自动控制原理西南交通大学电气工程学院朱英华 (Catherine) The Principle of Automatic Control

自动控制原理

西南交通大学电气工程学院朱英华 (Catherine)

The Principle of Automatic Control

《自动控制原理》

复习复习

Summary of Chapter 1

Phases in control theory developmentPhases in control theory development『』

Classical control phase

Modern control phase

Three main methods in classical control theoryThree main methods in classical control theory『』Time domain analysis

Frequency domain analysis

Root locus analysis


复习复习

The analytic method in modern control theory The analytic method in modern control theory 『』

State space method

Two important conceptsTwo important concepts『』

Control system

Automatic control system

Configuration of an automatic control systemConfiguration of an automatic control system『』

Reference input

Disturbance Comparison Controller Process

Output Measurement device


复习复习

Two basic control modes Two basic control modes 『』

Open-loop control

Three respects in control system analysisThree respects in control system analysis『』

Stability

The design process of a control systemThe design process of a control system『』

Closed-loop control

Accuracy

Rapidness


复习复习


Three I/O modelsThree I/O models『』

Differential equations

Transfer functions

Frequency characteristics

Block diagram modelBlock diagram model and its reductionand its reduction『』

『』 Signal-flow graph models and Mason’s loop rule Signal-flow graph models and Mason’s loop rule


复习复习

State space modelsState space models『』

Transformation between transfer functions and Transformation between transfer functions and

state space modelsstate space models

『』

『』 Simulation by using MatlabSimulation by using Matlab

Examples for establishing mathematical modelsExamples for establishing mathematical models『』


复习复习


Transient response analyzingTransient response analyzing『』

Typical test inputs

Performance of a second-order system, performance indices and evaluation

The concept of dominant poles

Effects of a zero and a third pole on the second-order system response


复习复习

Steady-state analyzingSteady-state analyzing『』

Steady-state error evaluation

The concept of steady-state error

『』 Simulation using MatlabSimulation using Matlab

Stability analyzingStability analyzing『』

The concept of stability and how to ascertain the stability of a LTI system

The Routh criterion


复习复习


Root locus and root locus equationsRoot locus and root locus equations『』

The concept of root locus

The relationship between performance and roots location

The magnitude criterion and angle criterion of root locus

Root locus procedureRoot locus procedure『』

Ten steps


复习复习

mn

zpm

ioi

n

joj

A

11

)()(

)1(,,2,1,0360180

mnkmn

kA

Calculate asymptotes

Calculate breakaway points

0

0)()()()(

K

spszszsp oooo )1,,1,0(360180

lkl

kd


复习复习

Calculate angles of departure (complex poles) and

angles of arrival (complex zeros)

n

rjjojor

m

ioiorp ppzp

or11

)()(180

m

riioior

n

jojorz z-zp-z

or11

)()(180


复习复习

Generalized root locusGeneralized root locus『』

Zero-degree root locus

Parameter root locus



复习复习


Frequency response and frequency characteristicFrequency response and frequency characteristic『』

The concept of frequency response

The concept of frequency characteristic

Polar plot and Bode plotPolar plot and Bode plot『』

How to sketch the plots?

Bode plots of some basic factors


复习复习

Mapping theorem Mapping theorem 『』

Nyquist stability criterion Nyquist stability criterion 『』

PNZ

The number of open-loop poles The number of open-loop poles in the right-hand s-plane in the right-hand s-plane

The number of clockwise The number of clockwise encirclements of the encirclements of the (-1,j0) (-1,j0) point point

The number of closed-The number of closed-loop poles in the right- loop poles in the right- hand s-plane hand s-plane


复习复习

Minimum phase system Minimum phase system 『』

Gain margin

Phase margin


Stability margins Stability margins 『』

What is a minimum phase system?

cpm 180

)()(lg20lg20 dBjGHgGM gm

Frequency for magnitude=1 (0 dB)Frequency for magnitude=1 (0 dB)

Frequency for phase=-180Frequency for phase=-180°°


复习复习


How to select compensation methodHow to select compensation method『』

Cascade phase-lead compensation method

Frequency compensation method

Root locus compensation method

Cascade phase-lag compensation method

Cascade phase-lag-lead compensation method


复习复习

How to design cascade compensatorHow to design cascade compensator『』

Cascade phase-lead compensator

Cascade phase-lag compensator

Cascade phase-lag-lead compensator


复习复习


The definition of Describing functionThe definition of Describing function『』

The definition of Reciprocal of negativeThe definition of Reciprocal of negative

describing functiondescribing function

『』

How to analyze the stability of the How to analyze the stability of the

nonlinear systemnonlinear system

『』

How to analyze the oscillation of the How to analyze the oscillation of the

nonlinear systemnonlinear system

『』

Documents

自动控制原理 西南交通大学电气工程学院 朱英华 (Catherine) The Principle of Automatic Control

自动控制原理西南交通大学电气工程学院朱英华 (Catherine) The Principle of Automatic Control