实例介绍
【实例简介】
动态系统反馈控制 作者Franklin Powell 第六版 制作非常精美的PDF
Vice president and editorial director Operations Specialist: Lisa McDowell ECS: Marcia horton Art Director: Kenny Beck Acquisition Editor: Andrew gilfillan Cover Designer Kristine Carney Editorial Assistant: William opaluch Manager, Rights and permissions: Zina arabia Director of Team-Based Project Manager. Visual Research: Beth brenzel Management: vince o'brien Image permission Coordinator: Debbie Latronica Marketing Manager: Tim galligan Manager, Cover Photo Permissions Marketing Assistant: Mack patterson Karan sanatar Permissions Project Manager: vicki menanteaux Composition: TexTech international Senior managing editor: Scott disanno Full-Service Project Management: TexTech international Production Project Manager: Clare romeo Printer/Binder: Courier Westford Senior Operations specialist: Alan Fischer Typeface: 10/12 Times Copyright o 2010, 1999,1989 by Pearson Higher Education, Inc, Upper Saddle River, NJ 07458. All rights reserved. Manufactured in the United States of America. This publication is protected by Copyright and permissions should be obtained from the publisher prior to an prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording, or likewise. To obtain permission(s)to use materials from this work, please submit a written request to Pearson Higher Education, Permissions Department, One Lake Street, Upper Saddle River, NJ 07458 The author and publisher of this book have used their best efforts in preparing this book. These efforts include the development, research, and testing of theories and programs to determine their effectiveness. The author and publisher make no warranty of any kind, expressed or mplied, with regard to these programs or the documentation contained in this book. The author and publisher shall not be liable in any event for incidental or consequential damages with, or arising out of, the furnishing, performance, or use of these programs Pearson education ltd, London Pearson Education Singapore, Pte Ltd Pearson education canada. In Pearson education-Japan Pearson education australia pty. limited Pearson Education North Asia, Ltd, Hong Kong Pearson educacion de mexico. s.A. de c.v. Pearson Education Malaysia, Pte. Ltd Pearson Education, Inc, Upper Saddle river, New Jersey Library of Congress Cataloging-in-Publication Data Franklin gene f Feedback control of dynamic systems/Gene Franklin, J. David Powell abbas emami-Naeini.-6th ed Includes bibliographical references and index ISBN-13:978-0-13-601969-5 ISBN-10:0-13-601969-2 1. Feedback control systems. I. Powell, J. David, 1938- II. Emami-Naeini, Abbas II. Tit TJ216F7232009 6298′3-dc22 2009025662 Prentice hall is an imprint of PEARSON 1098765432 工SBN一13:日7凸-口-13-51b9-5 www.pearsonhighered.com 工sBN-1囗 0-]3-b囗1号-己 To Gertrude. David. Carole Valerie, Daisy, Annika, Davenport, Malahat. Sheila and nima This page intentionally left blank Contents Preface xiii An Overview and Brief History of Feedback Control 1 A Perspective on Feedback Control Chapter ove 2 1.1 A Simple Feedback System 3 1.2 A First Analysis of Feedback 6 1. 3 a Brief histo 1. 4 An overview of the book 14 Review Questions 16 Problems 17 Dynamic Models 20 A Perspective on Dynamic models 20 Chapter overview 21 2. 1 Dynamics of Mechanical Systems 21 2.1.1 Translational motion 21 2.1.2 Rotational motion 27 2.1.3 Combined Rotation and Translation 36 2.1.4 Distributed Parameter Systems 38 2.1.5 Summary: Developing Equations of Motion for Rigid bodies 40 2.2 Models of electric circuits 4 2.3 Models of Electromechanical Systems 45 a 2.4 Heat and Fluid-Flow Models 50 2.4.1 Heat flo 50 2.4.2 Incompressible Fluid Flow 54 2.5 Historical Perspective 60 Summary 62 Review questions 63 Problems 64 Dynamic Response 74 A Perspective on System Response 74 Chapter o 75 3.1 Review of laplace Transforms 75 3.1.1 Response by Convolution 75 3.1.2 Transfer Functions and Frequency Response 80 3. 1.3 The L- Laplace Transform 87 3.1. 4 Properties of laplace Transforms 89 VI Contents 3. 1.5 Inverse Laplace Transform by Partial-Fraction Expansion 91 3.1.6 The Final Value Theorem 93 3.1.7 USing Laplace Transforms to Solve Problems 94 3.1.8 Poles and Zeros 96 3.1.9 Linear System Analysis Using MATLAB 97 3.2 System Modeling Diagrams 102 3.2.1 The Block Diagram 102 3.2.2 Block Diagram Reduction Using MATLAB 107 3.3 Effect of Pole Locations 108 3.4 Time-Domain Specifications 116 3.4.1 Rise Time 116 3.4.2 Overshoot and Peak Time 117 3.4.3 Settling ti 3.5 Effects of zeros and additional poles 120 3.6 Stabilit 130 3.6.1 Bounded Input-Bounded Output Stability 130 3.6.2 Stability of lti Systems 131 3.6.3 Rouths stability Criterion 132 A 3.7 Obtaining Models from Experimental Data 140 3.7.1 Models from Transient-Response Data 142 3.7.2 Models from Other Data 146 A 3.8 Amplitude and Time Scaling 147 3.8.1 Amplitude Scaling 147 3.8.2 Time Scaling 148 3.9 Historical Perspective 149 S ummar 150 Review Questions 151 Problems 152 A First Analysis of Feedback 170 a Perspective on the analysis of Feedback 170 Chapter Overview 171 4.1 The Basic Equations of Control 171 4.1.1 Stability 173 4.1. 2 Tracking 174 4.1.3 Regulation 174 4.1. 4 Sensitivity 175 4.2 Control of Steady-State Error to Polynomial Inputs: System Type 178 4.2.1 System Type for Tracking 179 4.2.2 System Type for Regulation and Disturbance Rejection 183 4.3 The Three-Term Controller: Pid Control 186 4.3.1 Proportional Control(P) 187 4.3.2 Proportional Plus Integral Control(PD) 4.3. 3 PID Control 188 4.3.4 Ziegler-Nichols Tuning of the PID Controller 192 4.4 Introduction to Digital Control 198 Contents viT 4.5 Historical Perspective 203 S 205 Review Questions 206 Problems 207 The Root-Locus Design Method 220 A Perspective on the root-Locus design method 220 Chapter overview 221 5.1 Root Locus of a basic feedback system 221 5.2 Guidelines for Determining a root locus 226 5.2.1 Rules for Plotting a Positive(180)Root Locus 228 5.2.2 Summary of the Rules for Determining a Root Locus 233 5.2.3 Selecting the Parameter Value 234 5.3 Selected Illustrative root loci 236 5.4 Design USing Dynamic Compensation 248 5.4.1 Design USing Lead Compensation 249 5.4.2 Design USing Lag Compensation 254 5. 4.3 Design Using Notch Compensation 255 5.4.4 Analog and digital Implementations 257 5.5 A Design Example Using the Root Locus 260 5.6 Extensions of the root-Locus method 266 5.6.1 Rules for Plotting a Negative(0)Root Locus 266 A 5.6.2 Consideration of two parameters 270 △56.3 Time Delay272 5.7 Historical Perspective 274 Summary 276 Review Questions 278 Problems 278 The Frequency-Response Design Method 296 A Perspective on the Frequency-Response Design method 296 Chapter overview 297 6.1 Frequency Response 297 6.1.1 Bode plot Techniques 304 6.1.2 Steady-State Errors 315 6.2 Neutral Stability 317 6.3 The Nyquist Stability Criterion 319 6.3. 1 The Argument Principle 320 6.3.2 Application to Control Design 321 6.4 Stability margins 334 6.5 Bodes Gain-Phase Relationship 341 6.6 Closed-Loop Frequency response 346 6.7 Compensation 347 6.7. 1 PD Compensation 348 6.7.2 Lead Ce On348 VIll Contents 6.7. 3 PI Compensation 360 6.7. 4 Lag Compensation 360 6.7.5 PID Compensation 365 6.7.6 Design Considerations 371 A 6.7.7 Specifications in Terms of the Sensitivity Function 373 A 6.7.8 Limitations on Design in Terms of the Sensitivity Function 377 △68 Time delay38 A 6.9 Alternative Presentation of Data 382 6.9.1 Nichols Chart 382 6.10 Historical Perspective 386 Summary 386 Review questions 388 Problems 389 State-Space Design 413 A Perspective on State-Space Design 413 Chapter overview 413 7.1 Advantages of State-Space 414 7.2 System Description in State-Space 416 7.3 Block Diagrams and State-Space 421 7.3.1 Time and Amplitude Scaling in State-Space 424 7.4 Analysis of the State equations 425 7.4.1 Block Diagrams and canonical Forms 425 7.4.2 Dynamic Response from the state equations 436 7.5 Control-Law Design for Full-State Feedback 442 7.5.1 Finding the Control Law 443 7.5.2 Introducing the Reference Input with Full-State Feedback 451 7.6 Selection of Pole Locations for Good Design 455 7.6.1 Dominant second-Order poles 456 7.6.2 Symmetric Root Locus(SRL) 457 7.6.3 Comments on the Methods 466 7.7 Estimator Design 466 7.7.1 Full-Order estimators 466 7.7.2 Reduced-Order estimators 472 7.7.3 Estimator Pole selection 476 7.8 Compensator Design: Combined Control Law and Estimator 478 7.9 Introduction of the Reference Input with the estimator 491 7. 1 A General St for the Reference Input 492 7.9.2 Selecting the Gain 501 7.10 Integral Control and robust Tracking 502 7.10.1 Integral Control 503 A 7.10.2 Robust Tracking Control: The Error-Space Approach 505 A 7.10.3 The Extended Estimator 516 A 7.11 Loop Transfer Recovery (LtR) 519 A 7.13 Design for Systems with Pure Time Delay 527 S1 Contents ix A 7 12 Direct Design with Rational Transfer Functions 5 7.14 Historical Perspective 530 Summary 533 Review Questions 534 Problems 536 Digital Control 558 A Perspective on Digital Control 558 Chapter o 559 8.1 Digitizati 8.2 Dynamic Analysis of Discrete Systems 561 8.2.1 z-Transform 56 8.2.2 z-Transform Inversion 562 8.2.3 Relationship between s and z 565 8. 2. 4 Final value Theorem 566 8. 3 Design Using discrete equivalents 568 8.3.1 Matched Pole-Zero(MPz Method 571 8.3.2 Modified Matched Pole-Zero(MMPZ) Method 575 8.3.3 Comparison of Digital Approximation Methods 575 8.3.4 Applicability Limits of the Discrete Equivalent Design Method 576 8.4 Hardware Characteristics 577 8.4.1 Analog-to-Digital (A/D) Converters 577 8.4.2 Digital-to-Analog (D/A)Converters 578 8.4.3 Anti-Alias Prefilters 578 8.4.4 The Computer 579 8.5 Sample-Rate Selection 580 8.5.1 Tracking Effectiveness 581 8.5.2 Disturbance Rejection 581 8.5.3 Effect of Anti-Alias prefilter 582 8.5.4 Asynchronous Sampling 583 A 8.6 Discrete Design 583 8.6. 1 Analysis Tools 583 8.6.2 Feedback Properties 585 8.6.3 Discrete Design Example 586 8.6.4 Discrete analysis of Designs 588 8.7 Historical Perspective 590 Summary 591 Review Questions 592 Problems 593 Nonlinear Systems 599 Perspective on Nonlinear Systems 599 Chapter overview 600 【实例截图】
【核心代码】
动态系统反馈控制 作者Franklin Powell 第六版 制作非常精美的PDF
Vice president and editorial director Operations Specialist: Lisa McDowell ECS: Marcia horton Art Director: Kenny Beck Acquisition Editor: Andrew gilfillan Cover Designer Kristine Carney Editorial Assistant: William opaluch Manager, Rights and permissions: Zina arabia Director of Team-Based Project Manager. Visual Research: Beth brenzel Management: vince o'brien Image permission Coordinator: Debbie Latronica Marketing Manager: Tim galligan Manager, Cover Photo Permissions Marketing Assistant: Mack patterson Karan sanatar Permissions Project Manager: vicki menanteaux Composition: TexTech international Senior managing editor: Scott disanno Full-Service Project Management: TexTech international Production Project Manager: Clare romeo Printer/Binder: Courier Westford Senior Operations specialist: Alan Fischer Typeface: 10/12 Times Copyright o 2010, 1999,1989 by Pearson Higher Education, Inc, Upper Saddle River, NJ 07458. All rights reserved. Manufactured in the United States of America. This publication is protected by Copyright and permissions should be obtained from the publisher prior to an prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording, or likewise. To obtain permission(s)to use materials from this work, please submit a written request to Pearson Higher Education, Permissions Department, One Lake Street, Upper Saddle River, NJ 07458 The author and publisher of this book have used their best efforts in preparing this book. These efforts include the development, research, and testing of theories and programs to determine their effectiveness. The author and publisher make no warranty of any kind, expressed or mplied, with regard to these programs or the documentation contained in this book. The author and publisher shall not be liable in any event for incidental or consequential damages with, or arising out of, the furnishing, performance, or use of these programs Pearson education ltd, London Pearson Education Singapore, Pte Ltd Pearson education canada. In Pearson education-Japan Pearson education australia pty. limited Pearson Education North Asia, Ltd, Hong Kong Pearson educacion de mexico. s.A. de c.v. Pearson Education Malaysia, Pte. Ltd Pearson Education, Inc, Upper Saddle river, New Jersey Library of Congress Cataloging-in-Publication Data Franklin gene f Feedback control of dynamic systems/Gene Franklin, J. David Powell abbas emami-Naeini.-6th ed Includes bibliographical references and index ISBN-13:978-0-13-601969-5 ISBN-10:0-13-601969-2 1. Feedback control systems. I. Powell, J. David, 1938- II. Emami-Naeini, Abbas II. Tit TJ216F7232009 6298′3-dc22 2009025662 Prentice hall is an imprint of PEARSON 1098765432 工SBN一13:日7凸-口-13-51b9-5 www.pearsonhighered.com 工sBN-1囗 0-]3-b囗1号-己 To Gertrude. David. Carole Valerie, Daisy, Annika, Davenport, Malahat. Sheila and nima This page intentionally left blank Contents Preface xiii An Overview and Brief History of Feedback Control 1 A Perspective on Feedback Control Chapter ove 2 1.1 A Simple Feedback System 3 1.2 A First Analysis of Feedback 6 1. 3 a Brief histo 1. 4 An overview of the book 14 Review Questions 16 Problems 17 Dynamic Models 20 A Perspective on Dynamic models 20 Chapter overview 21 2. 1 Dynamics of Mechanical Systems 21 2.1.1 Translational motion 21 2.1.2 Rotational motion 27 2.1.3 Combined Rotation and Translation 36 2.1.4 Distributed Parameter Systems 38 2.1.5 Summary: Developing Equations of Motion for Rigid bodies 40 2.2 Models of electric circuits 4 2.3 Models of Electromechanical Systems 45 a 2.4 Heat and Fluid-Flow Models 50 2.4.1 Heat flo 50 2.4.2 Incompressible Fluid Flow 54 2.5 Historical Perspective 60 Summary 62 Review questions 63 Problems 64 Dynamic Response 74 A Perspective on System Response 74 Chapter o 75 3.1 Review of laplace Transforms 75 3.1.1 Response by Convolution 75 3.1.2 Transfer Functions and Frequency Response 80 3. 1.3 The L- Laplace Transform 87 3.1. 4 Properties of laplace Transforms 89 VI Contents 3. 1.5 Inverse Laplace Transform by Partial-Fraction Expansion 91 3.1.6 The Final Value Theorem 93 3.1.7 USing Laplace Transforms to Solve Problems 94 3.1.8 Poles and Zeros 96 3.1.9 Linear System Analysis Using MATLAB 97 3.2 System Modeling Diagrams 102 3.2.1 The Block Diagram 102 3.2.2 Block Diagram Reduction Using MATLAB 107 3.3 Effect of Pole Locations 108 3.4 Time-Domain Specifications 116 3.4.1 Rise Time 116 3.4.2 Overshoot and Peak Time 117 3.4.3 Settling ti 3.5 Effects of zeros and additional poles 120 3.6 Stabilit 130 3.6.1 Bounded Input-Bounded Output Stability 130 3.6.2 Stability of lti Systems 131 3.6.3 Rouths stability Criterion 132 A 3.7 Obtaining Models from Experimental Data 140 3.7.1 Models from Transient-Response Data 142 3.7.2 Models from Other Data 146 A 3.8 Amplitude and Time Scaling 147 3.8.1 Amplitude Scaling 147 3.8.2 Time Scaling 148 3.9 Historical Perspective 149 S ummar 150 Review Questions 151 Problems 152 A First Analysis of Feedback 170 a Perspective on the analysis of Feedback 170 Chapter Overview 171 4.1 The Basic Equations of Control 171 4.1.1 Stability 173 4.1. 2 Tracking 174 4.1.3 Regulation 174 4.1. 4 Sensitivity 175 4.2 Control of Steady-State Error to Polynomial Inputs: System Type 178 4.2.1 System Type for Tracking 179 4.2.2 System Type for Regulation and Disturbance Rejection 183 4.3 The Three-Term Controller: Pid Control 186 4.3.1 Proportional Control(P) 187 4.3.2 Proportional Plus Integral Control(PD) 4.3. 3 PID Control 188 4.3.4 Ziegler-Nichols Tuning of the PID Controller 192 4.4 Introduction to Digital Control 198 Contents viT 4.5 Historical Perspective 203 S 205 Review Questions 206 Problems 207 The Root-Locus Design Method 220 A Perspective on the root-Locus design method 220 Chapter overview 221 5.1 Root Locus of a basic feedback system 221 5.2 Guidelines for Determining a root locus 226 5.2.1 Rules for Plotting a Positive(180)Root Locus 228 5.2.2 Summary of the Rules for Determining a Root Locus 233 5.2.3 Selecting the Parameter Value 234 5.3 Selected Illustrative root loci 236 5.4 Design USing Dynamic Compensation 248 5.4.1 Design USing Lead Compensation 249 5.4.2 Design USing Lag Compensation 254 5. 4.3 Design Using Notch Compensation 255 5.4.4 Analog and digital Implementations 257 5.5 A Design Example Using the Root Locus 260 5.6 Extensions of the root-Locus method 266 5.6.1 Rules for Plotting a Negative(0)Root Locus 266 A 5.6.2 Consideration of two parameters 270 △56.3 Time Delay272 5.7 Historical Perspective 274 Summary 276 Review Questions 278 Problems 278 The Frequency-Response Design Method 296 A Perspective on the Frequency-Response Design method 296 Chapter overview 297 6.1 Frequency Response 297 6.1.1 Bode plot Techniques 304 6.1.2 Steady-State Errors 315 6.2 Neutral Stability 317 6.3 The Nyquist Stability Criterion 319 6.3. 1 The Argument Principle 320 6.3.2 Application to Control Design 321 6.4 Stability margins 334 6.5 Bodes Gain-Phase Relationship 341 6.6 Closed-Loop Frequency response 346 6.7 Compensation 347 6.7. 1 PD Compensation 348 6.7.2 Lead Ce On348 VIll Contents 6.7. 3 PI Compensation 360 6.7. 4 Lag Compensation 360 6.7.5 PID Compensation 365 6.7.6 Design Considerations 371 A 6.7.7 Specifications in Terms of the Sensitivity Function 373 A 6.7.8 Limitations on Design in Terms of the Sensitivity Function 377 △68 Time delay38 A 6.9 Alternative Presentation of Data 382 6.9.1 Nichols Chart 382 6.10 Historical Perspective 386 Summary 386 Review questions 388 Problems 389 State-Space Design 413 A Perspective on State-Space Design 413 Chapter overview 413 7.1 Advantages of State-Space 414 7.2 System Description in State-Space 416 7.3 Block Diagrams and State-Space 421 7.3.1 Time and Amplitude Scaling in State-Space 424 7.4 Analysis of the State equations 425 7.4.1 Block Diagrams and canonical Forms 425 7.4.2 Dynamic Response from the state equations 436 7.5 Control-Law Design for Full-State Feedback 442 7.5.1 Finding the Control Law 443 7.5.2 Introducing the Reference Input with Full-State Feedback 451 7.6 Selection of Pole Locations for Good Design 455 7.6.1 Dominant second-Order poles 456 7.6.2 Symmetric Root Locus(SRL) 457 7.6.3 Comments on the Methods 466 7.7 Estimator Design 466 7.7.1 Full-Order estimators 466 7.7.2 Reduced-Order estimators 472 7.7.3 Estimator Pole selection 476 7.8 Compensator Design: Combined Control Law and Estimator 478 7.9 Introduction of the Reference Input with the estimator 491 7. 1 A General St for the Reference Input 492 7.9.2 Selecting the Gain 501 7.10 Integral Control and robust Tracking 502 7.10.1 Integral Control 503 A 7.10.2 Robust Tracking Control: The Error-Space Approach 505 A 7.10.3 The Extended Estimator 516 A 7.11 Loop Transfer Recovery (LtR) 519 A 7.13 Design for Systems with Pure Time Delay 527 S1 Contents ix A 7 12 Direct Design with Rational Transfer Functions 5 7.14 Historical Perspective 530 Summary 533 Review Questions 534 Problems 536 Digital Control 558 A Perspective on Digital Control 558 Chapter o 559 8.1 Digitizati 8.2 Dynamic Analysis of Discrete Systems 561 8.2.1 z-Transform 56 8.2.2 z-Transform Inversion 562 8.2.3 Relationship between s and z 565 8. 2. 4 Final value Theorem 566 8. 3 Design Using discrete equivalents 568 8.3.1 Matched Pole-Zero(MPz Method 571 8.3.2 Modified Matched Pole-Zero(MMPZ) Method 575 8.3.3 Comparison of Digital Approximation Methods 575 8.3.4 Applicability Limits of the Discrete Equivalent Design Method 576 8.4 Hardware Characteristics 577 8.4.1 Analog-to-Digital (A/D) Converters 577 8.4.2 Digital-to-Analog (D/A)Converters 578 8.4.3 Anti-Alias Prefilters 578 8.4.4 The Computer 579 8.5 Sample-Rate Selection 580 8.5.1 Tracking Effectiveness 581 8.5.2 Disturbance Rejection 581 8.5.3 Effect of Anti-Alias prefilter 582 8.5.4 Asynchronous Sampling 583 A 8.6 Discrete Design 583 8.6. 1 Analysis Tools 583 8.6.2 Feedback Properties 585 8.6.3 Discrete Design Example 586 8.6.4 Discrete analysis of Designs 588 8.7 Historical Perspective 590 Summary 591 Review Questions 592 Problems 593 Nonlinear Systems 599 Perspective on Nonlinear Systems 599 Chapter overview 600 【实例截图】
【核心代码】
标签：
好例子网口号：伸出你的我的手 — 分享！
小贴士
感谢您为本站写下的评论，您的评论对其它用户来说具有重要的参考价值，所以请认真填写。
- 类似“顶”、“沙发”之类没有营养的文字，对勤劳贡献的楼主来说是令人沮丧的反馈信息。
- 相信您也不想看到一排文字/表情墙，所以请不要反馈意义不大的重复字符，也请尽量不要纯表情的回复。
- 提问之前请再仔细看一遍楼主的说明，或许是您遗漏了。
- 请勿到处挖坑绊人、招贴广告。既占空间让人厌烦，又没人会搭理，于人于己都无利。
关于好例子网
本站旨在为广大IT学习爱好者提供一个非营利性互相学习交流分享平台。本站所有资源都可以被免费获取学习研究。本站资源来自网友分享，对搜索内容的合法性不具有预见性、识别性、控制性，仅供学习研究，请务必在下载后24小时内给予删除，不得用于其他任何用途，否则后果自负。基于互联网的特殊性，平台无法对用户传输的作品、信息、内容的权属或合法性、安全性、合规性、真实性、科学性、完整权、有效性等进行实质审查；无论平台是否已进行审查，用户均应自行承担因其传输的作品、信息、内容而可能或已经产生的侵权或权属纠纷等法律责任。本站所有资源不代表本站的观点或立场，基于网友分享，根据中国法律《信息网络传播权保护条例》第二十二与二十三条之规定，若资源存在侵权或相关问题请联系本站客服人员，点此联系我们。关于更多版权及免责申明参见 版权及免责申明
网友评论
我要评论