自动控制原理

1MODERNCONTROLSYSTEMS许向阳,中教1411SchoolofAutomationBeijingInstituteofTechnology自动控制理论I2References[1]RichardC.Dorf,RobertH.Bishop.ModernControlSystems(EleventhEdition)[M].电子工业出版社，2009[2]KatsuhikoOgata.ModernControlEngineering(5thEdition)[M].Prentice-HallInternational,Inc.2009[3]胡寿松，自动控制原理（第五版），科学出版社，2007[4]梅晓榕，自动控制原理，科学出版社，2002[5]吴麒.自动控制原理.清华大学出版社，19963成绩分布：考试：80%平时：20%，作业，3~5次课堂测验。4ContentsChapter1.IntroductiontoControlSystems(1hour)

概述Chapter2MathematicalModelsofSystems(5hours)

数学模型Chapter

3

Feedback

Control

System

Characteristic（8

hours）反馈控制系统特性5ContentsChapter4TheStabilityofLinearFeedbackSystem

(4hours)线性系统稳定性（劳斯判据）Chapter5TheRootLocusMethod(12hours)根轨迹法Chapter6FrequencyResponseMethods(6hours)频率特性法Chapter7StabilityintheFrequencyDomain(6hours)频率域稳态分析6ContentsChapter8TheDesignofFeedbackControlSystems(6hours)系统的校正Chapter9StateVariableModels(8hours)状态变量模型Chapter10TheDesignofStateVariableFeedbackSystems(8hours)状态变量反馈系统设计7Ch1.IntroductiontoControlSystems1.1Introduction1.2HistoryofAutomaticControl1.3ExampleofControlSystem1.4EngineeringDesign1.5ControlSystemDesign1.6DesignExample81.1Introduction1.ControlSystem

A

controlsystemisaninterconnectionofcomponentsformingasystemconfigurationthatwillprovideadesiredsystemresponse.

1.1Processtobecontrolled1.2Open-loopcontrolsystem(withoutfeedback)ProcessinputoutputActuatingdeviceProcessDesiredoutputresponseOutputController9TwoexampleoftheuseoffeedbackFamousdreams(Originalidea)Thedesignofimprovedsignalamplifier.HAROLDＳ．BLACK,

wasassignedthetaskoflinearizing,stabilizing,andimprovingtheamplifiersthatwereusedintandem(先后)tocarryconversationoverdistancesseveralthousandmiles.2.Creationofagundirector(火炮射击指挥仪)

DavidB.ParkinsonHowtoUsethefeedback

Inovation101.2HistoryofAutomaticControl1765Thefirstfeedbacksystem:thewater-levelfloatregulator,byI.Polzunov,inRussia.(p.5)1769JamesWatt’ssteamengineandflyballgovernordeveloped.(p.4)1868J.C.Maxwellformulatesamathematicalmodel1927H.W.Bodeanalyzesfeedbackamplifiers1932H.Nyquistdevelopsamethodforanalyzingsystem1952NCdevelopedatMITforcontrolofmachine-toolaxes1960FirstUnimaterobotintroduced,Unimateinstalledin19611970State-variablemodelsandoptimalcontroldeveloped1980Robustcontrolsystemdesignwidelystudied1994Feedbackcontrolwidelyusedinautomobiles.1997Firsteverautonomousrovervehicle,knownasSojourner,explorestheMartiansurface.1998-2003Advancesinmicro-andnanotechnology.Firstintelligentmicromachinesaredevelopedandfunctioningnanomachinesarecreated.112.Open-loopControlSystemAnopen-loopcontrolsystemutilizesanactuatingdevicetocontroltheprocessdirectlywithoutusingfeedback.

Eg:automatictoastInput:electricityOutput:thermal所以，如果输入量和输出量的关系已知，并且不存在内部和外部扰动时，采用开环控制是适宜的。当系统存在着无法预料的扰动和（或）系统中元件参数可能有无法预料的变化时，闭环系统就显得更为优越。缺点：无法控制烤得程度123.Closed-loopControlSystemReference/DesiredoutputresponseActuatorControllerProcessSensor-Aclosed-loopcontrolsystemusesameasurementoftheoutputandfeedbackofthissignaltocompareitwiththedesiredoutput(referenceorcommand)ErrorOutputFeedbackMeasurementoutput13TheControlofanindustrialprocessbyautomaticratherthanmanualmeansisoftencalled:

automation

TheUseofControlSystem:

(1)Increasedproduction(提高生产率)(2)Improvedperformance(改善性能)

ControlEngineeringPractice14In1925,some588,000peoplewereneededtomine520milliontonscoal.Now,72,000workersproduce482milliontons.But,therestillhavealotofplantstobechangedandimproved,especiallyinChina.

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151.3ExamplesofControlSystem1.DrivingControlDriverSteeringMechanismAutomobileMeasurement驾驶员利用实际行驶方向与预期方向之间的差异来调整方向盘。DesiredCourseOftravelActualCourseOftravel-16AutomobileSteeringcontrolsystem172.Amanualcontrolsystemforregulatingtheleveloffluidinatankbyadjustingtheoutputvalve3.Athreeaxiscontrolsystem184.UnmannedHelicopterKOAXX-240(Switzerland)195.Afeedbackcontrolsystemmodelofthenationale.GovernmentConsumersDesiredNationaleNationaleTaxcollectionBusinessproductionMeasurement--201.4EngineeringDesignDesignistheprocessofconceiving(构思)orinventing(发明)theforms,parts,anddetailsofasystemtoachieveaspecifiedpurpose.Specifications,complexity,trade-off(平衡),designgaps(差距),risk(风险),synthesis(综合),optimize(优化).211.5ControlSystemDesignEstablishthecontrolgoalsIdentifythevariablestobecontrolledWritethespecificationsEstablishthesystemconfigurationObtainamodeloftheprocess,theactuator,andthesensorDescribeacontrollerandselectkeyparameterstobeadjustedOptimizetheparametersandanalyzetheperformanceThecontrolsystemdesignprocess

Iftheperformancedoesnotmeetspecifications,Iftheperformancemeets,theniteratetheconfigurationandtheactuator.thenfinalizethedesign.①②③22①Establishmentofgoals,variablestobecontrolled,andspecifications.②Systemdefinitionandmodeling.③Controlsystemdesign,simulation,andanalysis.23dcamplifierControldeviceAmplifierActuatorDcmotorprocessTurntableDesiredspeedActualspeed1.6DesignExampleTurntableSpeedControl(a)open-loopcontrolofthespeedofturntable24dcamplifierControldeviceAmplifierActuatordcmotorprocessTurntableDesiredspeedActualspeed_SensorTachometerb.Closed-loopcontrolofthespee