CAJ | 학술논문

相同零点、极点在根轨迹平面的不同位置表现出不同的动态性能，表明系统性能与零点或极点本身无关，完全由其所处的位置决定。从经典控制理论的根轨迹平面出发，借助数理分析中的“场论”概念，以定位精度和控制稳定性作为系统动态性能的描述量，尝试建立动态性能指标与根轨迹平面坐标之间的函数对应关系；并据此通过在根轨迹平面绘制等振荡线和等精度线，实现动态性能空间的构建。应用该动态性能空间，对六阶线性跟踪系统的实数极点和复共轭零点、极点进行全局优化。灵敏度、补灵敏度函数及动态响应结果显示：该优化设计方法可以较好地解决系统定位精度与控制稳定性之间的矛盾，满足精确动态跟踪要求，效果远优于P ID控制器。
상동영점、겁점재근궤적평면적불동위치표현출불동적동태성능，표명계통성능여영점혹겁점본신무관，완전유기소처적위치결정。종경전공제이론적근궤적평면출발，차조수리분석중적“장론”개념，이정위정도화공제은정성작위계통동태성능적묘술량，상시건립동태성능지표여근궤적평면좌표지간적함수대응관계；병거차통과재근궤적평면회제등진탕선화등정도선，실현동태성능공간적구건。응용해동태성능공간，대륙계선성근종계통적실수겁점화복공액영점、겁점진행전국우화。령민도、보령민도함수급동태향응결과현시：해우화설계방법가이교호지해결계통정위정도여공제은정성지간적모순，만족정학동태근종요구，효과원우우P ID공제기。
Same zeroes and poles located at different locations of the root locus plane will exhibit different dynamic performance ,which shows that the system performance has nothing to do with the zeroes or poles themselves and is completely determined by their location .The relationship between root locus coordinates and dynamic performance indices were established beginning with the root locus plane in classical control theory and then with the aid of the “field theory”concept in mathematical analysis , w hich took the positioning accuracy and stability as the descriptive quantities of the system's dynamic performance .Through drawing the equioscillation and equi-precision curves in the root locus plane ,the system dynamic performance space was built up .The real pole ,complex conjugate zero ,and complex conjugate pole of the sixth-order linear tracking system were globally optimized by using this dynamic performance space .Sensitivity ,comple-mentary sensitivity ,and dynamic response results showed that the optimal control method can solve the discrepancy between system accuracy and positioning time delay ,and meet the exact track requirements with an effect much better than that of a PID controller .