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1　BASIC CONCEPTS 1

Introduction 1

Control Terminology 1

出版说明 4

序 5

PREFACE 7

Functioning of a Control System 　 8

Examples of Closed-Loop Control Systems 　 9

Problems 12

2　BLOCK DIAGRAMS 13

Introduction 13

Definition of a Block Diagram 14

Summing Point 15

Takeoff Point 16

Block Diagram Representation of an Equation 16

Block Diagram Representation of Control Systems 17

General Transfer Function 19

Transfer Functions 19

Transfer Function of a Closed-Loop System 20

Comparison of Positive-Feedback and Negative-Feedback Systems 22

Unity Feedback Systems 28

Conversion to a Unity Feedback System 28

Block Diagram Simplification 29

Op-Amp Simulation of a Block Diagram 34

Summing Point 35

Summing Point with Adjustable SP Input 36

Gain Block 38

Constant-Gain(Noninverting)Block 38

Constant-Gain(Inverting)Block 41

Takeoff Point 　 41

Summing Point with Multiple Inputs　 42

Problems 50

Transformations 54

3　LAPLACE TRANSFORMS 54

Introduction 54

Laplace Transform Integral 55

Transform Notation 56

Rules of Transformation 　 56

Forward Transformation Procedure 61

Inverse Transformation Procedure 67

Partial-Fraction Expansion 　 79

Distinct Roots 　 80

Repeated Roots 　 81

Applications of Laplace Transforms:Difierential Equations 　 88

Problems 93

4　MATHEMATICAL MODELING 97

Introduction 97

Mathematical Model 98

Nonlinear Behavior 98

Transfer Functions 99

Electrical Networks 100

Resistor 101

Capacitor 101

Inductor 102

Series RC Circuit 103

Series RL Circuit 105

Series RLC Circuit 107

Mechanical Systems 112

Mass 112

Spring 113

Damper 113

Spring Mass Damper System 114

Analogy Between Physical Systems 116

Fluid Systems 117

Single-Tank Fluid-Level System 117

Two-Tank Fluid-Level System 119

Thermal Systems 122

Heating Systems 123

Problems 124

5　TRANSIENT RESPONSE 127

Introduction 127

Time Response 127

Input Functions 129

Step Function 129

Pulse Function 131

Impulse Function 132

Delayed Impulse Function 133

Ramp Function 134

Sinusoidal Function 134

Types of Transient Responses 135

Overdamped Response 135

Underdamped Response 136

Critically Damped Response 136

Constant Oscillations 137

Increasing Oscillations 137

Exponential Rise 138

Transient Response Through Laplace Transformation 138

Impulse Function Response 　 144

Characteristic Equation 　 148

Poles and Zeros of the Transfer Function 　 151

s-Plane and Pole-Zero Map 153

Pole Location and Transient Response 155

Problems 160

6　FREQUENCY RESPONSE 162

Introduction 162

Methods Used for Frequency Response Representation 164

Frequency Response Determination 166

Problems 186

Introduction 189

7　COMMON TRANSFER FUNCTIONS 189

Common Blocks(Transfer Functions) 191

Constant Block 192

Time Response of a Constant TF 195

Frequency Response of a Constant Block 195

Integral Block 198

Time Response of an Integral Block 198

Frequency Response of an Integral Block 200

Derivative Block 203

Time Response of a Derivative Block 204

Frequency Response of a Derivative Block 204

The Relationship Between Integral and Derivative Blocks 208

First-Order Lag Block 208

Time Response to a Unit Step Input 209

Frequency Response of a First-Order Lag Block 213

First-Order Lead Block 219

Frequency Response of a First-Order Lead Block 220

Time Response to a Unit Step Input 220

Second-Order Lag Block 224

Time Response to a Unit Step Input 225

Characteristics of Underdamped Response 231

Frequency Response of a Second-Order Lag Block 234

Second-Order Lead Block 238

Time Response to a Unit Step Input 240

Frequency Response of a Second-Order Lead Block 240

Dead Time:Transportation Lag Block 241

Time Response to a Unit Step Input 243

Frequency Response of a Dead-Time Block 243

Problems 244

8 STABILITY 248

Introduction 248

Concept of Stability 248

Stability and the Open-Loop Transfer Function 252

Open-Loop Gain and Operating Frequency 255

Stability from a Bode Plot 259

Gain and Phase Margins 261

Gain and Phase Crossover Frequencies 261

Gain Margin(GM) 261

Phase Margin(PM) 263

Desired Gain and Phase Margins 264

Stability from the Characteristic Equation 269

Routh Criterion for Stability 271

Root Locus Analysis 278

Root Locus Through MATLAB 281

Problems 288

9 CONTROLLERS:THE ON-OFF CONTROLLER 291

Introduction 291

Role of a Controller 291

Types of Controllers 292

Use of a Percent as Input and Output 293

Measured Value as a Percentage Value 295

Set Point as a Percentage Value 296

Error as a Percentage Value 296

On-Off Control 298

Types of On-Off Control 298

Electronic Implementation(Analog) 299

Two-Position Control 303

Neutral Zone 304

Controller Action 306

Applications 308

Electronic Implementation 309

Multiposition(Floating)Control 315

Problems 315

Introduction 318

Proportional Controller(P) 318

10 ANALOG CONTROLLER Ⅰ 318

Transfer Characteristic 319

Proportional Band 321

Relationship Between Percent Output and Physical Controller Output 322

Electronic Implementation 326

Frequency Response of a Proportional Controller 332

Proportional Control of a Closed Loop 334

Steady-State Operation with Zero Error 339

Proportional Controller with Offset 346

Offset Voltage Adjustment 346

Integral Controller(Ⅰ) 346

Electronic Implementation 353

Limiting DC Gain 354

Frequency Response of an Ideal Integral Controller 355

Frequency Response of a DC Gain-Limited Integral Controller 356

Derivative Controller(D) 359

Electronic Implementation 365

Frequency Response of a Derivative Controller 366

Limiting High-Frequency Gain 367

Problems 375

11 ANALOG CONTROLLER Ⅱ 378

Introduction 378

Composite Controller Modes 378

Serial Implementation 379

Parallel Implementation 379

PI Controller 380

Electronic Implementation of a PI Controller 383

Frequency Response of a PI Controller 384

PD Controller 391

Electronic Implementation of a PD Controller 393

Frequency Response of a PD Controller 395

PID Controller 400

Electronic Implementation 410

Frequency Response of a PID Controller 　 412

Changing the Operating Mode 　 412

Problems 　 417

12　DIGITAL CONTROLLER 　 420

Introduction 　 420

Digital Controller 421

Controller Sequence of Operation 　 422

Considerations for Digital Control 424

Digital Two-Position Control 426

Sequence of Operation 　 426

Microcontroller Implementation of a Two-Position Controller 　 427

Digital PID Controller 　 433

Analog PID Algorithm 　 433

Digital PID Algorithm 433

Zero-Order Hold(ZOH) 435

Ideal Digital PID Algorithm 　 440

Discrete PID Algorithm—BASIC Language 　 440

Manual Control Mode 　 442

Velocity Algorithm 　 443

Improved Derivative Term 　 444

Microcontroller Implementation of a PID Controller 　 445

DC Motor Control 　 445

Control Software Description 　 448

Problems　 453

13　FUZZY CONTROLLER 　 455

Introduction 　 455

Continuum World 　 455

Conventional Logic 　 457

Fuzzy Logic and Fuzzy Logic Terminology 　 457

Fuzzy Control System 　 475

Problem Identification 　 476

Conceptual Design 　 476

Problems 　 487

Introduction 　 491

14　CONTROLLER TUNING AND SYSTEM DESIGN 　 491

Controller Tuning 　 492

Performance Criteria 　 492

Controller Tuning:Known Plant Model 　 493

Plant Model from Experimental Response Testing 　 504

Step Response Test 504

Graphical Analysis 505

Computational Method 508

Frequency Response Test 511

Experimental Determination of Controller Setting 518

Continuous Cycling Method 518

Reaction Curve Method 519

Case Study:Machine Positional Control System 521

Drive Mechanism 522

Position Transducer 522

Problems 　 530

Feedforward Control 533

15　ADDITIONAL CONTROL TECHNIQUES 533

Introduction 533

Disturbance Signal 534

Ratio Control 537

Cascade Control 537

Autotuning Controller 539

State-Space Techniques 540

State Variables 540

State Equations 540

Transfer Function to State-Space Representation 543

Problems 545

BIBLIOGRAPHY 547

APPENDIX A MATLAB 549

GLOSSARY 559

INDEX 565