Transcript 控制系統的定義

Control Systems Engineering
Ch.1 Introduction
Control Systems Engineering, Fourth Edition by Norman S. Nise
Copyright © 2004 by John Wiley & Sons. All rights reserved.
Control Systems Engineering, Fourth Edition by Norman S. Nise
Copyright © 2004 by John Wiley & Sons. All rights reserved.
學習成果 Learning Outcomes
學習控制系統的:
• 定義 and 案例說明 (1.1)
• 發展沿革 (1.2)
• 分類 and 組成 (1.3)
• 分析 and 設計目標(1.4)
• 設計步驟 (1.5-1.6)
Control Systems Engineering, Fourth Edition by Norman S. Nise
Copyright © 2004 by John Wiley & Sons. All rights reserved.
控制系統的定義: 找兩個現象間的關係
案例: 牛頓第二定律 F=Ma
Figure 1.1
Simplified description of a control system
Control Systems Engineering, Fourth Edition by Norman S. Nise
Copyright © 2004 by John Wiley & Sons. All rights reserved.
Control Systems Engineering, Fourth Edition by Norman S. Nise
Copyright © 2004 by John Wiley & Sons. All rights reserved.
控制=找兩個現象間的關係
•手推車車速之控制 推力與車速的關係
•汽車車速之控制
油門與車速的關係
•電梯之控制 (圖)
馬達與電梯位置的關係
馬達與電梯速度的關係
•軍艦航向之控制(圖) 船舵與軍艦航向的關係
•鋼板厚度之控制 馬達與滾壓棍間隙的關係
Control Systems Engineering, Fourth Edition by Norman S. Nise
Copyright © 2004 by John Wiley & Sons. All rights reserved.
Figure 1.3 Elevators
Photos courtesy of United
Technologies Otis Elevator.
a. Early elevators were
controlled by hand
ropes or an elevator
operator. Here, a rope is
cut to demonstrate the
safety brake, an
innovation in early
elevators;
b. Modern Duo-lift
elevators make their
way up the Grande
Arche in Paris, driven by
one motor, with each
car counterbalancing
the other. Today,
elevators are fully
automatic, using control
systems to regulate
position and velocity.
Control Systems Engineering, Fourth Edition by Norman S. Nise
Copyright © 2004 by John Wiley & Sons. All rights reserved.
Control Systems Engineering, Fourth Edition by Norman S. Nise
Copyright © 2004 by John Wiley & Sons. All rights reserved.
控制系統設計的標的 電梯性能
暫態反應 + 穩態誤差
Figure1.2 Elevator response
Control Systems Engineering, Fourth Edition by Norman S. Nise
Copyright © 2004 by John Wiley & Sons. All rights reserved.
優勢 Advantages
Figure 1.4
Rover was built to
work in
contaminated
areas at Three Mile
Island in Middleton,
PA, where a nuclear
accident occurred in
1979. The remote
controlled robot’s long
arm can be seen at the
front of the vehicle.
Control Systems Engineering, Fourth Edition by Norman S. Nise
Copyright © 2004 by John Wiley & Sons. All rights reserved.
學習成果 Learning Outcomes
學習控制系統的:
• 定義 and 案例說明 (1.1)
• 發展沿革 (1.2)
• 分類 and 組成 (1.3)
• 分析 and 設計目標(1.4)
• 設計步驟 (1.5-1.6)
Control Systems Engineering, Fourth Edition by Norman S. Nise
Copyright © 2004 by John Wiley & Sons. All rights reserved.
1. 水(液)位控制 Liquid-Level Control
希臘300B.C. 抽水馬捅
2. 蒸氣壓力控制、溫度控制
1681
3. 速度控制
1745
調整葉片迎風面
控制風車轉速
Control Systems Engineering, Fourth Edition by Norman S. Nise
Copyright © 2004 by John Wiley & Sons. All rights reserved.
4. 穩定度、穩定度操控
不穩定系統—翻船、翻滾的飛彈；理論始自1868
19世紀後期，船艦穩定度的操控是主流
5. 20世紀的發展
1920 船艦的自動導航系統問世
1950 應用於飛機的操控
20世紀後期: 各式導彈，自動化生產、商業系統
6. 當代的應用
Fig.1.5
Control Systems Engineering, Fourth Edition by Norman S. Nise
Copyright © 2004 by John Wiley & Sons. All rights reserved.
Figure 1.5
a. Video laser disc
player;
b. objective lens
reading pits on a
laser disc;
c. optical path for
playback showing
tracking mirror rotated by a
control system to keep the
laser beam positioned on the
pits.
(a)
(b)
(c)
(c) Pioneer Electronics, Inc.
Control Systems Engineering, Fourth Edition by Norman S. Nise
Copyright © 2004 by John Wiley & Sons. All rights reserved.
學習成果 Learning Outcomes
學習控制系統的:
• 定義 and 案例說明 (1.1)
• 發展沿革 (1.2)
• 分類 and 組成結構 (1.3)
• 分析 and 設計目標(1.4)
• 設計步驟 (1.5-1.6)
Control Systems Engineering, Fourth Edition by Norman S. Nise
Copyright © 2004 by John Wiley & Sons. All rights reserved.
Figure 1.6
Block
diagrams of
control
systems:
a. open-loop
system;
b. closedloop system；
open-loop system
closed-loop system
Computer-controlled system: 控制器由電腦取代
Control Systems Engineering, Fourth Edition by Norman S. Nise
Copyright © 2004 by John Wiley & Sons. All rights reserved.
學習成果 Learning Outcomes
學習控制系統的:
• 定義 and 案例說明 (1.1)
• 發展沿革 (1.2)
• 分類 and 組成結構 (1.3)
• 分析 and 設計目標 (1.4)
• 設計步驟 (1.5-1.6)
Control Systems Engineering, Fourth Edition by Norman S. Nise
Copyright © 2004 by John Wiley & Sons. All rights reserved.
Figure 1.7 案例
Computer hard disk
drive, showing disks
and read/write head
Courtesy of Quantum Corp.
Control Systems Engineering, Fourth Edition by Norman S. Nise
Copyright © 2004 by John Wiley & Sons. All rights reserved.
分析、設計目標:
暫態反應 Transient Response
穩態反應 Steady-state response
穩定度 Stability
Figure1.5
Elevator input and output
Control Systems Engineering, Fourth Edition by Norman S. Nise
Copyright © 2004 by John Wiley & Sons. All rights reserved.
Figure 1.8 案例
The search for
extraterrestrial life is
being carried out with
radio antennas like the one
pictured here. A radio
antenna is an
example of a system
with position controls.
© Peter Menzel.
Control Systems Engineering, Fourth Edition by Norman S. Nise
Copyright © 2004 by John Wiley & Sons. All rights reserved.
Figure 1.9
Antenna azimuth
position control
system:
a. system
concept;
b. detailed
layout;
c. schematic;
d. functional
block diagram
Control Systems Engineering, Fourth Edition by Norman S. Nise
Copyright © 2004 by John Wiley & Sons. All rights reserved.
Control Systems Engineering, Fourth Edition by Norman S. Nise
Copyright © 2004 by John Wiley & Sons. All rights reserved.
Figure 1.12
Equivalent block
diagram for the
antenna azimuth
position control
system
Control Systems Engineering, Fourth Edition by Norman S. Nise
Copyright © 2004 by John Wiley & Sons. All rights reserved.
暫態反應
控制系統設計的標的
衛星天線性能
Figure 1.10
Response of a
position control
system showing effect
of high and low
controller gain on the
output response
Control Systems Engineering, Fourth Edition by Norman S. Nise
Copyright © 2004 by John Wiley & Sons. All rights reserved.
學習成果 Learning Outcomes
學習控制系統的:
• 定義 and 案例說明 (1.1)
• 發展沿革 (1.2)
• 分類 and 組成結構 (1.3)
• 分析 and 設計目標 (1.4)
• 設計步驟 (1.5-1.6)
Control Systems Engineering, Fourth Edition by Norman S. Nise
Copyright © 2004 by John Wiley & Sons. All rights reserved.
Figure 1.11
The control system design process
Control Systems Engineering, Fourth Edition by Norman S. Nise
Copyright © 2004 by John Wiley & Sons. All rights reserved.
以牛頓第二定律為例:
F(t) = M a(t)
Taking Laplace: F(t) = M a(t) → F(s) = M a(s)
Output/input = M;
a/F = M ; F(s) = M a(s)
Control Systems Engineering, Fourth Edition by Norman S. Nise
Copyright © 2004 by John Wiley & Sons. All rights reserved.
Figure 2.15
a. Mass, spring, and damper system;
b. block diagram
Control Systems Engineering, Fourth Edition by Norman S. Nise
Copyright © 2004 by John Wiley & Sons. All rights reserved.
Table 1.1
Test waveforms used in control systems
Control Systems Engineering, Fourth Edition by Norman S. Nise
Copyright © 2004 by John Wiley & Sons. All rights reserved.
Figure P1.1
Potentiometer
Control Systems Engineering, Fourth Edition by Norman S. Nise
Copyright © 2004 by John Wiley & Sons. All rights reserved.
Figure P1.2
Aircraft attitude defined
Control Systems Engineering, Fourth Edition by Norman S. Nise
Copyright © 2004 by John Wiley & Sons. All rights reserved.
Figure P1.3
Winder
© J. Ayers, 1988.
Control Systems Engineering, Fourth Edition by Norman S. Nise
Copyright © 2004 by John Wiley & Sons. All rights reserved.
Figure P1.4
Control of a nuclear
reactor
Control Systems Engineering, Fourth Edition by Norman S. Nise
Copyright © 2004 by John Wiley & Sons. All rights reserved.
Figure P1.5
Grinder system
© 1997, ASME.
Control Systems Engineering, Fourth Edition by Norman S. Nise
Copyright © 2004 by John Wiley & Sons. All rights reserved.
Figure P1.6
High-speed proportional solenoid valve
© 1996, ASME.
Control Systems Engineering, Fourth Edition by Norman S. Nise
Copyright © 2004 by John Wiley & Sons. All rights reserved.
Figure P1.7
RL network
Control Systems Engineering, Fourth Edition by Norman S. Nise
Copyright © 2004 by John Wiley & Sons. All rights reserved.
Figure P1.8
RLC network
Control Systems Engineering, Fourth Edition by Norman S. Nise
Copyright © 2004 by John Wiley & Sons. All rights reserved.
Figure P1.9
High-speed rail
system showing
pantograph and
catenary
© 1997, ASME.
Control Systems Engineering, Fourth Edition by Norman S. Nise
Copyright © 2004 by John Wiley & Sons. All rights reserved.