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1　BASIC CONCEPTS1

Introduction1

Control Terminology1

出版说明4

序5

PREFACE7

Functioning of a Control System 　8

Examples of Closed-Loop Control Systems 　9

Problems12

2　BLOCK DIAGRAMS13

Introduction13

Definition of a Block Diagram14

Summing Point15

Takeoff Point16

Block Diagram Representation of an Equation16

Block Diagram Representation of Control Systems17

General Transfer Function19

Transfer Functions19

Transfer Function of a Closed-Loop System20

Comparison of Positive-Feedback and Negative-Feedback Systems22

Unity Feedback Systems28

Conversion to a Unity Feedback System28

Block Diagram Simplification29

Op-Amp Simulation of a Block Diagram34

Summing Point35

Summing Point with Adjustable SP Input36

Gain Block38

Constant-Gain(Noninverting)Block38

Constant-Gain(Inverting)Block41

Takeoff Point 　41

Summing Point with Multiple Inputs　42

Problems50

Transformations54

3　LAPLACE TRANSFORMS54

Introduction54

Laplace Transform Integral55

Transform Notation56

Rules of Transformation 　56

Forward Transformation Procedure61

Inverse Transformation Procedure67

Partial-Fraction Expansion 　79

Distinct Roots 　80

Repeated Roots 　81

Applications of Laplace Transforms:Difierential Equations 　88

Problems93

4　MATHEMATICAL MODELING97

Introduction97

Mathematical Model98

Nonlinear Behavior98

Transfer Functions99

Electrical Networks100

Resistor101

Capacitor101

Inductor102

Series RC Circuit103

Series RL Circuit105

Series RLC Circuit107

Mechanical Systems112

Mass112

Spring113

Damper113

Spring Mass Damper System114

Analogy Between Physical Systems116

Fluid Systems117

Single-Tank Fluid-Level System117

Two-Tank Fluid-Level System119

Thermal Systems122

Heating Systems123

Problems124

5　TRANSIENT RESPONSE127

Introduction127

Time Response127

Input Functions129

Step Function129

Pulse Function131

Impulse Function132

Delayed Impulse Function133

Ramp Function134

Sinusoidal Function134

Types of Transient Responses135

Overdamped Response135

Underdamped Response136

Critically Damped Response136

Constant Oscillations137

Increasing Oscillations137

Exponential Rise138

Transient Response Through Laplace Transformation138

Impulse Function Response 　144

Characteristic Equation 　148

Poles and Zeros of the Transfer Function 　151

s-Plane and Pole-Zero Map153

Pole Location and Transient Response155

Problems160

6　FREQUENCY RESPONSE162

Introduction162

Methods Used for Frequency Response Representation164

Frequency Response Determination166

Problems186

Introduction189

7　COMMON TRANSFER FUNCTIONS189

Common Blocks(Transfer Functions)191

Constant Block192

Time Response of a Constant TF195

Frequency Response of a Constant Block195

Integral Block198

Time Response of an Integral Block198

Frequency Response of an Integral Block200

Derivative Block203

Time Response of a Derivative Block204

Frequency Response of a Derivative Block204

The Relationship Between Integral and Derivative Blocks208

First-Order Lag Block208

Time Response to a Unit Step Input209

Frequency Response of a First-Order Lag Block213

First-Order Lead Block219

Frequency Response of a First-Order Lead Block220

Time Response to a Unit Step Input220

Second-Order Lag Block224

Time Response to a Unit Step Input225

Characteristics of Underdamped Response231

Frequency Response of a Second-Order Lag Block234

Second-Order Lead Block238

Time Response to a Unit Step Input240

Frequency Response of a Second-Order Lead Block240

Dead Time:Transportation Lag Block241

Time Response to a Unit Step Input243

Frequency Response of a Dead-Time Block243

Problems244

8 STABILITY248

Introduction248

Concept of Stability248

Stability and the Open-Loop Transfer Function252

Open-Loop Gain and Operating Frequency255

Stability from a Bode Plot259

Gain and Phase Margins261

Gain and Phase Crossover Frequencies261

Gain Margin(GM)261

Phase Margin(PM)263

Desired Gain and Phase Margins264

Stability from the Characteristic Equation269

Routh Criterion for Stability271

Root Locus Analysis278

Root Locus Through MATLAB281

Problems288

9 CONTROLLERS:THE ON-OFF CONTROLLER291

Introduction291

Role of a Controller291

Types of Controllers292

Use of a Percent as Input and Output293

Measured Value as a Percentage Value295

Set Point as a Percentage Value296

Error as a Percentage Value296

On-Off Control298

Types of On-Off Control298

Electronic Implementation(Analog)299

Two-Position Control303

Neutral Zone304

Controller Action306

Applications308

Electronic Implementation309

Multiposition(Floating)Control315

Problems315

Introduction318

Proportional Controller(P)318

10 ANALOG CONTROLLER Ⅰ318

Transfer Characteristic319

Proportional Band321

Relationship Between Percent Output and Physical Controller Output322

Electronic Implementation326

Frequency Response of a Proportional Controller332

Proportional Control of a Closed Loop334

Steady-State Operation with Zero Error339

Proportional Controller with Offset346

Offset Voltage Adjustment346

Integral Controller(Ⅰ)346

Electronic Implementation353

Limiting DC Gain354

Frequency Response of an Ideal Integral Controller355

Frequency Response of a DC Gain-Limited Integral Controller356

Derivative Controller(D)359

Electronic Implementation365

Frequency Response of a Derivative Controller366

Limiting High-Frequency Gain367

Problems375

11 ANALOG CONTROLLER Ⅱ378

Introduction378

Composite Controller Modes378

Serial Implementation379

Parallel Implementation379

PI Controller380

Electronic Implementation of a PI Controller383

Frequency Response of a PI Controller384

PD Controller391

Electronic Implementation of a PD Controller393

Frequency Response of a PD Controller395

PID Controller400

Electronic Implementation410

Frequency Response of a PID Controller 　412

Changing the Operating Mode 　412

Problems 　417

12　DIGITAL CONTROLLER 　420

Introduction 　420

Digital Controller421

Controller Sequence of Operation 　422

Considerations for Digital Control424

Digital Two-Position Control426

Sequence of Operation 　426

Microcontroller Implementation of a Two-Position Controller 　427

Digital PID Controller 　433

Analog PID Algorithm 　433

Digital PID Algorithm433

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 Test504

Graphical Analysis505

Computational Method508

Frequency Response Test511

Experimental Determination of Controller Setting518

Continuous Cycling Method518

Reaction Curve Method519

Case Study:Machine Positional Control System521

Drive Mechanism522

Position Transducer522

Problems 　530

Feedforward Control533

15　ADDITIONAL CONTROL TECHNIQUES533

Introduction533

Disturbance Signal534

Ratio Control537

Cascade Control537

Autotuning Controller539

State-Space Techniques540

State Variables540

State Equations540

Transfer Function to State-Space Representation543

Problems545

BIBLIOGRAPHY547

APPENDIX A MATLAB549

GLOSSARY559

INDEX565