目录 目录Preface前言 Chapter1Introduction to Electromechanical Control Engineering机电控制工程概论1 11Introduction概述2/3 12Structures of Control Systems控制系统的结构4/3 121Open瞝oop control systems开环控制系统4/3 122Closed瞝oop control systems闭环控制系统4/5 123The composition of feedback control systems反馈控制系统的组成8/9 13The Classification of Control Systems控制系统的分类10/11 131The classification in terms of the characteristics of input signals按输入信号的特征分类10/11 132The classification in terms of realization ways of controllers按控制器的实现方式分类12/13 133The classification in terms of error按误差分类12/13 14Basic Requirements of Control Systems控制系统的基本要求14/13 141Stability稳定性14/13 142Rapidity快速性14/15 143Accuracy准确性16/15 Chapter2Mathematical Models of Control Systems控制系统的数学模型18 21Differential Equations of Control Systems控制系统的微分方程20/21 211Linear systems and nonlinear systems线性系统与非线性系统20/21 212The establishment of differential equations微分方程的建立24/25 213Solution of differential equations微分方程的求解28/29 22The Laplace Transform拉普拉斯变换30/31 221Definition of the Laplace transform拉普拉斯变换的定义30/31 222Laplace transforms of typical functions典型函数的拉普拉斯变换30/31 223Fundamental theorems of the Laplace transform拉普拉斯变换的基本定理32/33 224The inverse Laplace transform拉普拉斯反变换38/39 23The Transfer Function of Control Systems控制系统的传递函数42/45 231Definition of the transfer function传递函数的定义44/45 232Characteristics of the transfer function传递函数的特点44/45 233Forms of the transfer function传递函数的形式46/47 24Transfer Functions of Typical Elements典型环节的传递函数48/47 241Proportion element比例环节48/49 242Differential element微分环节48/49 243Integral element积分环节52/55 244Inertial element惯性环节54/55 245First瞣rder differential element一阶微分环节56/57 246Second瞣rder oscillation element二阶振荡环节56/57 247Second瞣rder differential element二阶微分环节58/61 248Delay element延时环节60/61 25Function Block Diagrams of Control Systems控制系统的框图模型60/63 251Basic connection modes of control systems控制系统的基本连接方式62/63 252The closed瞝oop control system under disturbances扰动作用下的闭环控制系统66/67 253The drawing of block diagrams框图的绘制68/69 254The simplification of block diagrams框图的简化70/69 26Mathematical Models of Typical Control Systems典型控制系统的数学模型74/75 261Mechanical systems机械系统74/77 262Electrical systems电气系统80/81 Chapter3Time睤omain Analysis of Control Systems控制系统的时域分析85 31Transient Response of Control Systems控制系统的瞬态响应86/87 311Typical input signals典型输入信号86/87 312Time response时间响应92/93 313Time瞕omain performance indicators of control systems控制系统的时域性能指标94/95 32Mathematical Models and Time Response of First睴rder Systems一阶系统的数学模型和时间 响应98/97 321Mathematical models of first瞣rder systems一阶系统的数学模型98/97 322Time response of first瞣rder systems一阶系统的时间响应98/99 33Mathematical Models and Time Response of Second睴rder Systems二阶系统的数学模型和时间 响应106/107 331Mathematical models of second瞣rder systems二阶系统的数学模型108/107 332Time response of second瞣rder systems二阶系统的时间响应110/111 333Time瞕omain performance indicators of second瞣rder systems二阶系统的时域性能 指标116/119 34Time Response and Performance Analysis of Higher睴rder Systems高阶系统的时间响应与性能 分析126/127 341Time response of higher瞣rder systems高阶系统的时间响应126/127 342Performance analysis of higher瞣rder systems高阶系统的性能分析130/131 Chapter4Frequency Characteristic Analysis of Control Systems控制系统的频率 特性分析13841Basic Concepts of Frequency Characteristics频率特性的基本概念140/141 411Frequency response频率响应140/141 412Frequency characteristics and solving methods频率特性及其求取方法142/143 413Graphical representation of frequency characteristics频率特性的图形表示法146/145 42Frequency Characteristics of Typical Elements典型环节的频率特性148/147 421Proportion element比例环节148/147 422Integral element and differential element积分环节和微分环节148/149 423Inertial element and first瞣rder differential element惯性环节和一阶微分环节150/151 424Oscillation element and second瞣rder differential element振荡环节和二阶微分环节154/157 425Time delay element延时环节160/161 43Open瞝oop Frequency Characteristics of Control Systems控制系统的开环频率特性160/161 431The open瞝oop polar plot of control systems控制系统的开环极坐标图160/161 432The open瞝oop Bode plot of control systems控制系统的开环伯德图174/175 44Closed瞝oop Frequency Characteristics of Control Systems控制系统的闭环频率特性182/185 441Closed瞝oop frequency characteristics of control systems控制系统的闭环频率特性182/185 442Estimation of closed瞝oop frequency characteristics using open瞝oop frequency characteristics 利用开环频率特性估计闭环频率特性182/185 443Closed瞝oop frequency domain performance indicators of control systems控制系统的闭环 频域性能指标186/189 Chapter5Performance Analysis of Control Systems控制系统的性能分析193 51Stability Analysis of Control Systems控制系统的稳定性分析194/195 511Introduction概述194/195 512The algebraic stability criterion代数稳定性判据198/199 513The stability criterion of control systems in the frequency domain控制系统的频域稳定性 判据210/211 514Relative stability analysis of control systems控制系统的相对稳定性分析222/223 52Error Analysis of Control Systems控制系统的误差分析232/235 521System error and error transfer function系统误差和误差传递函数234/235 522Analysis and calculation of system static errors系统静态误差分析与计算240/239 523Analysis and calculation of system dynamic errors系统动态误差分析与计算248/251 524The relationship between open瞝oop characteristics and steady瞫tate error开环特性与稳态 误差的关系254/255 53Dynamic Performance Analysis of Control Systems控制系统的动态性能分析258/259 531The relationship between dynamic performance and open瞝oop frequency characteristics 动态性能与开环频率特性的关系258/259 532The relationship between dynamic performance and closed瞝oop frequency characteristics 动态性能与闭环频率特性的关系262/262 Chapter6Comprehensive Compensation of Control Systems控制系统的综合校正269 61Introduction概述270/271 62Cascade Compensation of Control Systems控制系统的串联校正272/271 621Phase瞝ead compensation相位超前校正272/273 622Phase瞝ag compensation相位滞后校正280/281 623Phase lag瞝ead compensation相位滞后渤前校正288/287 624PID compensationPID校正294/293 63Parallel Compensation of Control Systems控制系统的并联校正300/299 631Feedback compensation反馈校正300/299 632Compound compensation复合校正302/301 Chapter7Analysis and Compensation of Control Systems based on MATLAB基于 MATLAB的控制系统分析与校正/30571Introduction概述306/307 711Basic operations and commands基本操作及命令306/307 712MATLAB functionsMATLAB函数310/311 713Plotting response curves绘制响应曲线310/311 72Description of Mathematical Models based on MATLAB基于MATLAB的数学模型描述316/317 721Description of mathematical models of continuous systems连续系统数学模型的描述316/317 722Transformations between various mathematical models各种数学模型之间的转换324/325 723Control system modeling based on MATLAB基于MATLAB的控制系统建模326/325 724Modeling method based on Simulink基于Simulink的建模方法328/327 73Performance Analysis of Control Systems based on MATLAB基于MATLAB的控制系统性能 分析330/329 731Time瞕omain analysis of control systems控制系统的时域分析330/329 732Frequency瞕omain analysis of control systems控制系统的频域分析336/337 733Stability analysis of control systems控制系统的稳定性分析340/341 74Compensation of Control Systems based on MATLAB基于MATLAB的控制系统校正346/345 Appendix AExercises课后练习351 References参考文献368
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