多重极点出射角计算方法研究及求根轨迹程序设计

A Computing Method of Departure Angle of Multiple Poles and Program Design for Root Loci

本文提出了当闭环系统特征方程具有多重极点时,根轨迹在极点处的出射角的计算方法和公式,并利用Newton-Raphson迭代法编制了求取控制系统根轨迹的计算机程序。该程序可求得根轨迹在复平面上的位置及根轨迹上各点的增益,并可绘制出完整的根轨迹图。

In this paper, the computing method and formulas of departure angle of root loci for the closed loop control system with multiple poles are advanced and the computer program for seeking root loci is compiled using the Newton-Raphson iterative method which is put forward. Using this computer program the place of root loci on the complex plane and gains of all point in root-loci are obtained and the complete rout locus curve is drawn.