简单记录重点,推导省略
引用:
https://zhuanlan.zhihu.com/p/406492070
控制之美
二阶系统时域响应
RLC电路。弹簧阻尼系统。实际工程应用中,大部分关于运动控制的系统,简化后的闭环传递函数都可以近似为二阶系统。
系统传递函数
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G\left( s \right) = \frac{{\omega _n^2}}{{{s^2} + 2\zeta {\omega _n} + \omega _n^2}}
G(s)=s2+2ζωn+ωn2ωn2
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ωn2:固有频率。
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单位冲激响应
零初始状态下,二阶系统的单位冲激响应
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C\left( s \right) = G\left( s \right) \cdot R\left( s \right) = \frac{{\omega _n^2}}{{{s^2} + 2\zeta {\omega _n} + \omega _n^2}}
C(s)=G(s)⋅R(s)=s2+2ζωn+ωn2ωn2
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{p_{1,2}} = - \zeta {\omega _n} \pm {\omega _n}\sqrt {{\zeta ^2} - 1}
p1,2=−ζωn±ωnζ2−1
单位阶跃响应
引入了一个零极点,因式分解必有一个积分环节,反拉氏变换之后为常数。
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ζ<0,正实部极点,不稳定,发散
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ζ=0,纯虚极点,临界稳定,振荡
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\begin{aligned}C(s)&=\frac{1}{s}-\frac{s}{s^2+\omega_n^2}\\C(t)&=1-\cos\omega_nt\end{aligned}
C(s)C(t)=s1−s2+ωn2s=1−cosωnt
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0<ζ<1,欠阻尼,稳定,收敛
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\begin{aligned} C(s)& =\frac1s\cdot\frac{\omega_n^2}{s^2+2\zeta\omega_ns+\omega_n^2}=\frac1s-\frac{s+2\zeta\omega_n}{s^2+2\zeta\omega_ns+\omega_n^2} \\ &=\frac1s-\frac{s+2\zeta\omega_n}{s^2+2\zeta\omega_ns+\left(\zeta\omega_n\right)^2-\left(\zeta\omega_n\right)^2+\omega_n^2} \\ &=\frac1s-\frac{s+\zeta\omega_n+\zeta\omega_n}{\left(s+\zeta\omega_n\right)^2+\left(\sqrt{1-\zeta^2}\omega_n\right)^2} \\ &=\frac1s-\frac{s+\zeta\omega_n}{\left(s+\zeta\omega_n\right)^2+\left(\sqrt{1-\zeta^2}\omega_n\right)^2}-\frac{\zeta\omega_n}{\left(s+\zeta\omega_n\right)^2+\left(\sqrt{1-\zeta^2}\omega_n^2\right)^2} \end{aligned}
C(s)=s1⋅s2+2ζωns+ωn2ωn2=s1−s2+2ζωns+ωn2s+2ζωn=s1−s2+2ζωns+(ζωn)2−(ζωn)2+ωn2s+2ζωn=s1−(s+ζωn)2+(1−ζ2ωn)2s+ζωn+ζωn=s1−(s+ζωn)2+(1−ζ2ωn)2s+ζωn−(s+ζωn)2+(1−ζ2ωn2)2ζωn
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\begin{aligned} C(t)& =1-e^{-\zeta\omega_nt}\left[\cos\left(\sqrt{1-\zeta^2}\omega_nt\right)+\frac\zeta{\sqrt{1-\zeta^2}}{\sin\left(\sqrt{1-\zeta^2}\omega_nt\right)}\right] \\ &=1-\frac{1}{\sqrt{1-\zeta^{2}}}e^{-\zeta\omega_{n}t}\sin\left(\sqrt{1-\zeta^{2}}\omega_{n}t+\mathrm{tg}^{-1}\frac{\sqrt{1-\zeta^{2}}}{\zeta}\right) \\ &=1-\frac{1}{\sqrt{1-\zeta^{2}}}e^{-\sigma t}\sin\left(\omega_{d}t+\mathrm{tg}^{-1}\frac{\sqrt{1-\zeta^{2}}}{\zeta}\right) \end{aligned}
C(t)=1−e−ζωnt[cos(1−ζ2ωnt)+1−ζ2ζsin(1−ζ2ωnt)]=1−1−ζ21e−ζωntsin(1−ζ2ωnt+tg−1ζ1−ζ2)=1−1−ζ21e−σtsin(ωdt+tg−1ζ1−ζ2)
$ \zeta >= 1$,过阻尼,稳定,收敛,无超调
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\begin{aligned} C(s)& =\frac1s\cdot\frac{\omega_n^2}{s^2+2\zeta\omega_ns+\omega_n^2}=\frac1s-\frac{s+2\zeta\omega_n}{s^2+2\zeta\omega_ns+\omega_n^2} \\ &=\frac1s-\frac{s+2\zeta\omega_n}{(s+\omega_n\zeta-\omega_n\sqrt{\zeta^2-1})(s+\omega_n\zeta+\omega_n\sqrt{\zeta^2-1})} \\ &=\frac1s-\frac{\frac{\sqrt{\zeta^2-1}+\zeta}{2\sqrt{\zeta^2-1}}}{s+\omega_n\zeta-\omega_n\sqrt{\zeta^2-1}}-\frac{\frac{\sqrt{\zeta^2-1}-\zeta}{2\sqrt{\zeta^2-1}}}{s+\omega_n\zeta+\omega_n\sqrt{\zeta^2-1}} \end{aligned}
C(s)=s1⋅s2+2ζωns+ωn2ωn2=s1−s2+2ζωns+ωn2s+2ζωn=s1−(s+ωnζ−ωnζ2−1)(s+ωnζ+ωnζ2−1)s+2ζωn=s1−s+ωnζ−ωnζ2−12ζ2−1ζ2−1+ζ−s+ωnζ+ωnζ2−12ζ2−1ζ2−1−ζ
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C(t)=1-\frac{\sqrt{\zeta^2-1}+\zeta}{2\sqrt{\zeta^2-1}}e^{p_1t}-\frac{\sqrt{\zeta^2-1}-\zeta}{2\sqrt{\zeta^2-1}}e^{p_2t}
C(t)=1−2ζ2−1ζ2−1+ζep1t−2ζ2−1ζ2−1−ζep2t
可以从时域响应函数分析性能指标
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C\left( s \right) = \omega _n^2\left[ {\frac{A}{{s - \zeta {\omega _n} + {\omega _n}\sqrt {{\zeta ^2} - 1} }} + \frac{B}{{s - \zeta {\omega _n} - {\omega _n}\sqrt {{\zeta ^2} - 1} }}} \right]
C(s)=ωn2[s−ζωn+ωnζ2−1A+s−ζωn−ωnζ2−1B]
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C\left( s \right) = \omega _n^2\left[ {\frac{A}{{s - \zeta {\omega _n} + {\omega _n}\sqrt {1 - {\zeta ^2}} j}} + \frac{B}{{s - \zeta {\omega _n} - {\omega _n}\sqrt {1 - {\zeta ^2}} j}}} \right] = \frac{{\frac{{j{\omega _n}}}{{2\sqrt {1 - {\zeta ^2}} }}}}{{s - \zeta {\omega _n} + {\omega _n}\sqrt {1 - {\zeta ^2}} j}} + \frac{{ - {{\frac{{j{\omega _n}}}{{2\sqrt {1 - {\zeta ^2}} }}}_n}}}{{s - \zeta {\omega _n} - {\omega _n}\sqrt {1 - {\zeta ^2}} j}}
C(s)=ωn2[s−ζωn+ωn1−ζ2jA+s−ζωn−ωn1−ζ2jB]=s−ζωn+ωn1−ζ2j21−ζ2jωn+s−ζωn−ωn1−ζ2j−21−ζ2jωnn
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ζ=0
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C\left( s \right) = \frac{{0.5j{\omega _n}}}{{s + j{\omega _n}}} + \frac{{ - 0.5j{\omega _n}}}{{s - j{\omega _n}}},\zeta = 0
C(s)=s+jωn0.5jωn+s−jωn−0.5jωn,ζ=0
性能指标
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Ts:系统调节时间/稳定时间
T
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Ts取决于误差带的选取。DR_CAN书中所取的误差带为0.02。 系统稳定在误差带内的时间。
T
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Tr:上升时间,指系统第一次达到稳定点的时间。
M
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Mp:最大超调量。(峰值-稳态值)/稳态值*100%