chapter6.ppt

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1、Chap6TheCompensationofthelinearcontrolsystemsP5531Chap6TheCompensationofthelinearcontrolsystems§6-1Introduction6.1.1definitionofcompensation6.1.2typesofcompensation§6-2Thebasiccontrolleroperationanalysis6.2.1PIDcontroller---activecompensation6.2.2phase-leadcontroller6.2.3phase

2、-lagcontroller6.2.4phaselag-leadcontroller§6-3CascadecompensationmethodofRootloci§6-4Cascadecompensationmethodoffrequency-Domain§6-5Feedbackcompensationpassivecompensationcontroller26.1Introduction6.1.1Whatiscompensationorcorrectionofacontrolsystem?solution3Thisclosed-loopsyst

3、emcanbestable.Wemakethesystemstablebyincreasingacomponent.6.1IntroductionThisprocedureiscalledthecompensationorcorrection.Definitionofthecompensation:increasingacomponent,whichmakesthesystem’sperformancetobeimproved,otherthanonlyvaryingthesystem’sparameters,thisprocedureiscall

4、edthecompensationorcorrectionofthesystem.4Compensator:Thecompensatorisanadditionalcomponentorcircuitthatisinsertedintoacontrolsystemtocompensateforadeficientperformance.6.1Introduction6.1.2Typesofthecompensation5(1)Cascade(orseries)compensation(2)Feedbackcompensation(3)Bothser

5、iesandfeedbackcompensation(4)Feed-forwardcompensation(1)Cascade(orseries)compensationFeatures:simplebuttheeffectstoberestricted.6.1Introduction6(2)FeedbackcompensationR(s)C(s)--R(s)C(s)--Features:complicatedbutnoiselimiting,theeffectsaremorethanthecascadecompensation.(3)Bothca

6、scadeandfeedbackcompensation-R(s)C(s)-Features:haveadvantagesbothofcascadeandfeedbackcompensation.6.1Introduction7(4)Feed-forwardcompensationFeatures:theoreticallywecanmaketheerrorofasystemtobezeroandnoeffectstothetransientperformanceofthesystem.6.1IntroductionR(s)C(s)+-C(s)F(

7、s)R(s)-+ForinputFordisturbance(voice)Demonstration:8R(s)C(s)+-Forinput6.1IntroductionButnoeffecttothecharacteristicequation:1+G10G20=0Question:actuallythecouldnotbeeasyimplementedespeciallymaybetheG20isvariable.96.1IntroductionC(s)F(s)R(s)-+Fordisturbance(voice)Alsonoeffecttot

8、hecharacteristicequation:1+G10G20=0Question:actuallythecouldn