heperformanceoffeedbackcontrolsystems反饋控制系統(tǒng)的性能-資料下載頁(yè)
2025-04-26 08:55本頁(yè)面
【正文】 nit step disturbance Then the natural frequency of the vehicle is 2 . 5 / 2 0 . 2 5 / snf c y c le s???K3 = and ζ= . (ISE) K3 = and ζ= . (IAE) ? Complex systems with highorder transfer functions ? lowerorder approximate model ? Method 1: delete a certain insignificant pole, in the meanwhile retain the steadystate response. Example: )2(30/)()130)(2(30/)30)(2()(????????ssKsGsssKsssKsG)()()()(ssMsLsH?? Criteria: Select ci and di in such a way that L(s) has a frequency response very close to that of H(s) q=1,2,…… in which the poles are in the lefthand splane and m n. where p ≤ g n, K without change. Poles: S=1, 2, 3 →→→ , Choose K and K1 so that: (1) The percent overshoot of the output to a step mand r(t) ≤10%。 (2) The steadystate error to a ramp mand is minimized。 (3) The effect of a step disturbance is reduced. (1) Select K and K1 to meet . ≤10% for R(s)=A/s. Set D(s)=0. When ζ=, .=%. (2) Examine the steadystate error for a ramp input. (3) Reduce the effect of a step disturbance. ? The steadystate error due to a unit step disturbance is equal to 1/K. ? The transient response of the error due to the step disturbance input can be reduced by increasing K. (4) In summary, we need large K, large K/K1 and ζ=. 112KKKKKKKKnnn????????????Select K=25, K1=6, K/K1=。 Select K=100, K1=12, K/K1=. Realistically, we must limit K so that the system’s operation remains linear. K=100, ess=B/= ? Goal: ? Achieve the fastest response to a step input r(t)。 ? Limit the overshoot and oscillatory nature of the response。 ? Reduce the effect of a disturbance on the output position of the read head. Neglect the effect of the coil inductance. Compromise: Ka=40 ? Be aware of key test signals used in controls and of the resulting transient response characteristics of secondorder systems to test signal inputs. ? Recognize the direct relationship between the pole locations of secondorder systems and the transient response. ? Be familiar with the design formulas that relate the secondorder pole locations to percent overshoot, settling time, rise time, and time to peak. ? Be aware of the impact of a zero and a third pole on the secondorder system response. ? Gain a sense of optimal control as measured with performance indices. Assignments ? Skills Check ?
教學(xué)課件相關(guān)推薦
鄂ICP備17016276號(hào)-1