A( ) ( j )
r satisfy :
A()
G ( j )
1 G ( j ) H ( j )
d
A( )
0
d
r
Mr
A(0)
0.707A(0)
(3) Bandwidth b:
b satisfy :
A( )
b
2
A(0) 0.707 A(0)
2
G( j) H ( j)
1
G( j ) H ( j )
Lh (dB) 20 log G( j ) H ( j )
Here g satisfies :
G( j ) H ( j ) 1800
g
1800 G( j ) H ( j )
Here c satisfies :
G( j ) H ( j ) 1
c
%
ts
Steady-state error
ess
Open-loop
Resonant peak M r
Gain-crossover frequency
Resonant frequency
Bandwidth
Gain margin
h / Lh
Phase margin
Setting time ts
Overshoot %
Normally Mr %
h and %
Some experiential formulas:
Overshoot % [0.16 0.4( M r 1)] 100%
and
Mr
(1.1 M r 1.8)
1
sin
k
Settling time t s
, k 2 1.5
1 2.5
1
c
sin
sin
35
900
1
1
( s )
Ts
Ts 1
t s 3T
b 1 / T
-3 dB
n 2
n 2
G( s)
( s ) 2
2
s( s 2 n )
s 2 n s n
We have:
b n (1 2 2 ) 2 4 2 4 4
r n 1 2 2 (0
Mr
1
2 1 2
c n
tg 1
h
1 4 4 2 2
2
1 4 4 2 2
2
)
2
, n % , t s , t r ...
, n % , t s , t r ...
s T s 1T
2 T s 1
K j s 1 l2 s 2 2 l l s 1
v
2 2
k
k k
(db) 20lg G
[-20]
[40or60]
[-20]
0
1/ T1
0.1c
(2 10)c
[- 40]
low freqency
middlefreqency
band
band
10c
high freqency
band
[-60]
The more negative the slope of L() is , the higher the control accuracy
of the system.
The bigger the magnitude of L() is, the smaller the steady-state error ess is.
2. For the middle frequency band
The middle frequency band is mainly concerned with the transient performance of
the systems.
c ts ;
h and %
The slope of L() in the middle frequency band should be the 20dB/dec
and with a certain width .
L( ) 20 log G( j ) H ( j )
40
% = %
0dB
20
40
G s
1 G s
G j
1 G j
G j G e jG
j M e
G e j
1 G e j
M ( ) f1 G , G
( ) f 2 G , G
( ) f 2 G , G