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Part 1 Electrics and Electronics3

Chapter 1 Analog Signal Processing3

Text A Circuit Elements and Interconnection Laws3

1.1 Generic Circuit Elements3

1.2 Ideal Circuit Elements4

1.3 Ideal and Real-World Circuit Elements6

1.4 Electric Circuits and Interconnection Laws7

1.5 Power Dissipation in Resistor Circuits9

Vocabulary10

Exercises10

Text B Equivalent Circuits11

1.6 Series and Parallel Circuits11

1.7 Equivalent Circuits：Resistors and Sources16

Vocabulary19

Exercises19

Notes on Science Research English20

Chapter 2 Circuit Analysis22

Text A Circuit Analysis in Frequency Domain22

2.1 Time and Frequency Domains22

2.2 Power in the Frequency Domain24

2.3 Transfer Functions25

2.4 Designing Transfer Functions28

Vocabulary30

Exercises30

Text B Node Method and Power Conservation32

2.5 Formal Circuit Methods：Node Method32

2.6 Power Conservation in Circuits35

2.7 Electronics36

Vocabulary37

Exercises37

Notes on Science Research English38

Chapter 3 Signals and Systems40

Text A Analog and Discrete-Time Signals40

3.1 Elemental Signals40

3.2 Signal Decomposition43

3.3 Discrete-Time Signals43

Vocabulary45

Exercises46

Text B Simple Systems and Communication Systems47

3.4 An Introduction to Systems47

3.5 Simple Systems48

3.6 Structure of Communication Systems51

Vocabulary53

Exercises53

Notes on Science Research English54

Chapter 4 Operational Amplifiers and Sampling Theorem56

Text A Operational Amplifiers56

4.1 Dependent Sources56

4.2 Operational Ampliers58

Vocabulary62

Exercises63

Text B The Sampling Theorem64

4.3 An Introduction to Computer Organization64

4.4 The Sampling Theorem66

4.5 Amplitude Quantization68

Vocabulary70

Exercises71

Notes on Science Research English72

Part 2 Electric Motors and Drives75

Chapter 5 DC Motor Steady-State and Transient Analysis75

Text A DC Motor Steady-State Characteristics75

5.1 No-Load Speed76

5.2 Performance Calculation - Example76

5.3 Behaviour When Loaded78

5.4 Base Speed and Field Weakening81

5.5 Armature Reaction83

5.6 Maximum Output Power84

Vocabulary85

Exercises86

Text B DC Motor Transient Behavior87

5.7 Dynamic Behavior and Time-Constants88

Vocabulary90

Exercises90

Notes on Science Research English91

Chapter 6 DC Motor Drives93

Text A Thyristor DC Drivers93

6.1 Motor Operation with Converter Supply94

6.2 Motor Current Waveforms95

6.3 Discontinuous Current96

6.4 Converter Output Impedance： Overlap99

6.5 Four-Quadrant Operation and Inversion100

Vocabulary101

Exercises101

Text B Control Arrangements for DC Drives103

6.6 Current control104

6.7 Torque control106

6.8 Speed control106

6.9 Armature voltage feedback and IR compensation108

Vocabulary108

Exercises109

Notes on Science Research English110

Chapter 7 Operating Characteristics and Equivalent Circuit of Induction Motors111

Text A Operating Regions and Control Methods111

7.1 Run-up and Stable Operating Regions111

7.2 Speed Control115

7.3 Power Factor Control117

Vocabulary118

Exercises119

Text B Induction Motor Equivalent Circuit120

7.4 Development of The Induction Motor Equivalent Circuit120

7.5 Approximate Equivalent Circuits122

Vocabulary125

Exercises126

Notes on Science Research English127

Chapter 8 Stepping Motor Characteristics and Drives128

Text A Motor Characteristics and Ideal Drive128

8.1 Motor Characteristics128

8.2 Ideal Constant-Current Drive133

Vocabulary136

Exercises137

Text B Motor Drives Circuits138

8.3 Constant-Voltage Drive138

8.4 Current-Forced Drive139

8.5 Chopper Drive141

8.6 Resonances and Instability142

Vocabulary143

Exercises144

Notes on Science Research English145

Part 3 Fundamental of Control Systems149

Chapter 9 Control Systems Basics149

Text A Concepts of Control System149

9.1 Introduction149

9.2 Feedback Control Systems150

9.3 Plant Characteristics151

9.4 Controller Structure and Design Parameters154

9.5 Block Diagrams155

9.6 Performance Specifications157

9.7 System Stability158

Vocabulary159

Exercises160

Text B Practical Aspects of a Control System161

9.8 Control System Testing161

9.9 Computer-Aided Control System Design163

Vocabulary163

Exercises163

Notes on Science Research English165

Chapter 10 Classical Control System Design166

Text A PID Control166

10.1 The Structure of a PID Control166

10.2 Proportional（P） control168

10.3 Proportional Plus Derivative （PD） Control169

10.4 Proportional Plus Integral（PI） Control171

10.5 Put All in One—PID Control172

10.6 Actuator Saturation in PID Control173

Vocabulary174

Exercises174

Text B Root Locus and Frequency Design Methods176

10.7 Introduction176

10.8 Root Locus Design176

10.9 Bode Design184

10.10 Summary187

Vocabulary187

Exercises188

Notes on Science Research English189

Chapter 11 Modern Control System Design191

Text A Pole Placement Design191

11.1 Controllability of the plant191

11.2 Observability of the Plant193

11.3 Pole Placement Approach194

11.4 Summary199

Vocabulary200

Exercises200

Text B Optimal control design201

11.5 Concepts of Optimal Control201

11.6 Linear Quadratic Regulator （LQR） Design204

11.7 Kalman state estimation206

11.8 Combined Observer-Controller209

11.9 Summary210

Vocabulary210

Exercises211

Notes on Science Research English212

Chapter 12 MIMO Systems214

Text A Pole Placement for an Aircraft Glide Slop Control System214

12.1 Concepts of MIMO Systems214

12.2 Control Design for an Aircraft Glide Slop System215

Vocabulary219

Exercises220

Text B Optimal Control for an Inverted Pendulum System221

12.3 Control Design of the Controller223

12.4 Control Design of the Observer224

Vocabulary227

Exercises228

Notes on Science Research English229

Part 4 Advanced Control Systems233

Chapter 13 Adaptive Control and Predictive Control233

Text A Model-Free Adaptive （MFA） Control233

13.1 Concept and Significance of Model-Free Adaptive Control237

13.2 Process Knowledge Issue237

13.3 Process Identification Issue238

13.4 Controller Design Issue238

13.5 Controller Parameter Tuning Issue239

13.6 System Stability Issue239

13.7 Single-Loop MFA Control System Structure240

13.8 Control Objective240

13.9 MFA Controller Architecture241

13.10 MFA Control System Requirements241

13.11 MFA vs P1D Control Comparison242

13.12 MFA vs Other Control Methods Comparison242

Vocabulary243

Exercises244

Text B Model Predictive Control Design in a Velocity form Model245

13.13 State space models245

13.14 Prediction of Future States and Output247

13.15 State Estimation249

13.16 Implementation of the MPC Strategy251

Vocabulary252

Exercises252

Notes on Science Research English254

Chapter 14 Fuzzy Control and ANN Control Systems256

Text A Fuzzy Logic ＆ Fuzzy Control256

14.1 Fuzzification and Defuzzification258

14.2 Building a Fuzzy Controller262

14.3 Applications in Control Engineering264

Vocabulary265

Exercise265

Text B Artificial Neural Networks for Control266

14.4 ANN for Intelligent Control267

14.5 Basic Theory of ANNs269

14.6 Case study 1：Fault Isolation Mapping271

14.7 Case study 2： Hopfield Network Optimizing273

14.8 Summarization274

Vocabulary274

Exercise275

Notes on Science Research English276

Chapter 15 AI Control for Robots281

Text A AI Robotics281

15.1 Overview of AI Control of Robots281

15.2 Industrial Manipulators285

15.3 Automatic Guided Vehicles288

15.4 Space Robotics and the AI Approach289

15.5 Teleoperation290

15.6 The Seven Areas of AI294

Summarization295

Vocabulary296

Exercises297

Text B Three Paradigms of A1 Control for Robots298

15.7 Robots Primitives298

15.8 Hierarchical Paradigm299

15.9 Reactive Paradigm300

15.10 Hybrid Deliberative/Reactive Paradigm301

15.11 Architectures302

Vocabulary303

Exercises303

Notes on Science Research English305

词汇总311

参考文献325