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Part 1 Electrics and Electronics 3

Chapter 1 Analog Signal Processing 3

Text A Circuit Elements and Interconnection Laws 3

1.1 Generic Circuit Elements 3

1.2 Ideal Circuit Elements 4

1.3 Ideal and Real-World Circuit Elements 6

1.4 Electric Circuits and Interconnection Laws 7

1.5 Power Dissipation in Resistor Circuits 9

Vocabulary 10

Exercises 10

Text B Equivalent Circuits 11

1.6 Series and Parallel Circuits 11

1.7 Equivalent Circuits：Resistors and Sources 16

Vocabulary 19

Exercises 19

Notes on Science Research English 20

Chapter 2 Circuit Analysis 22

Text A Circuit Analysis in Frequency Domain 22

2.1 Time and Frequency Domains 22

2.2 Power in the Frequency Domain 24

2.3 Transfer Functions 25

2.4 Designing Transfer Functions 28

Vocabulary 30

Exercises 30

Text B Node Method and Power Conservation 32

2.5 Formal Circuit Methods：Node Method 32

2.6 Power Conservation in Circuits 35

2.7 Electronics 36

Vocabulary 37

Exercises 37

Notes on Science Research English 38

Chapter 3 Signals and Systems 40

Text A Analog and Discrete-Time Signals 40

3.1 Elemental Signals 40

3.2 Signal Decomposition 43

3.3 Discrete-Time Signals 43

Vocabulary 45

Exercises 46

Text B Simple Systems and Communication Systems 47

3.4 An Introduction to Systems 47

3.5 Simple Systems 48

3.6 Structure of Communication Systems 51

Vocabulary 53

Exercises 53

Notes on Science Research English 54

Chapter 4 Operational Amplifiers and Sampling Theorem 56

Text A Operational Amplifiers 56

4.1 Dependent Sources 56

4.2 Operational Ampliers 58

Vocabulary 62

Exercises 63

Text B The Sampling Theorem 64

4.3 An Introduction to Computer Organization 64

4.4 The Sampling Theorem 66

4.5 Amplitude Quantization 68

Vocabulary 70

Exercises 71

Notes on Science Research English 72

Part 2 Electric Motors and Drives 75

Chapter 5 DC Motor Steady-State and Transient Analysis 75

Text A DC Motor Steady-State Characteristics 75

5.1 No-Load Speed 76

5.2 Performance Calculation - Example 76

5.3 Behaviour When Loaded 78

5.4 Base Speed and Field Weakening 81

5.5 Armature Reaction 83

5.6 Maximum Output Power 84

Vocabulary 85

Exercises 86

Text B DC Motor Transient Behavior 87

5.7 Dynamic Behavior and Time-Constants 88

Vocabulary 90

Exercises 90

Notes on Science Research English 91

Chapter 6 DC Motor Drives 93

Text A Thyristor DC Drivers 93

6.1 Motor Operation with Converter Supply 94

6.2 Motor Current Waveforms 95

6.3 Discontinuous Current 96

6.4 Converter Output Impedance： Overlap 99

6.5 Four-Quadrant Operation and Inversion 100

Vocabulary 101

Exercises 101

Text B Control Arrangements for DC Drives 103

6.6 Current control 104

6.7 Torque control 106

6.8 Speed control 106

6.9 Armature voltage feedback and IR compensation 108

Vocabulary 108

Exercises 109

Notes on Science Research English 110

Chapter 7 Operating Characteristics and Equivalent Circuit of Induction Motors 111

Text A Operating Regions and Control Methods 111

7.1 Run-up and Stable Operating Regions 111

7.2 Speed Control 115

7.3 Power Factor Control 117

Vocabulary 118

Exercises 119

Text B Induction Motor Equivalent Circuit 120

7.4 Development of The Induction Motor Equivalent Circuit 120

7.5 Approximate Equivalent Circuits 122

Vocabulary 125

Exercises 126

Notes on Science Research English 127

Chapter 8 Stepping Motor Characteristics and Drives 128

Text A Motor Characteristics and Ideal Drive 128

8.1 Motor Characteristics 128

8.2 Ideal Constant-Current Drive 133

Vocabulary 136

Exercises 137

Text B Motor Drives Circuits 138

8.3 Constant-Voltage Drive 138

8.4 Current-Forced Drive 139

8.5 Chopper Drive 141

8.6 Resonances and Instability 142

Vocabulary 143

Exercises 144

Notes on Science Research English 145

Part 3 Fundamental of Control Systems 149

Chapter 9 Control Systems Basics 149

Text A Concepts of Control System 149

9.1 Introduction 149

9.2 Feedback Control Systems 150

9.3 Plant Characteristics 151

9.4 Controller Structure and Design Parameters 154

9.5 Block Diagrams 155

9.6 Performance Specifications 157

9.7 System Stability 158

Vocabulary 159

Exercises 160

Text B Practical Aspects of a Control System 161

9.8 Control System Testing 161

9.9 Computer-Aided Control System Design 163

Vocabulary 163

Exercises 163

Notes on Science Research English 165

Chapter 10 Classical Control System Design 166

Text A PID Control 166

10.1 The Structure of a PID Control 166

10.2 Proportional（P） control 168

10.3 Proportional Plus Derivative （PD） Control 169

10.4 Proportional Plus Integral（PI） Control 171

10.5 Put All in One—PID Control 172

10.6 Actuator Saturation in PID Control 173

Vocabulary 174

Exercises 174

Text B Root Locus and Frequency Design Methods 176

10.7 Introduction 176

10.8 Root Locus Design 176

10.9 Bode Design 184

10.10 Summary 187

Vocabulary 187

Exercises 188

Notes on Science Research English 189

Chapter 11 Modern Control System Design 191

Text A Pole Placement Design 191

11.1 Controllability of the plant 191

11.2 Observability of the Plant 193

11.3 Pole Placement Approach 194

11.4 Summary 199

Vocabulary 200

Exercises 200

Text B Optimal control design 201

11.5 Concepts of Optimal Control 201

11.6 Linear Quadratic Regulator （LQR） Design 204

11.7 Kalman state estimation 206

11.8 Combined Observer-Controller 209

11.9 Summary 210

Vocabulary 210

Exercises 211

Notes on Science Research English 212

Chapter 12 MIMO Systems 214

Text A Pole Placement for an Aircraft Glide Slop Control System 214

12.1 Concepts of MIMO Systems 214

12.2 Control Design for an Aircraft Glide Slop System 215

Vocabulary 219

Exercises 220

Text B Optimal Control for an Inverted Pendulum System 221

12.3 Control Design of the Controller 223

12.4 Control Design of the Observer 224

Vocabulary 227

Exercises 228

Notes on Science Research English 229

Part 4 Advanced Control Systems 233

Chapter 13 Adaptive Control and Predictive Control 233

Text A Model-Free Adaptive （MFA） Control 233

13.1 Concept and Significance of Model-Free Adaptive Control 237

13.2 Process Knowledge Issue 237

13.3 Process Identification Issue 238

13.4 Controller Design Issue 238

13.5 Controller Parameter Tuning Issue 239

13.6 System Stability Issue 239

13.7 Single-Loop MFA Control System Structure 240

13.8 Control Objective 240

13.9 MFA Controller Architecture 241

13.10 MFA Control System Requirements 241

13.11 MFA vs P1D Control Comparison 242

13.12 MFA vs Other Control Methods Comparison 242

Vocabulary 243

Exercises 244

Text B Model Predictive Control Design in a Velocity form Model 245

13.13 State space models 245

13.14 Prediction of Future States and Output 247

13.15 State Estimation 249

13.16 Implementation of the MPC Strategy 251

Vocabulary 252

Exercises 252

Notes on Science Research English 254

Chapter 14 Fuzzy Control and ANN Control Systems 256

Text A Fuzzy Logic ＆ Fuzzy Control 256

14.1 Fuzzification and Defuzzification 258

14.2 Building a Fuzzy Controller 262

14.3 Applications in Control Engineering 264

Vocabulary 265

Exercise 265

Text B Artificial Neural Networks for Control 266

14.4 ANN for Intelligent Control 267

14.5 Basic Theory of ANNs 269

14.6 Case study 1：Fault Isolation Mapping 271

14.7 Case study 2： Hopfield Network Optimizing 273

14.8 Summarization 274

Vocabulary 274

Exercise 275

Notes on Science Research English 276

Chapter 15 AI Control for Robots 281

Text A AI Robotics 281

15.1 Overview of AI Control of Robots 281

15.2 Industrial Manipulators 285

15.3 Automatic Guided Vehicles 288

15.4 Space Robotics and the AI Approach 289

15.5 Teleoperation 290

15.6 The Seven Areas of AI 294

Summarization 295

Vocabulary 296

Exercises 297

Text B Three Paradigms of A1 Control for Robots 298

15.7 Robots Primitives 298

15.8 Hierarchical Paradigm 299

15.9 Reactive Paradigm 300

15.10 Hybrid Deliberative/Reactive Paradigm 301

15.11 Architectures 302

Vocabulary 303

Exercises 303

Notes on Science Research English 305

词汇总 311

参考文献 325