Classicalcontroltheory经典控制理论精美英文课件.ppt

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1、IntroductionofclassicalcontroltheoryContentDevelopmentRootlocusplotFrequency-domainanalysisThedevelopmentofclassicalcontroltheoryIn1868,BritishphysicistJ.C.Maxwell（麦斯威尔）proposedalgebraicstabilitycriterion.（稳定性代数判据）Rolls(EJRouth)andHurwitz(A.Hurwitz)propos-edtwofamouss

2、tabilitycriterion-RouthcriterionandHurwitzcriterion.(劳斯判据和胡尔维茨判据)In1932,AmericanphysicistNyquist(H.Nyquist)proposedthefrequencyresponsemethod.(频率响应法)ThedevelopmentofclassicalcontroltheoryBode(伯德)andNichols（尼科尔斯）proposedthefrequency-domainanalysisinthefieldofclassicalc

3、ontroltheory.Wiener（维纳）published“cybernetics（控制论）-ontheanimalandthemachinecontrolandcommunicationscience."ThefamousChinesescientistQianXuesen（钱学森）appliedcontroltheorytoengineering,publishing“engineeringcybernetics.“(工程控制论)ClassicalcontroltheorywelcometousethesePowerPo

4、inttemplates,NewContentdesign,10yearsexperienceThetransferfunction,rootlocusmethodandfrequency-domainanalysisaretheprimaryanalysisanddesigntoolsinclassicalcontroltheory.Theyconstitutethebasicframeworkofclassicalcontroltheory.传递函数，根轨迹和频域分析是经典控制论中重要的分析设计工具。他们组成了经典控制论的基础

5、框架。TranslationClassicalcontroltheoryClassicalcontroltheoryismainlyusedtosolvetheanalysisanddesignproblemsoffeedbackcontrollerincontrolsystems.TherootlocusmethodDefinitionTherootlocusisacurveofthelocationofthepolesofatransferfunctionassomeparameter(generallythegainK)is

6、varied.Thenumberofzerosdoesnotexceedthenumberofpoles.ExplanationTherootlocusisthepathoftherootsofthecharacteristicequationtracedoutinthes-planeasasystemparameter(参数)ischanged.TherootlocusprocedureStep1:Writethecharacteristicequationas：Kistheparameterthatisvariable.Exa

7、mple:Step2:Factor(分解)P(s),writethepolynomial（多项式）intheformofpolesandzeros.TherootlocusprocedureStep3:LocatethepolesandzerosofP(s)ons-planewithselectedsymbols.NOTICE:Thelocusoftherootsofthecharacteristicequation1+KP(s)=0beginsatthepolesofP(s)andendatthezerosofP(s)asKin

8、creasesform0toinfinity(无穷).TherootlocusprocedureStep4:Locatethesegmentsoftherealaxisthatarerootloci.Therootlocusontherealaxi