【米兰理工大学】自动控制原理Lect15_bac-large.pdf
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Lecture 15
Introduction to control systems
Luca Ferrarini - Basic Automatic Control 1
Control systems
in open-loop
d d
A
w u m y
C A P
in closed-loop
d d
A
w u m y
C A P
y m T
d
T
Luca Ferrarini - Basic Automatic Control 2
Controller classes
Static controllers
C is a non dynamic system, for example u(t)=k e(t)
p
Dynamic controllers
C is a dynamic system
e(t) u(t)
μ/s
Luca Ferrarini - Basic Automatic Control 3
Requirements of a control system
Objective: y ≅w
that is e w −y
e(t) ≅0 in all interested situations
Requirements
asymptotic independence
• Asymptotic stability of the initial conditions
• Static precision y ≅w in equilibrium
conditions
• Dynamic precision y ≅w in transient conditions
Speed of response
Damping oscillation
Luca Ferrarini - Basic Automatic Control 4
• Disturbance attenuation
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