現(xiàn)代控制工程

前言

本書介紹了控制系統(tǒng)分析和設(shè)計(jì)中的一些重要概念。這是一本清晰易懂，適用于高等院校控制系統(tǒng)課程的教科書，是為學(xué)習(xí)電氣、機(jī)械、航空航天或化學(xué)工程的高年級(jí)本科生編寫的。學(xué)習(xí)本書之前應(yīng)具備下列預(yù)備知識(shí)：微分方程方面的基礎(chǔ)課程，拉普拉斯變換，向量矩陣分析，電路分析，力學(xué)和熱力學(xué)基礎(chǔ)。在這一版中，本書進(jìn)行了下列主要修訂：增加了利用MATLAB求控制系統(tǒng)對(duì)各種輸入量響應(yīng)的內(nèi)容證明了利用MATLAB實(shí)現(xiàn)計(jì)算最佳化方法的有效性全書增加了一些新的例題刪去了前一版中的次要材料，以便為更重要的主題提供空間。書中刪去了信號(hào)流圖和拉普拉斯變換一章，但新增了拉普拉斯變換表及利用MATLAB的部分分式展開（見附錄A和附錄B）在附錄c中，提供了對(duì)向量矩陣分析的簡(jiǎn)短概括；這將有助于讀者求解，l×，l矩陣的逆矩陣，而這種求解有可能包含在控制系統(tǒng)的分析和設(shè)計(jì)中。本書的這一版共10章。其內(nèi)容概括如下。第1章是對(duì)控制系統(tǒng)的簡(jiǎn)介。第2章涉及控制系統(tǒng)的數(shù)學(xué)模型，并且介紹了非線性數(shù)學(xué)模型的線性化方法。第3章導(dǎo)出了機(jī)械系統(tǒng)和電系統(tǒng)的數(shù)學(xué)模型。第4章討論流體系統(tǒng)（諸如液位系統(tǒng)、氣動(dòng)系統(tǒng)和液壓系統(tǒng)）和熱力系統(tǒng)的數(shù)學(xué)模型。第5章處理控制系統(tǒng)的瞬態(tài)響應(yīng)和穩(wěn)態(tài)分析，廣泛采用MATLAB獲取瞬態(tài)響應(yīng)曲線。為了進(jìn)行控制系統(tǒng)的穩(wěn)定性分析，本章介紹了勞斯穩(wěn)定判據(jù)和赫爾維茨穩(wěn)定判據(jù)。第6章討論了控制系統(tǒng)的根軌跡分析和設(shè)計(jì)，包括正反饋系統(tǒng)和條件穩(wěn)定系統(tǒng)。關(guān)于用。MATL,AB繪制根軌跡，在本章中進(jìn)行了詳細(xì)討論。本章還包括了利用根軌跡法設(shè)計(jì)超前、滯后和滯后一超前校正裝置。第7章討論控制系統(tǒng)的頻率響應(yīng)分析和設(shè)計(jì)，并且以容易理解的方式，介紹了奈奎斯特穩(wěn)定判據(jù)。用來進(jìn)行超前、滯后和滯后一超前校正裝置設(shè)計(jì)的伯德圖方法，也在本章中進(jìn)行了介紹。第8章涉及基本的和變形的PID控制器。本章詳細(xì)地討論了為獲得PID控制器的最佳參數(shù)值，特別是為滿足階躍響應(yīng)特性的要求而采用的計(jì)算方法。第9章介紹控制系統(tǒng)的狀態(tài)空間分析。本章詳細(xì)地討論了可控性和可觀測(cè)性概念。第10章涉及控制系統(tǒng)的狀態(tài)空間設(shè)計(jì)。討論包括極點(diǎn)配置、狀態(tài)觀測(cè)器和二次型最佳控制。本章最后對(duì)魯棒控制系統(tǒng)進(jìn)行了初步討論。

內(nèi)容概要

本書為自動(dòng)控制系統(tǒng)的經(jīng)典教材，詳細(xì)介紹了連續(xù)控制系統(tǒng)(包括電氣系統(tǒng)、機(jī)械系統(tǒng)、流體動(dòng)力系統(tǒng)和熱力系統(tǒng))的數(shù)學(xué)模型建模方法，動(dòng)態(tài)系統(tǒng)的瞬態(tài)和穩(wěn)態(tài)分析方法，根軌跡分析和設(shè)計(jì)方法，頻率域的分析和設(shè)計(jì)方法，以及pid控制器和變形pid控制器的設(shè)計(jì)方法；同時(shí)還比較詳細(xì)地介紹了現(xiàn)代控制理論中的核心內(nèi)容，狀態(tài)空間分析和設(shè)計(jì)方法。最后還簡(jiǎn)要地介紹了20世紀(jì)80年代至90年代發(fā)展起來的稱為“后現(xiàn)代控制理論”的魯棒控制系統(tǒng)。全書自始至終，貫穿了用matlab工具分析和設(shè)計(jì)各類控制系統(tǒng)問題。    本書可作為高等學(xué)校工科(電氣、機(jī)械、航空航天、化工等)高年級(jí)學(xué)生自動(dòng)控制系統(tǒng)課程的教材，也可供與自動(dòng)控制系統(tǒng)方面的技術(shù)相關(guān)的教師、研究生、科研和工程技術(shù)人員參考。

作者簡(jiǎn)介

作者：（美國(guó)）尾形克彥（Katsuhiko Ogata）

書籍目錄

chapter 1 introduction to control systems   1-1 introduction   1-2 examples of control systems   1-3 closed-loop control versus open-loop control   1-4 design and compensation of control systems   1-5 outline of the book chapter 2 mathematical modeling of control systems   2-1 introduction   2-2 transfer function and impulse-response function   2-3 automatic control systems   2-4 modeling in state space   2-5 state-space representation of scalar differential equation systems   2-6 transformation of mathematical models with matlab   2-7 linearization of nonlinear mathematical models   example problems and solutions   problems chapter 3 mathematical modeling of mechanical systems and electrical systems   3-1 introduction   3-2 mathematical modeling of mechanical systems   3-3 mathematical modeling of electrical systems   example problems and solutions   problems chapter 4 mathematical modeling of fluid systems and thermal systems   4-1 introduction   4-2 liquid-level systems   4-3 pneumatic systems   4-4 hydraulic systems   4-5 thermal systems   example problems and solutions   problems chapter 5 transient and steady-state response analyses   5-1 introduction   5-2 first-order systems   5-3 second-order systems   5-4 higher-order systems   5-5 transient-response analysis with matlab   5-6 routh's stability criterion   5-7 effects of integral and derivative control actions on system performance   5-8 steady-state errors in unity-feedback control systems   example problems and solutions   problems chapter 6 control systems analysis and design by the root-locus method   6-1 introduction   6-2 root-locus plots   6-3 plotting rootloci with matlab   6-4 root-locus plots of positive feedback systems   6-5 root-locus approach to control-systems design   6-6 lead compensation   6-7 lag compensation   6-8 lag-lead compensation   6-9 parallel compensation   example problems and solutions   problems chapter 7 control systems analysis and design by the frequency-response method   7-1 introduction   7-2 bode diagrams   7-3 polar plots   7-4 log-magnitude-versus-phase plots   7-5 nyquist stability criterion   7-6 stability analysis   7-7 relative stability analysis   7-8 close(i-loop frequency response of unity-feedback systems   7-9 experimental determination of transfer functions   7-10 control systems design by frequency-response approach   7-11 lead compensation   7-12 lag compensation   7-13 lag-lead compensation   example problems and solutions   problems chapter 8 pid controllers and modified pid controllers   8-1 introduction   8-2 ziegler-nichols rules for tuning pid controllers   8-3 design of pid controllers with frequency-response approach   8-4 design of pid controllers with computational optimization approach   8-5 modifications of pid control schemes   8-6 two-degrees-of-freedom control   8-7 zero-placement approach to improve response characteristics   example problems and solutions   problems chapter 9 control systems analysis in state space   9-1 introduction   9-2 state-space representations of transfer-function systems   9-3 transformation of system models with matlab   9-4 solving the time-invariant state equation   9-5 some useful results in vector-matrix analysis   9-6 controllability   9-7 observability   example problems and solutions   problems chapter 10 control systems design in state space   10-1 introduction   10-2 pole placement   10-3 solving pole-placement problems with matlab   10-4 design of serve systems   10-5 state observers   10-6 design of regulator systems with observers   10-7 design of control systems with observers   10-8 quadratic optimal regulator systems   10-9 robust control systems   example problems and solutions   problems appendix a laplace transform tables appendix b partial-fraction expansion appendix c vector-matrix algebra references index

章節(jié)摘錄

插圖：Whether a linear system is stable or unstable is a property of the system itself and does not depend on the input or driving function of the system. The poles of the input,or driving function, do not affect the property of stability of the system, but they contribute only to steady-state response terms in the solution. Thus, the problem of a bsolutestability can be solved readily by choosing no closed-loop poles in the right-half s plane,including the axis. （Mathematically, closed-loop poles on the axis will yield oscillations, the amplitude of which is neither decaying nor growing with time. In practicalcases, where noise is present, however, the amplitude of oscillations may increase at a rate determined by the noise power level. Therefore, a control system should not have closedloop poles on the axis.）Note that the mere fact that all closed-loop poles lie in the left-half s plane does not guarantee satisfactory transient-response characteristics. If dominant complex conjugateclosedloop poles lie close to the axis, the transient response may exhibit excessiveoscillations or may be very slow. Therefore, to guarantee fast, yet well-damped, transient-response characteristics, it is necessary that the closed-loop poles of the system lie in a particular region in the complex plane, such as the region bounded by the shaded a reain Figure 5-17.

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