控制系统设计指南

【实例简介】
控制系统设计方面很好的图书，讲解很系统，值得一读。
SYS21/F: /PAGINATION/ELSEVIER US/CSDG/3B2/FINALS_03-01-04/PRELIMS. 3D-2-[1-24/24.1.2004 7: 23PM SYS21/F: /PAGINATION/ELSEVIER US/CSDG/3B2/FINALS_03-01-04/PRELIMS. 3D-3-[1-24/24.1.2004 7: 23PM Control System Design Guide A Practical Guid George ellis Danaher corporation ELSEVIER ACADEMIC PRESS Amsterdam Boston Heidelberg London New York Oxford Paris San Diego San Francisco Singapore Sydney Tokyo SYS21/F: /PAGINATION/ELSEVIER US/CSDG/3B2/FINALS_03-01-04/PRELIMS.3D-4-[1-24/24.1.2004 7: 23PM Elsevier academic press 525B Street, Suite 1900, San dieg 92101-4495.USA 84 Theobalds road. London wciX 8RR. UK This book is printed on acid-free paper eo Copyright C 2004, Elsevier Inc. All rights reserved No part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Permissions may be sought directly from Elsevier's Science Technology Rights Department in Oxford, UK: phone: (+44)1865 843830, fax: (+44)1865 853333 e-mail:permissions(@elsevier.com.uk.Youmayalsocompleteyourrequeston-line viatheelsevierhomepage(http:/elsevier.com),byselecting"customerSupport and then“ Obtaining Permissions.” Library of Congress cataloging-in-Publication Data Ellis, George( George H) Control system design guide: a practical guide/ George Ellis.--3rd ed p. cm isBN 0-12-237461-4(hardcover: alk. paper) 1. Automatic control. 2. System design. I. Title IJ213.E56252003 6298′3-dc22 2003023742 British Library Cataloguing in Publication Data A catalogue record for this book is available from the British library ISBN:0-12-237461-4 For all information on all Academic Press publications visitourwebsiteatwww.academicpress.com Printed in the united states of america 04050607080998765432 SYS21/F: /PAGINATION/ELSEVIER US/CSDG/3B2/FINALS_03-01-04/PRELIMS. 3D-5-[1-24/24.1.2004 7: 23PM To my loving wife, LeeAnn, and to Gretchen and Brandon, who both make us proud. SYS21/F: /PAGINATION/ELSEVIER US/CSDG/3B2/FINALS_03-01-04/PRELIMS. 3D-6-[1-24/24.1.2004 7: 23PM SYS21/F: /PAGINATION/ELSEVIER US/CSDG/3B2/FINALS_03-01-04/PRELIMS.3D-7-[1-24/24.1.2004 7: 23PM Contents Preface SectionI Applied principles of controls Important Safety guidelines for Readers Chapter 1 Introduction to Controls 1.1 Visual Modelo Simulation environment 1. 1. 1 Installation of Visual Modelo 1.1.2 Errata 1.2 The Control System 1. 2. 1 The Controller 1. 2.2 The machine 7788 1. 3 The Controls Engineer Chapter 2 The Frequency Domain 2.1 The Laplace Transform 2.2 Transfer functions 2.2.1 What Is s? 12 2.2.1.1 DC Gain 2.2.2 Linearity, Time Invariance and transfer Functions 2.3 Examples of Transfer Functions 2.3.1 Transfer functions of Controller elements 2.3.1.1 Integration and Differentiation 23. 1.2 Filters 2.3.1.3 Compensators 15 2.3.1.4 Delays SYS21/F: /PAGINATION/ELSEVIER US/CSDG/3B2/FINALS_03-01-04/PRELIMS.3D-8-[1-24/24.1.2004 7: 23PM 2.3.2 Transfer fu s of po C ower conve ersI 2.3. 3 Transfer Functions of Physical Elements 16 2.3.4 Transfer Functions of Feedback 18 2. 4 Block Diagrams 18 2.4.1 Combining Blocks 18 2. 4.1.1 Simplifying a Feedback Loop 19 2.4.2 Masons Signal Flow Graphs 20 2.4.2.1 Step-by-Step Procedure 20 2.5 Phase and gain 22 2.5.1 Phase and gain from Transfer functions 2.5.2 Bode Plots: Phase and Gain versus Frequency 24 2.6 Measuring performance 25 2.6. 1 Command response 25 2.6.2 Stability 27 2.6.3 Time Domain versus frequency domain 28 2.7 Questio Chapter 3 Tuning a Control System 3.1 Closing Loops 3. 1. 1 The Source of Instability 32 3.2 A Detailed Review of the model 34 3.2.1 Integrator 3.2.2 Power Converter 36 3.2.3 PI Control law 3.2.4 Feed back Filter 38 3.3 The Open-Loop 3.4 Margins of stabili 40 3.4.1 Quantifying GM and PM 40 3.4.2 Experiment 3A: Understanding the Open -Loop Method 3.4.3 Open Loop, Closed Loop, and the Step response 3.5 A Zonc-Bascd Tuning Procedure 45 3.5.1 Zone One: Proportional 46 3.5.2 Zone Two: Integral 3.6 Variation in plant gain 48 3.6.1 Accommodating Changing Gain 3.7 Multiple( Cascaded)Loops 3.8 Saturation and synchronization 51 3.8.1 Avoid Saturation When Tuning 3.9 Questions Chapter 4 delay in Digital controllers 57 4.1 How Sampling Works 57 SYS21/F: /PAGINATION/ELSEVIER US/CSDG/3B2/FINALS_03-01-04/PRELIMS.3D-9-[1-24/24.1.2004 7: 23PM CONTENTS 4.2 Sources of Delay in Digital Systems 4.2. 1 Sample-and-Hold delay 58 4.2.2 Calculation dela 60 4.2.3 Velocity Estimation Delay 4.2. 4 The Sum of the delays 4.3 Experiment 4A: Understanding delay in Digital Control 4.3.1 Tuning the Controller 62 4.4 Selecting the Sample Tim 64 4.4.1 Aggressive Assumptions for General Systems 65 4.4.2 Aggressive Assumptions for Position-Based Motion s 65 4.4.3 Moderate and Conservative Assumptions 66 4.5 Questions 67 Chapter 5 The z-Domain 5.1 Introduction to the z-Domain 69 5.1.1 Definition of 5.1.2 z-Domain Transfer Functions 70 5.1 3 Bilinear transform 71 5.2 Phasors 5.3 Aliasing 73 5.4 Experiment 5A: Aliasing 74 5.4.1 Bode Plots and block diagrams in z 5.4.2 DC Gain 76 5.5 From Transfer Function to Algorithm 76 5.6 Functions for Digital Systems 5.6. 1 Digital Integrals and d 78 5.6. 1 1 Simple Integration 78 5.6.12 Alternative methods of i 80 5.6.2 Digital Derivatives 81 5.6.2.1I T dal Differentiation 82 5.6.2.2 Experiment 5B: Inverse trapezoidal Diffe 5.6.3 Sample-and-Hold 85 5.6.4 DACIADC: Converting to and from Analog 5.7 Reducing the Calculation Delay 87 5.8 Selecting a Pl 88 5.8.1 Fixed- and Floating-Point Math 88 5.8.2 Overrunning the Sample time 5.8. 3 Other Algorithms 90 5.8.4 Ease of Programming 90 5.8.5 The processor's Future 90 5.8.6 Makin g the selection 90 【实例截图】
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