第 1 章緒論 ·····································1
1.1 自動控制的基本概念·················1
1.1.1 自動控制的定義·····················1
1.1.2 控制理論的發(fā)展過程················1
1.1.3 自動控制系統(tǒng)的組成················2
1.1.4 自動控制系統(tǒng)的基本控制
方式···································4
1.2 自動控制系統(tǒng)的分類·················6
1.3 對自動控制系統(tǒng)的基本要求········7
1.4 控制系統(tǒng)實例···························8
1.4.1 電冰箱制冷控制系統(tǒng)················8
1.4.2 函數(shù)記錄儀···························9
1.4.3 爐溫控制系統(tǒng)·····················.10
本章小結(jié)·····································.11
習(xí)題···········································.11
第2 章控制系統(tǒng)的數(shù)學(xué)模型············.13
2.1 微分方程的建立·····················.13
2.2 傳遞函數(shù)······························.14
2.2.1 傳遞函數(shù)的基本概念·············.14
2.2.2 傳遞函數(shù)的性質(zhì)··················.15
2.2.3 典型環(huán)節(jié)及其傳遞函數(shù)··········.16
2.3 結(jié)構(gòu)圖·································.17
2.3.1 結(jié)構(gòu)圖的組成和繪制·············.17
2.3.2 結(jié)構(gòu)圖的等效變換················.18
2.4 信號流圖······························.23
2.4.1 信號流圖的基本概念·············.23
2.4.2 信號流圖的繪制··················.24
2.4.3 梅森增益公式及其應(yīng)用··········.25
本章小結(jié)·····································.26
習(xí)題···········································.27
第3 章線性系統(tǒng)的時域分析············.29
3.1 典型輸入信號·······················.29
3.2 自動控制系統(tǒng)的時域性能
指標(biāo)····································.31
3.3 一階系統(tǒng)的時域分析··············.32
3.3.1 一階系統(tǒng)的數(shù)學(xué)模型·············.32
3.3.2 一階系統(tǒng)的單位階躍響應(yīng)及
性能分析··························.32
3.3.3 一階系統(tǒng)的單位斜坡響應(yīng)及
性能分析··························.33
3.3.4 一階系統(tǒng)的單位加速度響應(yīng)及
性能分析··························.33
3.3.5 一階系統(tǒng)的單位脈沖響應(yīng)及
性能分析··························.34
3.4 二階系統(tǒng)的時域分析··············.34
3.4.1 二階系統(tǒng)的數(shù)學(xué)模型·············.34
3.4.2 二階系統(tǒng)的單位階躍響應(yīng)·······.35
3.4.3 欠阻尼二階系統(tǒng)的動態(tài)性能
分析·······························.37
3.4.4 二階系統(tǒng)的單位斜坡響應(yīng)·······.42
3.4.5 二階系統(tǒng)性能的改善·············.44
3.5 高階系統(tǒng)的時域分析··············.46
3.6 穩(wěn)定性分析···························.48
3.6.1 系統(tǒng)穩(wěn)定的充分必要條件·······.49
3.6.2 勞斯判據(jù)··························.50
3.6.3 相對穩(wěn)定性·······················.53
3.7 穩(wěn)態(tài)誤差······························.54
3.7.1 誤差的定義·······················.54
3.7.2 輸入引起的穩(wěn)態(tài)誤差·············.55
3.7.3 靜態(tài)誤差系數(shù)·····················.56
3.7.4 擾動作用下的穩(wěn)態(tài)誤差··········.59
3.7.5 改善系統(tǒng)穩(wěn)態(tài)精度的方法········.60
本章小結(jié)·····································.62
習(xí)題···········································.63
第4 章根軌跡法 ····························.67
4.1 根軌跡的基本概念··················.67
4.1.1 根軌跡·····························.67
4.1.2 根軌跡方程························.68
4.2 根軌跡圖的繪制法則··············.70
4.3 參數(shù)根軌跡···························.80
4.4 利用根軌跡分析系統(tǒng)性能········.82
4.4.1 已知根軌跡增益確定閉環(huán)極點
和傳遞函數(shù)························.82
4.4.2 已知系統(tǒng)性能指標(biāo)確定閉環(huán)
極點································.83
4.4.3 增加開環(huán)零點對系統(tǒng)性能的
影響································.84
4.4.4 增加開環(huán)極點對系統(tǒng)性能的
影響································.87
本章小結(jié)·····································.88
習(xí)題···········································.89
第5 章線性系統(tǒng)的頻域分析············.92
5.1 頻率特性的基本概念··············.92
5.1.1 頻率特性的定義··················.92
5.1.2 頻率特性的表示方法·············.93
5.2 典型環(huán)節(jié)及系統(tǒng)頻率特性········.94
5.2.1 典型環(huán)節(jié)的頻率特性·············.95
5.2.2 開環(huán)系統(tǒng)的頻率特性·············103
5.3 頻域特性法的穩(wěn)定性分析········109
5.3.1 奈奎斯特穩(wěn)定判據(jù)················109
5.3.2 穩(wěn)定裕度··························114
5.3.3 開環(huán)對數(shù)幅頻特性曲線與
系統(tǒng)性能之間的關(guān)系·············117
本章小結(jié)·····································126
習(xí)題···········································127
第6 章控制系統(tǒng)設(shè)計······················131
6.1 概述····································131
6.2 PID 控制器··························.131
6.2.1 PID 控制器概述·················.131
6.2.2 比例控制器······················.131
6.2.3 比例微分控制器·················.132
6.2.4 積分控制器······················.133
6.2.5 比例積分控制器·················.133
6.2.6 比例積分微分控制器············.134
6.3 基于頻域法的控制系統(tǒng)
設(shè)計···································.135
6.3.1 相位超前補償····················.135
6.3.2 相位滯后補償····················.137
6.3.3 相位滯后?超前補償·············.138
6.3.4 串聯(lián)補償網(wǎng)絡(luò)的期望幅頻
特性設(shè)計方法····················.139
6.3.5 反饋補償·························.146
本章小結(jié)····································.148
習(xí)題··········································.148
第7 章非線性系統(tǒng)分析·················.150
7.1 非線性系統(tǒng)概述···················.150
7.1.1 為什么研究非線性系統(tǒng)·········.150
7.1.2 非線性系統(tǒng)的特性··············.150
7.1.3 非線性系統(tǒng)的特點··············.153
7.1.4 非線性系統(tǒng)的分析方法·········.154
7.2 相平面法·····························.155
7.2.1 相平面的基本概念··············.155
7.2.2 相軌跡的繪制····················.156
7.2.3 奇點······························.158
7.2.4 非線性系統(tǒng)的相平面分析······.160
7.3 描述函數(shù)法··························.162
7.3.1 描述函數(shù)的基本概念············.162
7.3.2 典型非線性環(huán)節(jié)的描述函數(shù)····.166
7.3.3 非線性系統(tǒng)的描述函數(shù)法
分析······························.170
本章小結(jié)····································.176
習(xí)題··········································.177
第8 章線性離散系統(tǒng) ····················.179
8.1 計算機控制系統(tǒng)概述·············.179
8.1.1 計算機控制系統(tǒng)簡圖·············179
8.1.2 計算機控制系統(tǒng)的組成··········180
8.1.3 計算機控制系統(tǒng)的特點··········180
8.1.4 信號的采樣與恢復(fù)················181
8.2 計算機控制系統(tǒng)分析··············181
8.2.1 離散系統(tǒng)的穩(wěn)定性分析··········181
8.2.2 線性采樣系統(tǒng)穩(wěn)定的充要
條件································183
8.2.3 離散系統(tǒng)的過渡響應(yīng)分析········184
本章小結(jié)·····································186
習(xí)題···········································186
第9 章線性系統(tǒng)的狀態(tài)空間分析······187
9.1 概述····································187
9.2 基本概念······························187
9.2.1 系統(tǒng)································187
9.2.2 系統(tǒng)狀態(tài)空間描述················188
9.2.3 動態(tài)系統(tǒng)狀態(tài)空間表達式的
一般形式··························190
9.3 線性多變量系統(tǒng)的運動
分析····································191
9.3.1 線性系統(tǒng)狀態(tài)方程的解··········192
9.3.2 狀態(tài)轉(zhuǎn)移矩陣的性質(zhì)·············192
9.4 Lyapunov 穩(wěn)定性分析··············194
9.4.1 概述································194
9.4.2 Lyapunov 意義下的穩(wěn)定性
問題······························.194
9.5 Lyapunov 穩(wěn)定性理論············.195
9.5.1 Lyapunov 第一法················.195
9.5.2 Lyapunov 第二法················.196
本章小結(jié)····································.198
習(xí)題··········································.198
第10 章自動控制系統(tǒng)綜合案例······.200
10.1 水位控制系統(tǒng)建模···············.200
10.1.1 單容水箱························.200
10.1.2 雙容水箱和三容水箱··········.201
10.2 系統(tǒng)性能分析·····················.202
10.2.1 時域分析法的水位控制
系統(tǒng)分析························.202
10.2.2 根軌跡分析法和頻域分析法的
水位控制系統(tǒng)分析·············.205
10.3 系統(tǒng)的校正和綜合設(shè)計········.206
10.3.1 超前校正························.206
10.3.2 PID 控制器·····················.207
本章小結(jié)····································.208
附錄A 拉普拉斯變換與反變換·········.209
附錄B 常用函數(shù)的拉普拉斯
變換表······························.214
參考文獻 ·······································.215