第四章-根轨迹分析法-

1、首页首页) 1( ssKKssKs2)(02Kss241212, 1Ks241212, 1Ks)()()()()(*11*sBsAKpszsKsGGibijajG)()()()()()()()()()(*1111*sDsBsCsAKpspszszsKsHsGkdkibilcljaj)()()()()()()()()()()()()(*11*1111*sCsAKsDsBsDsAKzszsKpspspszsKslcljajkdkibikdkjaj)()()()()(*11*sDsCKpszsKsHHkdklclH)()()()()()()(11*1111*lcljajkdkibikdkjajzsz

2、sKpspspszsKsmnsTsKsHsGinijmj,) 1() 1()()(11inijmjTKK11*)()()()(11*inijmjpszsKsHsG0)()(1sHsG1)()(sHsG) 12(1)()()()(ksHsGsHsG1)()(11*inijmjpszsKsHsG) 12()()()()(11kpszssHsGniimjj, 2, 1, 0k1)()(11*inijmjpszsKsHsG) 12()()()()(11kpszssHsGniimjj1)()(sHsG-1.5-1-20.5s1=-0.825s2,3= -1.09j2.07-1.09+j2.072.266

3、6.27o78.8o2.112.61127.53o92.49o2.072K*=2.262.112.612.072= 6.006892.49o- 66.27o- 78.8o- 127.53o= 180o首页首页*111)()(Kpszsinijmj01lim)()(lim11mnsinijmjsspszs.)(, 2, 1, 0个夹角为止直到获得mnkmnzpnimjjia11mnka) 12(0*dsdKmjjniizdpd11110)(1)()(1*sWKsHsG0)()()(1 *sWdsdKsWKdsdsWKdsd0)(sWdsd)(1*sWK0)()(12*dssdWsWdsdK)2)

4、(1()(*sssKsG132101mnpniia) 1, 1 , 0(60,180,603) 12() 12(oookkmnka)(577. 12舍去s)2)(1(*sssK0)263(2*ssdsdK0)2)(1(10)(1*sssKsG)(423. 01分离点snliiilmjjlpppzpkl11)()() 12(mljjjlniilzzzpzkl11)()() 12() 12()()(1111kpszsniimjjnliiimjjlpszskps11111)()() 12()(nliiilmjjlpppzpkl11)()() 12(0)()(1jHjG0)()(1Im0)()(1Re

5、jHjGjHjG)()()()(11*inijmjpszsKsHsG)()(1*1jmjinizsKpsniinnnnssasasas1111)(0)()(1111niinnniinssasss111apsiniini)22)(3()()(2*ssssKsHsG25. 141131mnpniia)2, 1, 1 , 0(135,454) 12() 12(ookkmnka)(3 . 21分离点s0)5 . 1475. 3(423*sssdsdK)22)(3(2*ssssK)(365. 0725. 03 , 2舍去js0)22)(3(*2Kssss0685*234Kssss08 . 6*2 Ks首

6、页首页0)()(1sHsG0)()(1sBsA)()()(sBsAsGH0)()(sAsB) 15() 1(5)()(sssTsHsGa) 15(1ss055512sssTa0) 1(5) 15()(sTsssDa05552sTssa)99. 01 . 0)(99. 01 . 0(555)(*2jsjssTsssTsGaak)2(1ssKsKssssKsssKssKsEsCsG1111)2()2(/)2(/1)2(/)()()(0)2(11KsKss0)2(111KsssK0)2(11KsKss3j3j)2)(1()(*sssKsG)2(06. 1ss11sssKc) 3( )2)(1()(*

7、sssKsG0456. 066. 034. 206. 123223ssssss21*sssK33. 066. 02321321pppsss58. 006. 1)33. 0(34. 222*321Ksss)2)(1()(*sssKsG)58. 033. 0)(58. 033. 0)(34. 2() 1(06. 1)(jsjssssGB)58. 033. 0)(58. 033. 0)(34. 2() 1(06. 1)3()(jsjsssssKsGc0)()(1sHsG1)()(sHsG1)()(sHsGksHsG2)()(mnka2nliiilmjjlpppzpkl11)()(2niilmljjj

8、lzpzzzkl11)()(2222* ssK) 1 , 0(180,02ookmnka121111mnzpmjjniiaoo190902k)2()1 (sssK)2() 1()2()1 ()(sssKsssKsG1)2() 1(sssK首页首页niimjjnnnnmmmmpszsKasasasabsbsbsbsRsCs11*11101110)()()()()(niiiniimjjssAsAspszsKsRssC1011*1)()()()()(nitsiieAAtc10)(ssKsKKfRJsRKKnKsssGfbaaafaeeo05. 39 . 0)()()()(22ssKsGf05. 39

9、 . 0)(2)(38. 035. 8stdp%3 .56%100)1/exp(%2p)(61. 24stns6 .79)53. 1/35. 8arctan(18. 0cos)(21. 035. 839. 1stdr%6 .34%100%21ep)(61. 24stnso13 .71cos)(69. 012stnp)/(8 . 4cos/53. 1sradn6 .259 . 08 . 48 . 4fKssKsGf05. 39 . 0)(2sys3=tf(1,1 5 8 6 0);rlocus(sys3)22)(3()(22*ssssKsG4685)(234sssssD79. 048. 0)52. 2)(2(4685)()(223421sssssssssssssD)22)(3()(22*ssssKsG*22*)22)(3()(KssssKs)79. 048. 0)(52. 2)(2(42ssss)79. 048. 0(152. 2242ss79. 048. 079. 02ss79. 048. 079. 0)(2sss2222nnnss)03.7486. 0sin(04. 111)()(24. 01tessLtct%4 .41%100%21ep%