Beruflich Dokumente
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Introduction
Introduction
Root-locus is a graphical technique for sketching
the locus of roots in the s-plane as a parameter is
varied in a given range.
Root-locus
k
s( s 2)
k
0
s( s 2)
s 2 2s K 0
roots s1, 2 1 1 K
K 0 s 0 s 2
1
2
are the poles of the open-loop transfer function o f the syst em.
s1, 2 1 j1
(4) when k 1 the overshoot of the system response will be increased with
k being augmented beause of the poles away from the real axis. And the setting
time will be not varied because of the real section of the poles being constant.
G (s )
1 G( s ) H ( s ) 0
H (s )
G ( s) H ( s) K
(s z )
i
i 1
n
(s p j )
2 T s 1
K j s 1 l2 s 2 2 l l s 1
s v Ti s 1 Tk2 s 2
k k
j 1
G(s) H (s) 1 j 0
G( s) H ( s) K
(s z )
i
i 1
n
(s p )
s: a complex variable
j 1
| s z
|
1
i 1
n
| s p
Magnitude criterion
j 1
(s z ) (s p ) (2k 1)
i 1
j 1
k 0, 1, 2,
Angle criterion
1 K
(s z )
i
i 1
n
(s p )
(s p ) K (s z ) 0
j 1
i 1
j 1
(s p ) 0
K 0
s p j , j 1,2,n
j 1
1 K
( s zi )
i 1
n
(s p
(s z )
i
i 1
n
(s p
1
K
j 1
j 1
(s z ) 0
i
i 1
s zi , i 1,2,m
poles
K (0.5s 1) K * ( s 2)
G( s) H ( s)
s(0.25s 1)
s( s 4)
-2
-4
zero
locate the open-loop poles and zeros in t he s-plane with the symbols :
pole,
zero.
(s z ) (s p ) (2k 1)
i 1
j 1
s
k 0, 1, 2,
Angle criterion
poles
-2
K (0.5s 1) K * ( s 2)
G( s) H ( s)
s(0.25s 1)
s( s 4)
-4
zero
p z
j 1
i 1
nm
nm
(k 0,1,, n m 1)
-3
-2
-1
K ( s 2)
1 G( s) 1
0
s( s 1)(s 3)
(0 1 3) (2)
a
1
3 1
90
(k 0)
2k 1
0
a
180
0
3 1
270
(k 1)
K
1 G( s) H ( s) 1
0
s( s 1)(s 2)
-2
-1
n
1
1
i 1 d zi
j 1 d p j
450
450
n
1
1
i 1 d zi
j 1 d p j
K
1 G( s) H ( s) 1
0
s( s 1)(s 2)
here no zeros
j
1
1
1
0
d d 1 d 2
-2
d1 0.42, d 2 1.58
-1
Sequential Example:
K
1 G( s) H ( s) 1
0
s( s 1)(s 2)
j 3 3 2 2 j K 0
-2
3 2 0
3 K 0
imaginary portion
real portion
-1
K 0
K 6
With a little practice, you should be able to sketch root loci very rapidly.
K
1 G( s) H ( s) 1
0
s( s 1)(s 2)
0 1 2
1
3
(2k 1)
a
1800 1800 (k 1)
3
3000 (k 2)
d1 0.42, d 2 1.58
Intersection of the root loci with the
imaginary axis.
0
K 0
2 K 6
( s pk )
p lim ( s pk )
s pk
pk
i 1
j 1
j k
p (2 K 1) ( pk zi ) ( pk p j )
k
z lim (s zk )
(s zk )
s zk
zk
i 1
ik
j 1
z (2k 1) ( zk zi ) ( zk p j )
k
K
G( s) H ( s)
s( s 1 j )(s i j )
p1 0 p2 1 j p3 1 j
m
i 1
j 1
j k
p (2 K 1) ( pk zi ) ( pk p j )
k
j
1
p2
p (2k 1) ( p2 p1 ) ( p2 p3 )
2
p1
-1
p 450
2
p 450
3
0
-1
p3
1 K
(s z )
i
i 1
n
(s p )
(n m 2)
(s p ) K (s z ) 0
j 1
j 1
i 1
(s s ) 0
i
i 1
a1 si p j const
i 1
j 1
s p
i 1
j 1
const
| s z
|
1
i 1
n
| s p
Magnitude criterion
So K x*
| s z
i 1
n
| s p
j 1
j 1
| s p
j 1
m
| s z
i 1
ss
If there is no zeros
K
| s p
j 1
Magnitude criterion
So K
*
x
| s p
K | s p j |
j 1
j 1
ss
Examples
Sketch the root-loci for the following open-loop transfer functions:
(1) G( s )
K ( s 2)( s 6)
s ( s 4)
( 2) G ( s )
Im
(2)
Re
(4)
( 3) G ( s )
K ( s 2 6 s 13)
( 5) G ( s )
s ( s 2)
K ( s 2)( s 3)
( 4) G ( s )
s( s 1)
(1)
K ( s 2)( s 4)
s ( s 6)
Im
(3)
Re
(5)
Re
Im
( 6) G ( s )
Im
K ( s 1)( s 2)
( s 2 6 s 13)
Im
Re
(6)
Re
K ( s 3)
s ( s 2)
Im
Re