第4章根轨迹法.ppt

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1、0440)(12KsssGK- 122s K122s21 )(SR)(SC) 125. 0(ssK) 1s 5 2 . 0 ( sK) s ( G ) 4 s ( sK 4 由由 可得闭环极点的变化情况：可得闭环极点的变化情况：K-122s K122s21 )()(sHsG)()(1)()(sHsGsGsG(S)H(S)-R(s)C(s)aiizs1)( )(*GKsG )(*HKsHbiips1)(cjjzs1)( djjps1)(*GK*HK反馈通路根轨迹增益反馈通路根轨迹增益 )()(*KsHsG* )(KKsGbiips1)(aiizs1)( cjjzs1)( djjps1)(*HGK

2、KK开环系统根轨迹增益开环系统根轨迹增益aiizs1)( djjps1)(biips1)(djjps1)(aiizs1)( cjjzs1)( 1)()( 0)()(111*11*niimiiniimiipszsKpszsK或0)()(1sHsG1)()(sHsG111*niimiipszsK2, 1, 0,) 12 ()()(11kkpszsniiimi .).2, 1, 0() 12()()(11kkpszsniiimiamnzpmnknimiiiaa11 ,) 12(1800a1 mn90900a2 mn45450a4 mn60601800a3 mn nimiiizdpd1111 niip

3、d101 l1,1 , 0,) 12(lklkl586. 0,414. 3024211111212dddddjdjd)j1s)(j1s()2s(*K2s2s)2s(*K)s(G2 d1 pl zlnimliiililzlminliiililplzzpzkppzpk1111) 12() 12(）（）（）（）（*1)(Kpsnii0)( 1miizs0111nnnnasasasniiniips11niipa11)2s2s)(3s( sK)s(G2* 25. 14)1()1() 3(0.135,45) 12(11jjmnzpmnknimiiiaa n1ii0j1d1j1d13d1d1 0Pd1则)2

4、l ( 90l180l m1inli1iili3pl3l ),pp()zp() 1k2( 0)k ( 6 .71906 .26135) 1k2() j1(j1() 3j1() j1() 1k2()pp()pp()pp() 1k2(4323133p取0685)(*234KsssssD16.8K1 . 1（舍去），0K00650K8*3*246 .714p)2(10ssC(s)1+Kts-R(s)2)s(s10：)2()1 (10)()(sssKsHsGtsKsssssKssstt1010210)2()1 (101)2(10)(2ttttttKKjsjssKsssKSGsssKsKss10) 31)(31(10210)(0102101010102*2122)(1SGsKsssKsssKsssKstttt101021010210110210)(222102102 sssktR(s) 2( )(1)(1)G ss ss02) 1() 1(102) 1() 1(22ssssssss 2) 1()(221sssssG212(1)( )2ssG sss 271, 022, 12jsss得00202) 1() 1()(13222cccjwjwjwjw1, 1c )(*GKs mjjzs1)( njjps1)(01( )knp tkkc tAA e*( )( )(1)(2)KG s H ss ss