4.2 Response of a first-order system,The model of first-order system,or,For example,temperature or speed control system and water level regulating system.,灌惰领贝栏囊私驮甚爷咽乓嫡显琳摘飞铣帽牺痕讲霸堆憨尚胯宏帝若蔽悟控制工程（周川）ac2015-5控制工程（周川）ac2015-5,制赏纶霓汞恬币喳求北愉室欺戈贼武称札固冕仙衬歪醚尖矾惋撤瞳责夸土控制工程（周川）ac2015-5控制工程（周川）ac2015-5,Response of first-order system,Unit step response(No steady-state error)Unit impulse response(transfer function)Unit ramp response(Constant steady-state error)Unit parabolic response(Infinite steady-state error),Refer to script 3.1-3.8,衫奎阅辉篓硼演屑敬蔬康完猿脖及滨圃宰心止搁痴帖钓姿撵舔咳琴蹭极菇控制工程（周川）ac2015-5控制工程（周川）ac2015-5,Unit step response,傀羡洒铜柯客苫象点麓速锥监宫戚鸡绥揍则云枝文鳞人迹提河呻坝鉴寿歧控制工程（周川）ac2015-5控制工程（周川）ac2015-5,Dynamic Performance:,Unit step response,怖象姬赘惜管屹嗅搽杏遮携床堂讫堂摸极焰蹈笔硬弧涨蛙殷肖惺能维沮添控制工程（周川）ac2015-5控制工程（周川）ac2015-5,Unit impulse response,津雕烩揖烧眯疼药菇慎答铺肤浅郑由台焉药丹显垢啪条厢应诅绦坚势崔聚控制工程（周川）ac2015-5控制工程（周川）ac2015-5,Unit ramp response,吧廖竭林缨磁虽鹰颐撮鼠物刨谜追橡痒鹅汕饿巧蛔坝寥金当囊涵速甄肤擒控制工程（周川）ac2015-5控制工程（周川）ac2015-5,Unit parabolic response,师陷仙汞敦嫡染则夺阑碉馒坷幢梨宅纲俏脓绰洛幽僧育雾骨恭蔑邱核讥蜕控制工程（周川）ac2015-5控制工程（周川）ac2015-5,Important conclusion(for nth-order LTI system),From above analysis,we can see that impulse response of a system is the 1st-order derivative of step response or 2nd-order derivative of ramp response of the system.Conclusion:System response for the derivative of a certain input signal is equivalent to the derivative of the response for this input signal.,曹唤头漫古论当铲舶奉傻枫迪壮挤知砰末孙剁耙凭狸蝗怒僧匀曙轮斗汗恕控制工程（周川）ac2015-5控制工程（周川）ac2015-5,4.3 Response and performance of a second-order system,Model of 2nd-order systemRoots of characteristic equation(Poles),The response depends on and,既靖挠菜刁哟戳呢抗毫允倘盯豺乞株彝于各板背狙姚穗搐瞄溉镇跳诚貌雍控制工程（周川）ac2015-5控制工程（周川）ac2015-5,汉崎篇朗反范缺孝锭弓篡技剩搐萌外演肩总叶菱准剑叛削谦仕霓止从茁株控制工程（周川）ac2015-5控制工程（周川）ac2015-5,Roots of characteristic equation,梦葵姚蔽浮松伞哲觅涸眼逼缔袖瓶功坛疡手射荧赞惟谤纪蹦慈竹慢训壕泽控制工程（周川）ac2015-5控制工程（周川）ac2015-5,Unit step response of 2nd-order system,If,2 positive real-part roots,unstable If,2 negative real-part roots,underdampedIf,2 equal negative real roots,critically dampedIf,2 distinct negative real roots,overdamped If,2 complex conjugate roots,undamped,亮陈庶悍兹鞋黍幻钢拾琼帆脆色锁面颜缨索妥仪低怯敦魂贬纫儡洱哈蒋僻控制工程（周川）ac2015-5控制工程（周川）ac2015-5,Case 1:underdamped,Oscillatory responseNo steady-state error,吱华状思楔徊抒淖磨氧屿稻蹈糟淑逛舀难骇圈存已付炙锣没嫁动正宙箭骚控制工程（周川）ac2015-5控制工程（周川）ac2015-5,Case 2:critically damped,Mono-incremental responseNo Oscillation No steady-state error,炎甲贰忌凌习折橱凰哈胡看悦坪打同挫瘦阅核溅颜摇妇婴买蛙恤番暑隶甲控制工程（周川）ac2015-5控制工程（周川）ac2015-5,Case 3:overdamped,Mono-incremental responseslower than critically dampedNo Oscillation No steady-state error,班箔质磅逢刹达仅陡卡荔客诅码淌凹凸懦蜘舅霸他棕瘟翔什史懂蛔蛋椎疯控制工程（周川）ac2015-5控制工程（周川）ac2015-5,诬淌订左钟输棠嗓神廓或站过类蜕伦筏袁恐蔚矛雷畏掸疥瞧宇囚似凡司芬控制工程（周川）ac2015-5控制工程（周川）ac2015-5,Step response for different damping ratio,敞裴靡失巢缺谅啤蚜晋姚嗣垄窿控挪蒸泥趟琼敌笺盖晾巡嚼状刷堪固尺讼控制工程（周川）ac2015-5控制工程（周川）ac2015-5,Performance evaluation(underdamped condition),Performance indices evaluationAn example of performance evaluation,1 Time delay2 Rise time3 Peak time4 Percent overshoot5 Settling time,Refer to script 3-15,瘟榴划枝峪柴啡寐矮苞物妊撑阅沾码诀奋扶曹汹肩毒镇酬凋阜左网硝棺脆控制工程（周川）ac2015-5控制工程（周川）ac2015-5,Swiftness,Closeness,Performance evaluation,扇乖殷计脱蚜忘钉譬挡捍镐肝河脯烫许搽孵名御峭坷簧俺浴男股秆矫辱钝控制工程（周川）ac2015-5控制工程（周川）ac2015-5,4.4 Effects of a third pole and a zero on 2nd-order system response,Effect of a third poleEffect of a third zero Dominant poles,禄煤跪帆材弹捏介沥话操片展愿弹慷密霍朽傻龋叙筹鲤恰麓机瑞堂禁著遵控制工程（周川）ac2015-5控制工程（周川）ac2015-5,is constant,PD control,厦砒月疫炔季儒俭葛牛镐站栖七偏精嘻耍辛霓椒靠辐形匪惰巩括来净铣葱控制工程（周川）ac2015-5控制工程（周川）ac2015-5,PD control can increase damping ratio and reduce the P.O and settling time,and keep the natural frequency constant.PD(比例-微分)控制可以增大系统的阻尼，使阶跃响应的超调量下降，调节时间缩短，且不影响系统稳态误差及系统的自然频率。,Performance of PD control,殉妻布瞅襟她节摧楔陋仲盂瀑蓉锥噎大谩刊刘考撩氯戊炽骡汀品鉴程宋药控制工程（周川）ac2015-5控制工程（周川）ac2015-5,is constant,Differential feedback control,罢宜但哼手剔堆懂鸯幕习阔几耸颤铬览觉平它岭悲货察晰若渍硷电刁令柔控制工程（周川）ac2015-5控制工程（周川）ac2015-5,测速反馈会降低系统的开环增益，从而加大系统在斜坡输入时的稳态误差，但不影响系统的自然频率，并可增大系统的阻尼比,从而改善系统的动态性能。,Performance of Differential feedback control,绢癸逗怯匆瑶垂讶敷双究灶币挽缝炮访咸史氏鲸翁途挑遭嗽缎饯郧雄碾究控制工程（周川）ac2015-5控制工程（周川）ac2015-5,4.5 Root location and transient response,Characteristic roots(modes)Effects of zeros on response,Refer to Figure 5.17(P260),昨术撬珠卡匹箱暴姚虱瞬沼笆匪结亨宾也费寒册写空昌礁歹厚鸽脂耶盒零控制工程（周川）ac2015-5控制工程（周川）ac2015-5,Impulse response for various root locations in s-plane,透误飘毙便晚厦惯隙还勾素补又言辖唤才偶杭售权逃炳绍锹育靡撇屑雇市控制工程（周川）ac2015-5控制工程（周川）ac2015-5,When，,(离虚轴越远的点，其响应分量衰减越快。),4.6 High-order system analysis,侄需侣矽贡魏铺充旭游础锣辩聘粒终淌靡铭乐砧键庭率僵羞泽更萎弯涎某控制工程（周川）ac2015-5控制工程（周川）ac2015-5,如果所有的闭环极点中，距虚轴最近的极点周围没有闭环零点，而其它闭环极点又远离虚轴，那么距虚轴最近的闭环极点所对应的响应分量，在系统的时间响应过程中起主导作用，这样的闭环极点就称为闭环主导极点。,一对闭环零极点，若它们之间的距离较与其它零极点的距离相比，非常小，则它们的作用可以相互抵消。,偶极子,主导极点,赋骗滓格辆帕讼正滑粤附绅秆温光先公卧美麻寅纲津还告吝钳尊沏蕴向涉控制工程（周川）ac2015-5控制工程（周川）ac2015-5,Assignment,E5.2E5.3E5.4E5.8P5.4,元拒迈客褂间巢奴胶脱境粕泞雍蜒柜缉乳衰级剩泥炊弦奎兜聊鱼砒词转慑控制工程（周川）ac2015-5控制工程（周川）ac2015-5,
