Transcript 自动控制原理 The Principle of Automatic Control 西南交通大学电气工程学院

自动控制原理
The Principle of
Automatic Control
朱英华(Catherine)
西南交通大学电气工程学院
复习
Summary of Chapter 1
『』 Phases in control theory development
Classical control phase
Modern control phase
『』 Three main methods in classical control theory
Time domain analysis
Frequency domain analysis
Root locus analysis
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复习
『』 The analytic method in modern control theory
State space method
『』 Two important concepts
Control system
Automatic control system
『』 Configuration of an automatic control system
Reference input
Comparison
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Output
Controller
Measurement device
Process Disturbance
复习
『』 Two basic control modes
Open-loop control
Closed-loop control
『』 Three respects in control system analysis
Stability
Accuracy
Rapidness
『』 The design process of a control system
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复习
Summary of Chapter 2
『』 Three I/O models
Differential equations
Transfer functions
Frequency characteristics
『』 Block diagram model and its reduction
『』 Signal-flow graph models and Mason’s loop rule
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复习
『』 State space models
『』 Transformation between transfer functions and
state space models
『』 Examples for establishing mathematical models
『』 Simulation by using Matlab
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复习
Summary of Chapter 3
『』 Transient response analyzing
Typical test inputs
Performance of a second-order system, performance
indices and evaluation
Effects of a zero and a third pole on the second-order
system response
The concept of dominant poles
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复习
『』 Stability analyzing
The concept of stability and how to ascertain the
stability of a LTI system
The Routh criterion
『』 Steady-state analyzing
The concept of steady-state error
Steady-state error evaluation
『』 Simulation using Matlab
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复习
Summary of Chapter 4
『』 Root locus and root locus equations
The concept of root locus
The relationship between performance and roots location
The magnitude criterion and angle criterion of root locus
『』 Root locus procedure
Ten steps
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复习
Calculate asymptotes
n
A 
 ( p
j 1
m
oj
)   (  zoi )
i 1
nm
180  k 360
A 
nm
k  0,1,2,, ( n  m  1)
Calculate breakaway points
 po ( s ) zo ( s )  zo ( s ) po ( s )  0

K 0

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180  360 k
d 
l
( k  0,1,, l  1)
复习
Calculate angles of departure (complex poles) and
angles of arrival (complex zeros)
m
  p  180   ( por  zoi ) 
or
i 1
n
  z  180   ( -zor  poj ) 
or
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j 1
n
 ( p
j 1 j  r
or
m
 ( -z
i 1 i  r
or
 poj )
 zoi )
复习
『』 Generalized root locus
Parameter root locus
Zero-degree root locus
『』 Simulation using Matlab
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复习
Summary of Chapter 5
『』 Frequency response and frequency characteristic
The concept of frequency response
The concept of frequency characteristic
『』 Polar plot and Bode plot
How to sketch the plots?
Bode plots of some basic factors
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复习
『』 Mapping theorem
『』 Nyquist stability criterion
The number of closedloop poles in the righthand s-plane
Z  N P
The number of open-loop poles
in the right-hand s-plane
The number of clockwise
encirclements of the (-1,j0)
point
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复习
『』 Minimum phase system
What is a minimum phase system?
『』 Stability margins
Phase margin
Frequency for magnitude=1 (0 dB)
 pm  180   c 
Gain margin
Frequency for phase=-180°
GM  20 lg gm  20 lg GH ( j g ) (dB )
『』 Simulation using Matlab
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复习
Summary of Chapter 6
『』 How to select compensation method
Frequency compensation method
Root locus compensation method
Cascade phase-lead compensation method
Cascade phase-lag compensation method
Cascade phase-lag-lead compensation method
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复习
『』 How to design cascade compensator
Cascade phase-lead compensator
Cascade phase-lag compensator
Cascade phase-lag-lead compensator
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复习
Summary of Chapter 7
『』 The definition of Describing function
『』 The definition of Reciprocal of negative
describing function
『』 How to analyze the stability of the
nonlinear system
『』 How to analyze the oscillation of the
nonlinear system
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