動(dòng)態(tài)系統(tǒng)的數(shù)字控制

前言

由G.F.Franklin,J.D.Powell和M.Worknan編著的“Digital Control of Dynamic Systems”一書(shū)初版于1980年，本書(shū)為第三版，出版于1998年。本書(shū)及前版本被國(guó)外許多大學(xué)用作本科生高年級(jí)或研究生的教材。該書(shū)是國(guó)際上關(guān)于計(jì)算機(jī)控制的一本權(quán)威性教材。隨著計(jì)算機(jī)技術(shù)的迅速發(fā)展和應(yīng)用的日益普及，越來(lái)越多的控制系統(tǒng)采用計(jì)算機(jī)進(jìn)行控制。本書(shū)正是針對(duì)這種情況，著重對(duì)數(shù)字控制系統(tǒng)（即計(jì)算機(jī)控制系統(tǒng)）的分析、設(shè)計(jì)和建模等問(wèn)題進(jìn)行了系統(tǒng)的介紹。其中尤以較多篇幅討論了數(shù)字控制系統(tǒng)的設(shè)計(jì)方法。同時(shí)對(duì)于一些實(shí)際問(wèn)題，如采樣周期的選擇、量化效應(yīng)的分析等也進(jìn)行了深入的討論，并且有單獨(dú)一章及一個(gè)附錄專(zhuān)門(mén)介紹數(shù)字控制的應(yīng)用。本書(shū)注重理論聯(lián)系實(shí)際，書(shū)中不僅給出理論的結(jié)果，而且給出實(shí)用的算法和對(duì)一些實(shí)際問(wèn)題的考慮。同時(shí)引入了MATLAB作為計(jì)算機(jī)輔助設(shè)計(jì)控制系統(tǒng)的軟件工具，從而使所介紹的理論和方法更易于被接受和應(yīng)用。全書(shū)共分14章，第1章是概論，第2章對(duì)連續(xù)控制系統(tǒng)理論進(jìn)行了簡(jiǎn)單的復(fù)習(xí)，第3章介紹了采樣過(guò)程和離散化。第2章和第3章是該第3版新增加的內(nèi)容，它主要是為本書(shū)所需先修內(nèi)容作一簡(jiǎn)要介紹，為后續(xù)章節(jié)的學(xué)習(xí)打下了必要的基礎(chǔ)。第4到第6章介紹離散和采樣系統(tǒng)的基本分析方法，其中第4章介紹Z變換，第5章介紹采樣數(shù)據(jù)系統(tǒng)，第6章討論連續(xù)系統(tǒng)的近似離散等效。第7章到第9章介紹數(shù)字控制系統(tǒng)的各種設(shè)計(jì)方法，這一部分是全書(shū)的重點(diǎn)。其中第7章介紹基于數(shù)學(xué)變換的經(jīng)典設(shè)計(jì)方法，第8章介紹基于狀態(tài)空間的極點(diǎn)配置設(shè)計(jì)方法，第9章介紹多變量系統(tǒng)的二次型最優(yōu)控制。第10章和第11章介紹計(jì)算機(jī)控制系統(tǒng)所特有的一些實(shí)際問(wèn)題，其中第10章分析量化效應(yīng)，第11章討論采樣周期的選擇。第12章討論數(shù)字控制系統(tǒng)的建模問(wèn)題，介紹了系統(tǒng)辨識(shí)和參數(shù)估計(jì)。第13章簡(jiǎn)要介紹了非線(xiàn)性控制的有關(guān)問(wèn)題。第14章介紹了磁盤(pán)驅(qū)動(dòng)器的伺服控制設(shè)計(jì)，以作為數(shù)字控制系統(tǒng)的一個(gè)典型應(yīng)用。附錄中還給出了應(yīng)用舉例、Z變換表、矩陣變換和運(yùn)算、隨機(jī)過(guò)程及Matlab函數(shù)等基本材料，以備查用。本書(shū)每章后面均有總結(jié)和習(xí)題，以幫助讀者抓住每章的知識(shí)要點(diǎn)和鞏固所學(xué)的內(nèi)容。本書(shū)內(nèi)容豐富、取材適當(dāng)，兼顧了系統(tǒng)性、先進(jìn)性和實(shí)用性等方面的要求。該書(shū)可作為與控制工程相關(guān)各專(zhuān)業(yè)的研究生或高年級(jí)本科生的教材或參考書(shū)。

內(nèi)容概要

　　《動(dòng)態(tài)系統(tǒng)的數(shù)字控制》是國(guó)際上關(guān)于計(jì)算機(jī)控制的一本權(quán)威性教材。全書(shū)共分14章，內(nèi)容包括概論、連續(xù)控制系統(tǒng)理論、采樣過(guò)程和離散化、Z變換、采樣數(shù)據(jù)系統(tǒng)、連續(xù)系統(tǒng)的近似離散等效、基于數(shù)學(xué)變換的經(jīng)典設(shè)計(jì)方法、基于狀態(tài)空間的極點(diǎn)配置設(shè)計(jì)方法、多變量系統(tǒng)的二次型最優(yōu)控制、量化效應(yīng)、采樣周期的選擇、數(shù)字控制系統(tǒng)的建模問(wèn)題、數(shù)字控制系統(tǒng)的各種設(shè)計(jì)方法、變量系統(tǒng)的二次型最優(yōu)控制、采樣周期的選擇、非線(xiàn)性控制的有關(guān)問(wèn)題，以及數(shù)字控制系統(tǒng)的一個(gè)典型應(yīng)用——磁盤(pán)驅(qū)動(dòng)器的伺服控制設(shè)計(jì)等。附錄中還給出了應(yīng)用舉例、Z變換表、矩陣變換和運(yùn)算、隨機(jī)過(guò)程及Matlab函數(shù)等基本材料。每章后面均有總結(jié)和習(xí)題。　　《動(dòng)態(tài)系統(tǒng)的數(shù)字控制》注重理論聯(lián)系實(shí)際，書(shū)中不僅給出理論的結(jié)果，而且給出實(shí)用的算法和對(duì)一些實(shí)際問(wèn)題的考慮。同時(shí)引入了MATLAB作為計(jì)算機(jī)輔助設(shè)計(jì)控制系統(tǒng)的軟件工具，從而使所介紹的理論和方法更易于被接受和應(yīng)用。本可作為控制工程及相關(guān)專(zhuān)業(yè)的研究生或高年級(jí)本科生的教材或參考書(shū)。

作者簡(jiǎn)介

作者：(美國(guó))Gene F.Franklin (美國(guó))J.David Powell

書(shū)籍目錄

Preface xix1 Introduction 1.1 Problem Definition1.2 Overview of Design Approach 1.3 Computer-Aided Design 1.4 Suggestions for Further Reading 1.5 Summary 1.6 Problems2 Review of Continuous Control 2.1 Dynamic Response 2.1.1 Differential Equations 2.l.2 Laplace Transforms and Transfer Functions2.1.3 Output Time Histories 2.1.4 The Final Value Theorem 2.1.5 Block Diagrams 2.1.6 Response versus Pole Locations 2.1.7 Time-Domain Specifications 2.2 Basic Properties of Feedback 2.2.1 Stability2.2.2 Steady-State Errors2.2.3 PID Control2.3 Root Locus2.3.1 Problem Definition2.3.2 Root Locus Drawing Rules2.3.3 Computer-Aided Loci2.4 Frequency Response Design2.4.1 Specifications2.4.2 Bode Plot Techniques2.4.3 Steady-State Errors2.4.4 Stability Margins2.4.5 Bode’s Gain-Phase Relationship2.4.6 Design2.5 Compensation2.6 State-Space Design2.6.1 Control Law2.6.2 Estimator Design2.6.3 Compensation: Combined Control and Estimation2.6.4 Reference Input2.6.5 Integral Control2.7 Summary2.8 Problems 3 Introductory Digital Control3.1 Digitization3.2 Effect of Sampling3.3 PID Control3.4 Summary3.5 Problems4 Discrete Systems Analysis4.1 Linear Difference Equations4.2 The Discrete Transfer Function4.2.1 The z-Transform4.2.2 The Transfer Function4.2.3 Block Diagrams and State-Variable Descriptions4.2.4 Relation of Transfer Function to Pulse Response4.2.5 External Stability4.3 Discrete Models of Sampled-Data Systems4.3.1 Using the z-Transform4.3.2 *Continuous Time Delay4.3.3 State-Space Form4.3.4 *State-Space Models for Systems with Delay4.3.5 *Numerical Considerations in Computing ？and ？4.3.6 *Nonlinear Models4.4 Signal Analysis and Dynamic Response4.4.1 The Unit Pulse4.4.2 The Unit Step4.4.3 Exponential4.4.4 General Sinusoid4.4.5 Correspondence with Continuous Signals4.4.6 Step Response4.5 Frequency Response4.5.1 *The Discrete Fourier Transform （DFT）4.6 Properties of the z-Transform4.6.1 Essential Properties4.6.2 *Convergence of z-Transform4.6.3 *Another Derivation of the Transfer Function4.7 Summary4.8 Problems5 Sampled-Data Systems5.1 Analysis of the Sample and Hold5.2 Spectrum of a Sampled Signal5.3 Data Extrapolation5.4 Block-Diagram Analysis of Sampled-Data Systems5.5 Calculating the System Output Between Samples： The Ripple5.6 Summary5.7 Problems5.8 Appendix 6 Discrete Equivalents6.l Design of Discrete Equivalents via Numerical Integration6.2 Zero-Pole Matching Equivalents6.3 Hold Equivalents6.3.1 Zero-Order Hold Equivalent6.3.2 A Non-Causal First-Order-Hold Equivalent The Triangle-Hold Equivalent6.4 Summary6.5 Problems7 Design Using Transform Techniques7.1 System Specifications7.2 Design by Emulation7.2.1 Discrete Equivalent Controllers7.2.2 Evaluation of the Design7.3 Direct Design by Root Locus in the z-Plane7.3.1 z-Plane Specifications7.3.2 The Discrete Root Locus7.4 Frequency Response Methods7.4.1 Nyquist Stability Criterion7.4.2 Design Specifications in the Frequency Domain7.4.3 Low Frequency Gains and Error Coefficents7.4.4 Compensator Design7.5 Direct Design Method of Ragazzini7.6 Summary7.7 Problems8 Design Using State-Space Methods8.1 Control Law Design8.1.1 Pole Placement8.1.2 Controllability8.1.3 Pole Placement Using CACSD8.2 Estimator Design8.2.1 Prediction Estimators8.2.2 Observability8.2.3 Pole Placement Using CACSD8.2.4 Current Estimators8.2.5 Reduced-Order Estimators8.3 Regulator Design: Combined Control Law and Estimator8.3.1 The Separation Principle8.3.2 Guidelines for Pole Placement8.4 Introduction of the Reference Input8.4.1 Reference Inputs for Full-State Feedback8.4.2 Reference Inputs with Estimators: The State-Command Structure8.4.3 Output Error Command8.4.4 A Comparison of the Estimator Structure and Classical Methods8.5 Integral Control and Disturbance Estimation8.5.1 Integral Control by State Augmentation8.5.2 Disturbance Estimation8.6 Effect of Delays8.6.l Sensor Delays8.6.2 Actuator Delays8.7 *Controllability and Observability8.8 Summary8.9 Problems9 Multivariable and Optimal Control9.1 Decoupling 9.2 Time-Varying Optimal Control9.3 LQR Steady-State Optimal Control9.3.1 Reciprocal Root Properties9.3.2 Symmetric Root Locus9.3.3 Eigenvector Decomposition9.3.4 Cost Equivalents9.3.5 Emulation by Equivalent Cost9.4 Optimal Estimation9.4.1 Least-5quares Estimation9.4.2 The Kalman Filter9.4.3 Steady-State Optimal Estimation9.4.4 Noise Matrices and Discrete Equivalents9.5 Multivariable Control Design9.5.1 Selection of Weighting Matrices Q1 and Q29.5.2 Pincer Procedure 9.5.3 Paper-Machine Design Example9.5.4 Magnetic-Tape-Drive Design Example9.6 Summary9.7 Problems10 Quantization Effects10.1 Analysis of Round-Off Error10.2 Effects of Parameter Round-Off10.3 Limit Cycles and Dither10.4 Summary10.5 Problems11 Sample Rate Selection11.1 The Sampling Theorem’s Limit11.2 Time Response and Smoothness11.3 Errors Due to Random Plant Disturbances11.4 Sensitivity to Parameter Variations11.5 Measurement Noise and Antialiasing Filters11.6 Multirate Sampling11.7 Summary11.8 Problems12 system Identification13 Nonlinear Control14 Design of a disk drive servo:A case study Appendix A Examples Appendix B TablesAppendix C A few results from matrix analysisAppendix D summary of facts from the theory of probabilityAppendix E matlab functionsAppendix F Differences between matlab v5 and v4referencesindex

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《動(dòng)態(tài)系統(tǒng)的數(shù)字控制》對(duì)數(shù)字控制系統(tǒng)（即計(jì)算機(jī)控制系統(tǒng)）的分析、設(shè)計(jì)和建模等問(wèn)題進(jìn)行了系統(tǒng)的介紹。其中尤以較多篇幅討論了數(shù)字控制系統(tǒng)的設(shè)計(jì)方法，同時(shí)對(duì)于一些實(shí)際問(wèn)題，如采樣周期的選擇、量化效應(yīng)的分析等也進(jìn)行了深入的討論，并且有單獨(dú)一章　及一個(gè)附錄專(zhuān)門(mén)介紹數(shù)字控制的應(yīng)用?！秳?dòng)態(tài)系統(tǒng)的數(shù)字控制》注重理論聯(lián)系實(shí)際，書(shū)中不僅給出理論結(jié)果，而且給出實(shí)用的算法和對(duì)一些實(shí)際問(wèn)題的考慮。同時(shí)引入Matlab作為計(jì)算機(jī)輔助設(shè)計(jì)控制系統(tǒng)的軟件工具，從而使所介紹的理論和方法更易于接受和應(yīng)用?！秳?dòng)態(tài)系統(tǒng)的數(shù)字控制》內(nèi)容豐富、取材適當(dāng)，兼顧了系統(tǒng)性、先進(jìn)性和實(shí)用性等方面的要求。該書(shū)可作為與控制工程相關(guān)各專(zhuān)業(yè)的研究生或高年級(jí)本科生的教材或參考書(shū)。

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