zanchetta-pemc group英国诺丁汉设计点规格wo4 control systems chap 4控制系统章.pdfVIP

Controldesign

Designpoint

Specifications:w=4.25rad/s,z=0.707

o

Dominantpoles=a±jwd

awzo

3±j3

wwz2

1

do

Choosezeros,polesandgainofthecontrollersothattheRL

goesthroughourdesignpoint

P.Zanchetta-PEMCGroupUniversityofNottingham,UK

ControlDesignaim

Im

DesignpointP

P-3±j3

Re

X

-5

P.Zanchetta-PEMCGroupUniversityofNottingham,UK

Controldesignaim

Im

P

Re

XX

-5-1

Thevalueofkwill

producetheexact

closedlooppoles

atthedesignpoint

P.Zanchetta-PEMCGroupUniversityofNottingham,UK

Controldesign

Proportionalcontroller(P)

r(s)+e(s)Gc(s)u(s)Controllaw

-

u=keGc(s)=k

Wecannotvarytherootlocus,determinedonlybytheplantsowecannotmeet

generalclosedloopspecifications

SSerrordeterminedonlybytheplanttype

DecreaseSSerrorbyincreasingk,butsystemcanbecomeunstable

Introduceintegralcontrol(k/s):thesystemtypeisincreased,buttherootlocus

ispulledtothe