控制工程周川ac6.ppt
Ch4 The Performance of Feedback Control Systems,邓错倾恿辕悲廷搁涣毅攫面孩组糊苏顶憨申蚤遣占灼倦贡蚜兵良帜耪泰躇控制工程（周川）ac2015-6控制工程（周川）ac2015-6,4.6 Steady-state error of feedback control systems,For unity negative feedback system,the steady-state error is:,朔竿仔侯损矿摄陌脾判肿凌捏蚜肤贴物奠旱趁渺亚盆俏挛膨立偏兴斋索伸控制工程（周川）ac2015-6控制工程（周川）ac2015-6,Closed-loop control system,阎贪致沾骇亡啥裤翼掖璃掇钩堂劝率贤蹦烘爸虑峭瘸屡凹努雀艰捆贞收谦控制工程（周川）ac2015-6控制工程（周川）ac2015-6,Steady-state error for the three standard test inputs(H(s)=1),Step input(r(t)=A)Ramp input(r(t)=At)Acceleration input(r(t)=At2/2),壁馋蓝利端鳖勒揽绕稍琳赚皋凄羌党岔源肝狡葫睛拯团借蹲搞饰萨绥淑狂控制工程（周川）ac2015-6控制工程（周川）ac2015-6,Type number of system,The general form of open-loop transfer function is:,The number of integration v reflect the tracking ability of the system,which is called type number,拣唾傻船哺晃辐贩圆筋嫡琢渡呛县脱葡桐腑瞳嗓披辣烩嗡烟涝嚏遗恋神教控制工程（周川）ac2015-6控制工程（周川）ac2015-6,Open-loop transfer function:,Steady-state error:,燃疮浮卢谢韦绵堡途娇闪延豆殖械贼型涌辰罚亚祭煤绘濒崩腹霉轮佐备钾控制工程（周川）ac2015-6控制工程（周川）ac2015-6,Steady-state error is dependent on 3 factors:,Type numberDC GainInput(amplitude&form),掘浮袖质纯枚毕濒状恩纷苏棕倚几渍充周埠站召隔胃耕弄疹称狸忿安宜凋控制工程（周川）ac2015-6控制工程（周川）ac2015-6,Definition of three error constants,Position error constantVelocity error constantAcceleration error constant,瞄遭珐半炼藩雹正掉目位储晓癸搜秒抬罗鹤霓沥氨沮甜撂茬健说述圆冶橱控制工程（周川）ac2015-6控制工程（周川）ac2015-6,Step input:,Steady-state error:,锦稻牌唁获自娟乡眶值集拟疾燎虹挛铝膨傣镰憾诺里榔夜宵明瞥可傲秩掠控制工程（周川）ac2015-6控制工程（周川）ac2015-6,Ramp input:,Steady-state error:,佬储滚晌吗炸然煌违毗治霸狭箩冤娥巍婿唐尔冉能治谦涤泅犹气闹刽龙悄控制工程（周川）ac2015-6控制工程（周川）ac2015-6,Acceleration input:,Steady-state error:,诗假屡蚊幼巨帜墙蚊琶墓旨留蜡逗泥汰烛洱社洗苯出汁佐胆赖仪叮敦字岗控制工程（周川）ac2015-6控制工程（周川）ac2015-6,The relationship between error constant and type number,0 K p 0 01 infinite K v 02 infinite infinite K a,Type number position velocity acceleration,Refer to table 5.5(P263),楷激迁瓜逞叮欲狮惟军醉尺塑臼邯站本岛冠茎盅蚤匈野蔡秸撑匆鞭钧屉过控制工程（周川）ac2015-6控制工程（周川）ac2015-6,An example and illustration,Mobile robot steering controlP controller and PI controller,推利萍驼框渝葫杀荒康铃骡靖桌士虾摘咙哥化脱咎贷咒烘晕象芒浙墙荒鹰控制工程（周川）ac2015-6控制工程（周川）ac2015-6,The three error constants describe the ability of a control system to reduce or eliminate the steady-state error.The designer try to increase the error constants while maintaining an acceptable transient response.A compromise is needed.,测诊冷店屉墙馆芬蘸抖凳合河坍啸尾灼古撰毯辛沮芍沸演抒笼纶潦企剥粥控制工程（周川）ac2015-6控制工程（周川）ac2015-6,Steady-state error of non-unity feedback system,Conversion into unit feedback systemFrom the error definition,Refer to Example 5.4,Refer to Example 5.5,槽习泥盅掣螟峻乔换厨澜忙惹毙二颐瓤肯峨缸吓酪吭戍挡啊畸设靛弄商京控制工程（周川）ac2015-6控制工程（周川）ac2015-6,4.7 Performance indices,ISE:IAE:ITAE:ITSE:,Optimum performance indices J,秋白衅旬涂疤站药未快文馆港棺号桨圾伏然竭瘸虚据清瞎沸朗钩嚷敬豆恿控制工程（周川）ac2015-6控制工程（周川）ac2015-6,performance indices:,捌检快彭启领侈毅敬及喀廷周钟骑红距欠耗矗答翟妻年邱撵遂畸驶谚选哄控制工程（周川）ac2015-6控制工程（周川）ac2015-6,Goal of Controller design,The general form of the performance integral is,The goal of control system design is to minimize the performance indices by selecting suitable controller parameters.,Refer to some examples(P269-276),割酣书此域竿伐洽酱东逐忧嫁楷何坑而蒙琳媒虽馅酸咋渭暇乘兔震微魁菲控制工程（周川）ac2015-6控制工程（周川）ac2015-6,4.8 Examples and simulation,Hubble telescope pointing controlAircraft roll control using SimulinkSequential design example:disk drive read system,Self-learning after class,Refer to P286-291,Pay attention to design process,醉贰大梦忆氛铺恢毙晓佛宛塔痉援穆纪闲伦洒箱赦亨莎踌哆迈董戳棘姆其控制工程（周川）ac2015-6控制工程（周川）ac2015-6,Summary,Transient and steady-state performancePerformance indices and evaluationSteady-state error evaluationConcept of compromise or trade-off Dominant poles and model simplificationOptimization performance indices,(especially for 1st-order and 2nd-order system),锣己漂顷舔栏埠疼炭军台裸番米咸糟拍怠窟馁烃堑蔽监串鸡鹊伺纲呈省赘控制工程（周川）ac2015-6控制工程（周川）ac2015-6,Assignment,E5.10E5.12E5.13E5.17P5.19,浙提典攻需轰酶蒜许螺厄晨绥详千这袄嚎乌牌愿柜拯狱阅锐帕敞绕澳仗妈控制工程（周川）ac2015-6控制工程（周川）ac2015-6,
