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第四章 PowerPoint PPT Presentation


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第四章. 根轨迹法. 主要内容. 4-1 根轨迹与根轨迹方程. 4-2 绘制根轨迹的基本法则. 4-3 开环零、极点变化时的根轨迹. 4-4 系统闭环零、极点分布与阶跃 响应的关系. 4-5 系统阶跃响应的根轨迹分析. 返回主目录. 基本要求. 1. 正确理解开环零、极点和闭环零、极点以及主导极点、偶极子等概念。 2. 正确理解和熟记根轨迹方程 ( 模方程及相角方程 ) 。熟练运用模方程计算根轨迹上任一点的根轨迹增益和开环增益。

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第四章

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4-1

4-2

4-3

4-4

4-5


1.

2.()

3.K


4.

5.



Ks

41


4-1

4-1


  • K

4-2

4-3


K


Ks

4-2


4-3

4-4


4-5


4-6

4-7


4-8


4-10


48410


  • D(s)=1+G(s)H(s)=0 4-11

  • G(s)H(s)=-1 4-12

    G(s)H(s)


4-13

mnnm412

s


4-14

4-15



4-1

415


44

41


(k=0)



  • 4-5 K

4-5

42


4-5

  • 45



42



  • m < n ( )( )


    4-6


    4-6


    lh

    l-hl+h


    43

    • G(s)=K(s+1)/[s(0.5s+1)],


    • 021

    • 012

    47


    47

    43



    4-4



    4-8


    4-9


    (a)

    (b)

    (c)

    (d)




    45

    412


    412

    45


    • n=2

    • (-1-j2),

    • (-1+j2) (-2-j) ,(-2+j)

    • 413


    45

    413


    d

    • s


    d


    46

    d


    • n=2,m=1,

    • 1



    d


    4-15

    415


    4-45




    d d

    d d

    dd

    ddd2 4



    47


    • 4

    • (0)(-3)-1+j1, -1-j1

    • 0-3


    d




    417 47



    • s

    Tips


    48


    • n=4

    • (0)(-20)(-2-j4),

      (-2+j4)

    • 0-20

    • n=4,m=0,4






    419 48


    4-18


    (4-55)

    (4-56)

    43


    4-57

    (457)


    4-9


    4-20



    4-10

    K


    4-21

    3 0,0,

    -1 ;2K


    4-21 4-10


    -1+1

    4-22


    4-23





    4-11

    4-23



    4-24

    4-11


    44



    r(t)=1(t),

    (s)


    4-74

    C(s)


    s

    • s


    ,





    4-25

    4-12


    4-25


    T=0.67s


    4-13


    (4-26)

    4-26



    4-14

    • 0.5


    4-27

    4-27

    4-27




    • 415

    4-5

    4-28


    • 0,-2-4

    • 429


    • 4-29


    00.686

    0.68623.4


    3.

    4-29


    4-29


    416


    4-30

    0, 0,-10

    4-30


    s

    z1


    4-31


    4-31


    4-32



    T

    pi ,zi

    ()

    ,

    K

    K


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