Classical-control-theory-经典控制理论-精美英文PPT

IntroductionofclassicalcontroltheoryBygroupsixContentDevelopmentRootlocusplotFrequency-domainanalysisBygroupsixThedevelopmentofclassicalcontroltheoryIn1868,BritishphysicistJ.C.Maxwell（麦斯威尔）proposedalgebraicstabilitycriterion.（稳定性代数判据）Rolls(EJRouth)andHurwitz(A.Hurwitz)propos-edtwofamousstabilitycriterion-RouthcriterionandHurwitzcriterion.(劳斯判据和胡尔维茨判据)In1932,AmericanphysicistNyquist(H.Nyquist)proposedthefrequencyresponsemethod.(频率响应法)BygroupsixThedevelopmentofclassicalcontroltheoryBode(伯德)andNichols（尼科尔斯）proposedthefrequency-domainanalysisinthefieldofclassicalcontroltheory.Wiener（维纳）published“cybernetics（控制论）-ontheanimalandthemachinecontrolandcommunicationscience.ThefamousChinesescientistQianXuesen（钱学森）appliedcontroltheorytoengineering,publishing“engineeringcybernetics.“(工程控制论)BygroupsixClassicalcontroltheorywelcometousethesePowerPointtemplates,NewContentdesign,10yearsexperienceThetransferfunction,rootlocusmethodandfrequency-domainanalysisaretheprimaryanalysisanddesigntoolsinclassicalcontroltheory.Theyconstitutethebasicframeworkofclassicalcontroltheory.传递函数，根轨迹和频域分析是经典控制论中重要的分析设计工具。他们组成了经典控制论的基础框架。TranslationBygroupsixClassicalcontroltheory•Classicalcontroltheoryismainlyusedtosolvetheanalysisanddesignproblemsoffeedbackcontrollerincontrolsystems.BygroupsixTherootlocusmethodDefinitionTherootlocusisacurveofthelocationofthepolesofatransferfunctionassomeparameter(generallythegainK)isvaried.Thenumberofzerosdoesnotexceedthenumberofpoles.ExplanationTherootlocusisthepathoftherootsofthecharacteristicequationtracedoutinthes-planeasasystemparameter(参数)ischanged.BygroupsixTherootlocusprocedure•Step1:Writethecharacteristicequationas：Kistheparameterthatisvariable.Example:•Step2:Factor(分解)P(s),writethepolynomial（多项式）intheformofpolesandzeros.0)(1sKP5)4()4()(2ssssssP0)()(111niimiipszsKBygroupsixTherootlocusprocedure•Step3:LocatethepolesandzerosofP(s)ons-planewithselectedsymbols.•NOTICE:•Thelocusoftherootsofthecharacteristicequation1+KP(s)=0beginsatthepolesofP(s)andendatthezerosofP(s)asKincreasesform0toinfinity(无穷).p1p2p3p4z1z2z30j0)()(11miiniizsKpsBygroupsixTherootlocusprocedure•Step4:Locatethesegmentsoftherealaxisthatarerootloci.•Therootlocusontherealaxisalwaysliesinasectionoftherealaxistotheleftofanoddnumberofpolesandzeros.•Step5:Therootlocimustbesymmetrical（对称的）withrespecttothehorizontalrealaxis.BygroupsixTherootlocusprocedure•Step6:Asymptotes（渐近线）oftherootloci.•渐近线与实轴相交点的坐标为：•渐近线与实轴正方向的夹角为：mnzpnimiiiA11mnkA)12(1,2,1,0mnkp1p2p360o-60o180oj0-1-2BygroupsixBodePlotABodeplotisagraphofthetransferfunctionofalinear,time-invariantsystemversusfrequency,plottedwithalog-frequencyaxis,toshowthesystem'sfrequencyresponse.BygroupsixBodeplotBodemagnitudeplot(幅频图)•expressesthemagnitudeofthefrequencyresponsegainBodephaseplot(相频图)•expressesthefrequencyresponsephaseshiftBygroupsixExercise•系统的开环传递函数G(s)=k/[s(T1*s+1)*(T2*s+1)](T1T2)，画出伯德图。BygroupsixNyquiststabilitycriterion•TheNyquiststabilitycriterionisagraphicaltechniquefordeterminingthestabilityofasystem.BecauseitonlylooksattheNyquistplotoftheopenloopsystems,itcanbeappliedwithoutexplicitlycomputingthepolesandzerosofeithertheclosed-looporopen-loopsystem.BygroupsixThankyou!