自动控制系统 第8版PDF|Epub|txt|kindle电子书版本网盘下载

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CHAPTER 1 Introduction1

1-1 Introduction1

1-1-1 Basic Components of a Control System2

1-1-2 Examples of Control-System Applications2

1-1-3 Open-Loop Control Systems（Nonfeed-back Systems）6

1-1-4 Closed-loop Control Systems（Feedback Control Systems）7

1-2 What is Feedback and What are its Effects?8

1-2-1 Effect of Feedback on Overall Gain8

1-2-2 Effect of Feedback on Stability9

1-2-3 Effect of Feedback on External Disturbance or Noise10

1-3 Types of Feedback Control Systems11

1-3-1 Linear versus Nonlinear Control Systems11

1-3-2 Time-Invariant versus Time-Varying Systems12

1-4 Summary15

CHAPTER 2 Mathematical Foundation16

2-1 Introduction16

2-2 Laplace Transform17

2-2-1 Definition of the Laplace Transform17

2-2-2 Inverse Laplace Transformation18

2-2-3 Important Theorems of the Laplace Transform19

2-3 Inverse Laplace Transform by Partial-Fraction Expansion21

2-3-1 Partial-Fraction Expansion22

2-4 Application of the Laplace Transform to the Solution of Linear Ordinary Differential Equations25

2-5 Impulse Response and Transfer Functions of Linear Systems27

2-5-1 Impulse Response27

2-5-2 Transfer Function（Single-Input，Single-Output Systems）27

2-5-3 Transfer Function（Multivariable Systems）29

2-6 MATLAB Tools and Case Studies30

2-6-1 Description and Use of Transfer Function Tool30

2-7 Summary41

CHAPTER 3 Block Diagrams and Signal-Flow Graphs44

3-1 Block Diagrams44

3-1-1 Block Diagrams of Control Systems45

3-1-2 Block Diagrams and Transfer Functions of Multivariable Systems46

3-2 Signal-Flow Graphs （SFGs）48

3-2-1 Basic Elements of an SFG49

3-2-2 Summary of the Basic Properties of SFG50

3-2-3 Definitions of SFG Terms51

3-2-4 SFG Algebra53

3-2-5 SFG of a Feedback Control System54

3-2-6 Gain Formula for SFG54

3-2-7 Application of the Gain Formula between Output Nodes and Noninput Nodes56

3-2-8 Application of the Gain Formula to Block Diagrams57

3-3 State Diagram58

3-3-1 From Differential Equations to State Diagram59

3-3-2 From State Diagram to Transfer Function61

3-3-3 From State Diagram to State and Output Equations61

3-4 MATLAB Tools and Case Studies63

3-5 Summary65

CHAPTER 4 Modeling of Physical Systems77

4-1 Introduction77

4-2 Modeling of Electrical Networks77

4-3 Modeling of Mechanical Systems Elements80

4-3-1 Translational Motion80

4-3-2 Rotational Motion83

4-3-3 Conversion Between Translational and Rotational Motions85

4-3-4 Gear Trains86

4-3-5 Backlash and Dead Zone（Nonlinear Characteristics）88

4-4 Equations of Mechanical Systems89

4-5 Sensors and Encoders in Control Systems94

4-5-1 Potentiometer94

4-5-2 Tachometers99

4-5-3 Incremental Encoder100

4-6 DC Motors in Control Systems103

4-6-1 Basic Operational Principles of DC Motors104

4-6-2 Basic Classifications of PM DC Motors104

4-6-3 Mathematical Modeling of PM DC Motors107

4-7 Linearization of Nonlinear Systems110

4-8 Systems with Transportation Lags（Time Delays）114

4-8-1 Approximation of the Time-Delay Function by Rational Functions115

4-9 A Sun-Seeker System116

4-9-1 Coordinate System117

4-9-2 Error Discriminator117

4-9-3 Op-Amp118

4-9-4 Servoamplifier118

4-9-5 Tachometer118

4-9-6 DC Motor118

4-10 MATLAB Tools and Case Studies120

4-11 Summary120

CHAPTER 5 State Variable Analysis138

5-1 Introduction138

5-2 Vector-Matrix Representation of State Equations138

5-3 State-Transition Matrix140

5-3-1 Significance of the State-Transition Matrix141

5-3-2 Properties of the State-Transition Matrix142

5-4 State-Transition Equation143

5-4-1 State-Transition Equation Determined from the State Diagram145

5-5 Relationship between State Equations and High-Order Differential Equations147

5-6 Relationship between State Equations and Transfer Functions149

5-7 Characteristic Equations，Eigenvalues，and Eigenvectors151

5-7-1 Eigenvalues152

5-7-2 Eigenvectors153

5-8 Similarity Transformation155

5-8-1 Invariance Properties of the Similarity Transformations156

5-8-2 Controllability Canonical Form（CCF）156

5-8-3 Observability Canonical Form（OCF）158

5-8-4 Diagonal Canonical Form（DCF）159

5-8-5 Jordan Canonical Form （JCF）160

5-9 Decompositions of Transfer Functions161

5-9-1 Direct Decomposition162

5-9-2 Cascade Decomposition166

5-9-3 Parallel Decomposition167

5-10 Controllability of Control Systems169

5-10-1 General Concept of Controllability170

5-10-2 Detinition of State Controllability171

5-10-3 Alternate Tests on Controllability171

5-11 Observability of Linear Systems173

5-11-1 Definition of Observability173

5-11-2 Alternate Tests on Observability174

5-12 Relationship Among Controllability，Observability，and Transfer Functions175

5-13 Invariant Theorems on Controllability and Observability177

5-14 A Final Illustrative Example：Magnetic-Ball Suspension System178

5-15 MATLAB Tools and Case Studies181

5-15-1 Description and Use of the State-Space Analysis Tool182

5-15-2 Description and Use of tfsym for State-Space Applications189

5-15-3 Another Example189

5-16 Summary195

CHAPTER 6 Stability of Linear Control Systems211

6-1 Introduction211

6-2 Bounded-Input，Bounded-Output（BIBO）Stability—Continuous-Data Systems212

6-2-1 Relationship between Characteristic Equation Roots and Stability212

6-3 Zero-Input and Asymptotic Stability of Continuous-Data Systems213

6-4 Methods of Determining Stability215

6-5 Routh-Hurwitz Criterion216

6-5-1 Routh’s Tabulation（1）217

6-5-2 Special Cases When Routh’s Tabulation Terminates Prematurely219

6-6 MATLAB Tools and Case Studies222

6-7 Summary226

CHAPTER 7 Time-Domain Analysis of Control Systems233

7-1 Time Response of Continuous-Data Systems：Introduction233

7-2 Typical Test Signals for the Time Response of Control Systems234

7-3 The Unit-Step Response and Time-Domain Specifications236

7-4 Steady-State Error237

7-4-1 Steady-State Error of Linear Continuous-Data Control Systems237

7-4-2 Steady-State Error Caused by Nonlinear System Elements249

7-5 Time Response of a First-Order System251

7-5-1 Speed Control of a DC Motor251

7-6 Transient Response of a Prototype Second-Order System253

7-6-1 Damping Ratio and Damping Factor253

7-6-2 Natural Undamped Frequency255

7-6-3 Maximum Overshoot257

7-6-4 Delay Time and Rise Time259

7-6-5 Settling Time261

7-7 Time-Domain Analysis of a Position-Control System265

7-7-1 Unit-Step Transient Response268

7-7-2 The Steady-State Response271

7-7-3 Time Response to a Unit-Ramp Input271

7-7-4 Time Response of a Third-Order System273

7-8 Effects of Adding Poles and Zeros to Transfer Functions276

7-8-1 Addition of a Pole to the Forward-Path Transfer Function：Unity-Feedback Systems276

7-8-2 Addition of a Pole to the Closed-Loop Transfer Function277

7-8-3 Addition of a Zero to the Closed-Loop Transfer Function279

7-8-4 Addition of a Zero to the Forward-Path Transfer Function：Unity-Feedback Systems280

7-9 Dominant Poles of Transfer Functions281

7-9-1 The Relative Damping Ratio282

7-9-2 The Proper Way of Neglecting the Insignificant Poles with Consideration of the Steady-State Response282

7-10 The Approximation of High-Order Systems by Low- Order System the Formal Approach283

7-10-1 Approximation Criterion284

7-11 MATLAB Tools and Case Studies293

7-12 Summary307

CHAPTER 8 Root-Locus Technique318

8-1 Introduction318

8-2 Basic Properties of the Root Loci（RL）319

8-3 Properties of the Root Loci323

8-3-1 K=0 and K=±∞ Points323

8-3-2 Number of Branches on the Root Loci324

8-3-3 Symmetry of the RL324

8-3-4 Angles of Asymptotes of the RL：Behavior of the RL at ︳s|=∞324

8-3-5 Intersect of the Asymptotes（Centroid）325

8-3-6 Root Loci on the Real Axis325

8-3-7 Angles of Departure and Angles of Arrival of the RL325

8-3-8 Intersection of the RL with the Imaginary Axis326

8-3-9 Breakaway Points （Saddle Points）on the RL326

8-3-10 The Root Sensitivity [17，18，19]326

8-4 Design Aspects of the Root Loci330

8-4-1 Effects of Adding Poles and Zeros to G（s）H（s）330

8-5 Root Contours（RC）：Multiple-Parameter Variation336

8-6 Root Locus with the MATLAB Toolbox342

8-7 Summary345

CHAPTER 9 Frequency-Domain Analysis352

9-1 Introduction352

9-1-1 Frequency Response of Closed-Loop Systems353

9-1-2 Frequency-Domain Specifiications355

9-2 M?W? and Bandwidth of the Prototype Second-Order System356

9-2-1 Resonant Peak and Resonant Frequency356

9-2-2 Bandwidth358

9-3 Effects of Adding a Zero to the Forward-Path Transfer Function360

9-4 Effects of Adding a Pole to the Forward-Path Transfer Function364

9-5 Nyquist Stability Criterion：Fundamentals365

9-5-1 Stability Problem366

9-5-2 Definition of Encircled and Enclosed366

9-5-3 Number of Encirclements and Enclosures367

9-5-4 Principle of the Argument368

9-5-5 Nyquist Path372

9-5-6 Nyquist Criterion and the L（s）or the G（s）H（s）plot373

9-6 Nyquist Criterion for Systems with Minimum-Phase Transfer Functions374

9-6-1 Application of the Nyquist Criterion to Minimum-Phase Transfer Functions that Are Not Strictly Proper375

9-7 Relation Between the Root Loci and the Nyquist Plot376

9-8 Illustrative Examples： Nyquist Criterion for Minimum-Phase Transfer Functions378

9-9 Effects of Addition of Poles and Zeros to L（s）on the Shape of the Nyquist Plot382

9-10 Relative Stability： Gain Margin and Phase Margin386

9-10-1 Gain Margin（GM）388

9-10-2 Phase Margin（PM）389

9-11 Stability Analysis with the Bode Plot392

9-11-1 Bode Plots of Systems with Pure Time Delays394

9-12 Relative Stability Related to the Slope of the Magnitude Curve of the Bode Plot396

9-12-1 Conditionally Stable System396

9-13 Stability Analysis with the Magnitude-Phase Plot399

9-14 Constant-M Loci in the Magnitude-Phase Plane：The Nichols Chart400

9-15 Nichols Chart Applied to Nonunity-Feedback Systems406

9-16 Sensitivity Studies in the Frequency Domain407

9-17 MATLAB Tools and Case Studies409

9-18 Summary421

CHAPTER 10 Design of Control Systems433

10-1 Introduction433

10-1-1 Design Specifications433

10-1-2 Controller Configurations435

10-1-3 Fundamental Principles of Design437

10-2 Design with the PD Controller438

10-2-1 Time-Domain Interpretation of PD Control440

10-2-2 Frequency-Domain Interpretation of PD Control442

10-2-3 Summary of Effects of PD Control442

10-3 Design with the PI Controller454

10-3-1 Time-Domain Interpretation and Design of PI Control456

10-3-2 Frequency-Domain Interpretation and Design of PI Control456

10-4 Design with the PID Controller468

10-5 Design with Phase-Lead Controller471

10-5-1 Time-Domain Interpretation and Design of Phase-Lead Control473

10-5-2 Frequency-Domain Interpretation and Design of Phase-Lead Control474

10-5-3 Effects of Phase-Lead Compensation489

10-5-4 Limitations of Single-Stage Phase-Lead Control489

10-5-5 Multistage Phase-Lead Controller489

10-5-6 Sensitivity Considerations493

10-6 Design with Phase-Lag Controller494

10-6-1 Time-Domain Interpretation and Design of Phase-Lag Control494

10-6-2 Frequency-Domain Interpretation and Design of Phase-Lag Control496

10-6-3 Effects and Limitations of Phase-Lag Control506

10-7 Design with Lead-Lag Controller507

10-8 Pole-Zero Cancellation Design：Notch Filter508

10-8-1 Second-Order Active Filter511

10-8-2 Frequency-Domain Interpretation and Design512

10-9 Forward and Feedforward Controllers520

10-10 Design of Robust Control Systems521

10-11 Minor-Loop Feedback Control530

10-11-1 Rate-Feedback or Tachometer-Feedback Control531

10-11-2 Minor-Loop Feedback Control with Active Filter532

10-12 State-Feedback Control534

10-13 Pole-Placement Design through State Feedback535

10-14 State Feedback with Integral Control540

10-15 MATLAB Tools and Case Studies545

10-16 Summary558

CHAPTER 11 The Virtual Lab578

11-1 Introduction578

11-2 Important Aspects in the Response of a DC Motor579

11-2-1 Speed Response and the Effects of Inductance and Disturbance-Open Loop Response579

11-2-2 Speed Control of DC Motors： Closed-Loop Response581

11-2-3 Position Control582

11-3 Description of the Virtual Experimental System583

11-3-1 Motor584

11-3-2 Position Sensor or Speed Sensor584

11-3-3 Power Amplifier584

11-3-4 Interface584

11-4 Description of SIMLab and Virtual Lab Software585

11-5 Simulation and Virtual Experiments589

11-5-1 Open-Loop Speed589

11-5-2 Open-Loop Sine Input591

11-5-3 Speed Control593

11-5-4 Position Control596

11-6 Design Project598

11-7 Summary603

INDEX606