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编辑补偿器动力学

Using控制系统设计师, you can manually edit compensator dynamics to achieve your design goals. In particular, you can adjust the compensator gain, and you can add the following compensator dynamics:

Real and complex poles, including integrators
Real and complex zeros, including differentiators
带领和lag networks
Notch filters

You can add dynamics and modify compensator parameters using the Compensator Editor or using the graphicalBode编辑器,Root Locus Editor, orNichols Editor情节。

补偿器编辑

To open the Compensator Editor dialog box, in控制系统设计师, in an editor plot area, right-click and select编辑补偿器。Alternatively, in the数据浏览器，在里面Controllerssection, right-click the compensator you want to edit and click开放选择。

补偿器编辑器显示当前选择的补偿器的传输功能。您可以选择一个使用下拉列表进行编辑的其他补偿器。默认情况下，补偿器传输函数以时间常数格式显示。您可以通过更改相应的方式选择其他格式控制系统设计师preference.

在控制系统设计师, on theControl Systemtab, clickPreferences。在“控制系统设计器首选项”对话框中，Optionstab, select aCompensator Format。

To add poles and zeros to your compensator, in the Compensator Editor, right-click in the动力学桌子和下Add Pole/Zero, select the type of pole/zero you want to add.

The app adds a pole or zero of the selected type with default parameters.

编辑杆或零，在动力学table, click on the pole/zero type you want to edit. Then, in theEdit Selected Dynamics部分，在文本框中，指定极点和零位置。

删除杆和零，动力学table, click on the pole/zero type you want to delete. Then, right-click and selectDelete Pole/Zero。

图形补偿器编辑

您还可以直接从Bode编辑器，Root Locus Editor或Nichols编辑器图中添加和调整杆和零。在使用补偿器编辑器对其位置进行微调之前，使用此方法将极点和零大致放置在正确的区域中。

要直接从编辑图中添加电线杆和零，请右键单击绘图区域，然后在下面Add Pole/Zero, select the type of pole/zero you want to add. In the editor plot, the app displays the editable compensator poles and zeros as redX’s andO’s respectively.

在编辑图中，您可以拖动电线杆和零以调整其位置。当您拖动杆或零时，该应用在右侧在状态栏中显示新值。

To delete a pole or zero, right-click the plot area and selectDelete Pole/Zero。Then, in the editor plot, click the pole or zero you want to delete.

Poles and Zeros

您可以将以下电线杆和零添加到您的补偿器中：

Real pole/zero — Specify the pole/zero location on the real axis
Complex poles/zeros — Specify complex conjugate pairs by:
- Setting the real and imaginary parts directly.
- Setting the natural frequency,ω_n, and damping ratio,ξ。
在tegrator — Add a pole at the origin to eliminate steady-state error for step inputs and DC inputs.
Differentiator — Add a zero at the origin.

铅和滞后网络

You can add lead networks, lag networks, and combination lead-lag networks to your compensator.

Network Type	描述	Use This To
带领	负实轴上的一个极和一个零，零的固有频率较低	增加稳定边缘在crease system bandwidth Reduce rise time
落后	One pole and one zero on the negative real axis, with the pole having a lower natural frequency	Reduce high-frequency gain 在crease phase margin Improve steady-state accuracy
铅滞后	A combination of a lead network and a lag network	结合铅网络和滞后网络的效果

要添加铅滞后网络，请添加单独的铅和滞后网络。

To configure a lead or lag network for your compensator, use one of the following options:

指定极点和零位置。将极点放置进一步分开增加相角变化的量。
指定最大相位角变化量和发生这种变化的频率。该应用程序会自动计算极点和零位置。

When graphically changing pole and zero locations for a lead or lag compensator, in the editor plot, you can drag the pole and zeros independently.

Notch Filters

If you know that your system has disturbances at a particular frequency, you can add a notch filter to attenuate the gain of the system at that frequency. The notch filter transfer function is:

$\frac{s^{2} + 2 ξ_{1} ω_{n} s + ω_{n}^{2}}{s^{2} + 2 ξ_{2} ω_{n} s + ω_{n}^{2}}$

where

ω_nis the natural frequency of the notch.
The ratioξ₂/ξ₁sets the depth of the notch.

要为您的补偿器配置Notch过滤器，在“补偿器编辑器”对话框中，您可以指定：

Natural Frequency- 衰减频率
Notch Depth和Notch Width
阻尼对于传输函数的复杂极和零。

When graphically editing a notch filter, in the Bode Editor, you can drag the bottom of the notch to adjustω_n和the notch depth. To adjust the width of the notch without changingω_nor the notch depth, you can drag the edges of the notch.