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L(s) =
K s(s + 1)
Tr (s) =
K s2 + s + K
s1,2 K=0 K=
1 4
1 1p = 1 4K 2 2
K>
1 4
s1,2
1 1p 4K 1 = j 2 2
c J.C. Cockburn
Review
(s) =
1 + KGrl (s) = 0
where K is the real parameter that generates the RL and Grl (s) the root locus transfer function.
1 K
Normalization Grl will always be normalized so that both b(s) and a(s) are monic. Magnitude & Angle Conditions
j Grl (s)
1 K
Review
1 If K > 0, K =
1 j(+2l) Ke
Grl (s)
= =
+ 2l, 1 K
l = 0, 1, . . .
|Grl (s)|
1 If K < 0, K =
1 j(0+2l) Ke
Grl (s)
= =
0 + 2l, 1 K
l = 0, 1, . . .
|Grl (s)|
Conclusion The positive (or 180) RL is the set of points in the s-plane where the phase of Grl (s) is 180. The negative (or 0) RL is the set of points in the s-plane where the phase of Grl (s) is 0.
c J.C. Cockburn
Review
0
=
1 @ pi r i=1
n X
m X j=1
1
zj A
(Singular points) Breakin/Break away points occur when multiple roots of (s) coincide. If sb is a break point of the RL then it dGrl (s) satises ds = 0 or equivelentely db(s) da(s) a(s) b(s) =0 ds ds
c J.C. Cockburn
Review
180 l = k, r
k = 1, 3, . . . , 2r 1
3. (Angles) The departure angle, dep,k of the RL from a pole pk (of multiplicity 1) of Grl (s) is given by
0
dep,k = @
m X i=1
n X j=1,j=k
1
j 180 A
mod 360
The arrival angle arr,k of the RL to a zeros zk (of multiplicity 1) of Grl (s) is given by
0
arr,k = @
n X j=1
m X i=1,i=k
1
i + 180 A
mod 360
c J.C. Cockburn
Review
360 l = (k 1), r
k = 1, 2, . . . , r
3. (Angles) The departure angle, dep,k of the RL from a pole pk (of multiplicity 1) of Grl (s) is given by
dep,k
0 1 m n X X =@ i j A
i=1 j=1,j=k
mod 360
The arrival angle arr,k of the RL to a zeros zk (of multiplicity 1) of Grl (s) is given by
0
arr,k = @
n X j=1
m X i=1,i=k
1
iA mod 360
ln(P O/100) ), = sin(), (damping). ln(P/100) 2. = , (settling time). ts 1.8 3. m , (rise time). tr 4. d = , (peak time). tp
1. = arctan(
ess,k = lim
1 P (s) , dss,k = lim k s0 sk + sk P (s)C(s) s0 s + sk P (s)C(s) ess,k (dss,k ) small sk P (s)C(s)|s=0 large.
Stability
Imposes lower/upper bounds on controller gain Kc.
c J.C. Cockburn Review
F (s)
C(s)
P (s)
1. Translate Transient Response Specications into Acceptable Regions (AR) for the dominant poles of the closed loop. 2. Find lower and upper bounds got the compensator gain K from Steady-State Specications and Stability Requirements. 3. Use the zeros of the feedback compensator C(s) to attract the branches of the RL of the the dominant poles into the Acceptable Regions (AR). 4. Use the poles of C(s) to shape the root locus as required. If necessary add far-o poles for noise reduction and realizability. 5. Design the prelter F (s) to improve the overall transient response.
c J.C. Cockburn
Review