自动控制原理自动控制原理第7章 线性系统的设计方法Evaluation only.Evaluation only. Created with Aspose.Slides for .NET 3.5 Client Profile 5.2.0.0.Created with Aspose.Slides for .NET 3.5 Client Profile 5.2.0.0. Copyright 2004-2011 Aspose Pty Ltd.Copyright 2004-2011 Aspose Pty Ltd.自动控制原理1系统校正 ?为了获得更好的系统性能，而对系统的参数与结构进行必要的校调。回顾： 系统校正的概念与校正装置Evaluation only.Evaluation only. Created with Aspose.Slides for .NET 3.5 Client Profile 5.2.0.0.Created with Aspose.Slides for .NET 3.5 Client Profile 5.2.0.0. Copyright 2004-2011 Aspose Pty Ltd.Copyright 2004-2011 Aspose Pty Ltd.自动控制原理2校正装置 ?无源校正装置，有源校正装置；相位超前校正装置，相位滞后校正装置，相位滞后超前校正装置回顾： 系统校正的概念与校正装置Evaluation only.Evaluation only. Created with Aspose.Slides for .NET 3.5 Client Profile 5.2.0.0.Created with Aspose.Slides for .NET 3.5 Client Profile 5.2.0.0. Copyright 2004-2011 Aspose Pty Ltd.Copyright 2004-2011 Aspose Pty Ltd.自动控制原理按校正装置在系统中的连接方式：串联校正 、并联校正、前馈校正、复合校正比如串联校正：3校正方式？-回顾： 系统校正的概念与校正装置Evaluation only.Evaluation only. Created with Aspose.Slides for .NET 3.5 Client Profile 5.2.0.0.Created with Aspose.Slides for .NET 3.5 Client Profile 5.2.0.0. Copyright 2004-2011 Aspose Pty Ltd.Copyright 2004-2011 Aspose Pty Ltd.自动控制原理根据校正装置的相位特征而分为： 3校正方式？回顾： 系统校正的概念与校正装置相位超前校正、相位滞后校正、相位滞后超前校正Evaluation only.Evaluation only. Created with Aspose.Slides for .NET 3.5 Client Profile 5.2.0.0.Created with Aspose.Slides for .NET 3.5 Client Profile 5.2.0.0. Copyright 2004-2011 Aspose Pty Ltd.Copyright 2004-2011 Aspose Pty Ltd.自动控制原理第7章 线性系统的设计方法7.3 基于伯德图的系统校正7.3.1 相位超前校正7.3.2 相位滞后校正7.3.3 滞后-超前校正7.3.4 超前、滞后、滞后-超前校正的比较Evaluation only.Evaluation only. Created with Aspose.Slides for .NET 3.5 Client Profile 5.2.0.0.Created with Aspose.Slides for .NET 3.5 Client Profile 5.2.0.0. Copyright 2004-2011 Aspose Pty Ltd.Copyright 2004-2011 Aspose Pty Ltd.自动控制原理7.3 基于伯德图的系统校正为什么选择基于伯德图的方法？1、幅频特性相乘关系转化为相加关系2、设计过程得到简化。Evaluation only.Evaluation only. Created with Aspose.Slides for .NET 3.5 Client Profile 5.2.0.0.Created with Aspose.Slides for .NET 3.5 Client Profile 5.2.0.0. Copyright 2004-2011 Aspose Pty Ltd.Copyright 2004-2011 Aspose Pty Ltd.自动控制原理7.3 基于伯德图的系统校正如何校正？1 相位超前校正2 相位滞后校正3 滞后-超前校正Evaluation only.Evaluation only. Created with Aspose.Slides for .NET 3.5 Client Profile 5.2.0.0.Created with Aspose.Slides for .NET 3.5 Client Profile 5.2.0.0. Copyright 2004-2011 Aspose Pty Ltd.Copyright 2004-2011 Aspose Pty Ltd.自动控制原理相位超前校正校正原理？校正方法？校正利弊？（通过实例分析来总结）7.3 基于伯德图的相位超前校正Evaluation only.Evaluation only. Created with Aspose.Slides for .NET 3.5 Client Profile 5.2.0.0.Created with Aspose.Slides for .NET 3.5 Client Profile 5.2.0.0. Copyright 2004-2011 Aspose Pty Ltd.Copyright 2004-2011 Aspose Pty Ltd.自动控制原理相位超前校正原理7.3 基于伯德图的相位超前校正-+-+相位超前校正装置 及其传递函数Evaluation only.Evaluation only. Created with Aspose.Slides for .NET 3.5 Client Profile 5.2.0.0.Created with Aspose.Slides for .NET 3.5 Client Profile 5.2.0.0. Copyright 2004-2011 Aspose Pty Ltd.Copyright 2004-2011 Aspose Pty Ltd.自动控制原理 Bode图频率特性的主要特点是：相频特性为正值；存在最大相位超前量jm ；w=wm处，获得jm；7.3 基于伯德图的相位超前校正Evaluation only.Evaluation only. Created with Aspose.Slides for .NET 3.5 Client Profile 5.2.0.0.Created with Aspose.Slides for .NET 3.5 Client Profile 5.2.0.0. Copyright 2004-2011 Aspose Pty Ltd.Copyright 2004-2011 Aspose Pty Ltd.自动控制原理-Gc为校正装置，G为对象基于伯德图的相位超前校正方法利用频率响应法设计超前校正装置的步骤如下： 求出满足稳态性能指标的开环增益K值； 根据求出的K值，画出校正前的Bode图，确定此时 的幅值穿越频率wc1和相位裕量g1；7.3 基于伯德图的相位超前校正Evaluation only.Evaluation only. Created with Aspose.Slides for .NET 3.5 Client Profile 5.2.0.0.Created with Aspose.Slides for .NET 3.5 Client Profile 5.2.0.0. Copyright 2004-2011 Aspose Pty Ltd.Copyright 2004-2011 Aspose Pty Ltd.自动控制原理 相位超前校正装置提供的最大相位超前量g0 为系统期望的相角裕量 g1 未校正系统的相角裕量一般预留抵消滞后量为510 根据 ，由jm求出a值7.3 基于伯德图的相位超前校正Evaluation only.Evaluation only. Created with Aspose.Slides for .NET 3.5 Client Profile 5.2.0.0.Created with Aspose.Slides for .NET 3.5 Client Profile 5.2.0.0. Copyright 2004-2011 Aspose Pty Ltd.Copyright 2004-2011 Aspose Pty Ltd.自动控制原理 相位超前装置在wm处的幅值所以wc2应选在未校正系统的L(w) =10lga处。 当wc2wm时，由 在系统中把原放大器增益增大a倍，或插入一个增益为a的 放大器。 画出校正后的Bode图，确定此时的幅值穿越频率wc2和相位 裕量g2，校验系统的性能指标。一定要校验，不满足做。7.3 基于伯德图的相位超前校正Evaluation only.Evaluation only. Created with Aspose.Slides for .NET 3.5 Client Profile 5.2.0.0.Created with Aspose.Slides for .NET 3.5 Client Profile 5.2.0.0. Copyright 2004-2011 Aspose Pty Ltd.Copyright 2004-2011 Aspose Pty Ltd.自动控制原理例：已知一单位反馈系统的开环传递函数为试设计一个相位超前校正装置满足: 相位裕量大于45； 对单位速度函数输入，输出的稳态误差小于或等于 0.01rad。7.3 基于伯德图的相位超前校正Evaluation only.Evaluation only. Created with Aspose.Slides for .NET 3.5 Client Profile 5.2.0.0.Created with Aspose.Slides for .NET 3.5 Client Profile 5.2.0.0. Copyright 2004-2011 Aspose Pty Ltd.Copyright 2004-2011 Aspose Pty Ltd.自动控制原理解： 对型系统ess=R/Kv，现R=1要求 即 画出Kg=1时未校正系统Bode图，确定此时的wc1和g。7.3 基于伯德图的相位超前校正Evaluation only.Evaluation only. Created with Aspose.Slides for .NET 3.5 Client Profile 5.2.0.0.Created with Aspose.Slides for .NET 3.5 Client Profile 5.2.0.0. Copyright 2004-2011 Aspose Pty Ltd.Copyright