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Chapter1Introduction to Electromechanical Control Engineering機電控制工程概論1 11Introduction概述2/3 12Structures of Control Systems控制系統的結構4/3 121Open瞝oop control systems開環控制系統4/3 122Closed瞝oop control systems閉環控制系統4/5 123The composition of feedback control systems回饋控制系統的組成8/9 13The Classification of Control Systems控制系統的分類10/11 131The classification in terms of the characteristics of input signals按輸入信號的特徵分類10/11 132The classification in terms of realization ways of controllers按控制器的實現方式分類12/13 133The classification in terms of error按誤差分類12/13 14Basic Requirements of Control Systems控制系統的基本要求14/13 141Stability穩定性14/13 142Rapidity快速性14/15 143Accuracy準確性16/15 Chapter2Mathematical Models of Control Systems控制系統的數學模型18 21Differential Equations of Control Systems控制系統的微分方程20/21 211Linear systems and nonlinear systems線性系統與非線性系統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拉普拉斯變換30/31 221Definition of the Laplace transform拉普拉斯變換的定義30/31 222Laplace transforms of typical functions典型函數的拉普拉斯變換30/31 223Fundamental theorems of the Laplace transform拉普拉斯變換的基本定理32/33 224The inverse Laplace transform拉普拉斯反變換38/39 23The Transfer Function of Control Systems控制系統的傳遞函數42/45 231Definition of the transfer function傳遞函數的定義44/45 232Characteristics of the transfer function傳遞函數的特點44/45 233Forms of the transfer function傳遞函數的形式46/47 24Transfer Functions of Typical Elements典型環節的傳遞函數48/47 241Proportion element比例環節48/49 242Differential element微分環節48/49 243Integral element積分環節52/55 244Inertial element慣性環節54/55 245First瞣rder differential element一階微分環節56/57 246Second瞣rder oscillation element二階振盪環節56/57 247Second瞣rder differential element二階微分環節58/61 248Delay element延時環節60/61 25Function Block Diagrams of Control Systems控制系統的框圖模型60/63 251Basic connection modes of control systems控制系統的基本連接方式62/63 252The closed瞝oop control system under disturbances擾動作用下的閉環控制系統66/67 253The drawing of block diagrams框圖的繪製68/69 254The simplification of block diagrams框圖的簡化70/69 26Mathematical Models of Typical Control Systems典型控制系統的數學模型74/75 261Mechanical systems機械系統74/77 262Electrical systems電氣系統80/81 Chapter3Time睤omain Analysis of Control Systems控制系統的時域分析85 31Transient Response of Control Systems控制系統的瞬態回應86/87 311Typical input signals典型輸入信號86/87 312Time response時間回應92/93 313Time瞕omain performance indicators of control systems控制系統的時域性能指標94/95 32Mathematical Models and Time Response of First睴rder Systems一階系統的數學模型和時間回應98/97 321Mathematical models of first瞣rder systems一階系統的數學模型98/97 322Time response of first瞣rder systems一階系統的時間回應98/99 33Mathematical Models and Time Response of Second睴rder Systems二階系統的數學模型和時間回應106/107 331Mathematical models of second瞣rder systems二階系統的數學模型108/107 332Time response of second瞣rder systems二階系統的時間回應110/111 333Time瞕omain performance indicators of second瞣rder systems二階系統的時域性能指標116/119 34Time Response and Performance Analysis of Higher睴rder Systems高階系統的時間回應與性能分析126/127 341Time response of higher瞣rder systems高階系統的時間回應126/127 342Performance analysis of higher瞣rder systems高階系統的性能分析130/131 Chapter4Frequency Characteristic Analysis of Control Systems控制系統的頻率 特性分析13841Basic Concepts of Frequency Characteristics頻率特性的基本概念140/141 411Frequency response頻率回應140/141 412Frequency characteristics and solving methods頻率特性及其求取方法142/143 413Graphical representation of frequency characteristics頻率特性的圖形標記法146/145 42Frequency Characteristics of Typical Elements典型環節的頻率特性148/147 421Proportion element比例環節148/147 422Integral element and differential element積分環節和微分環節148/149 423Inertial element and first瞣rder differential element慣性環節和一階微分環節150/151 424Oscillation element and second瞣rder differential element振盪環節和二階微分環節154/157 425Time delay element延時環節160/161 43Open瞝oop Frequency Characteristics of Control Systems控制系統的開環頻率特性160/161 431The open瞝oop polar plot of control systems控制系統的開環極座標圖160/161 432The open瞝oop Bode plot of control systems控制系統的開環伯德圖174/175 44Closed瞝oop Frequency Characteristics of Control Systems控制系統的閉環頻率特性182/185 441Closed瞝oop frequency characteristics of control systems控制系統的閉環頻率特性182/185 442Estimation of closed瞝oop frequency characteristics using open瞝oop frequency characteristics利用開環頻率特性估計閉環頻率特性182/185 443Closed瞝oop frequency domain performance indicators of control systems控制系統的閉環頻域性能指標186/189 Chapter5Performance Analysis of Control Systems控制系統的性能分析193 51Stability Analysis of Control Systems控制系統的穩定性分析194/195 511Introduction概述194/195 512The algebraic stability criterion代數穩定性判據198/199 513The stability criterion of control systems in the frequency domain控制系統的頻域穩定性判據210/211 514Relative stability analysis of control systems控制系統的相對穩定性分析222/223 52Error Analysis of Control Systems控制系統的誤差分析232/235 521System error and error transfer function系統誤差和誤差傳遞函數234/235 522Analysis and calculation of system static errors系統靜態誤差分析與計算240/239 523Analysis and calculation of system dynamic errors系統動態誤差分析與計算248/251 524The relationship between open瞝oop characteristics and steady瞫tate error開環特性與穩態誤差的關係254/255 53Dynamic Performance Analysis of Control Systems控制系統的動態性能分析258/259 531The relationship between dynamic performance and open瞝oop frequency characteristics動態性能與開環頻率特性的關係258/259 532The relationship between dynamic performance and closed瞝oop frequency characteristics動態性能與閉環頻率特性的關係262/262 Chapter6Comprehensive Compensation of Control Systems控制系統的綜合校正269 61Introduction概述270/271 62Cascade Compensation of Control Systems控制系統的串聯校正272/271 621Phase瞝ead compensation相位超前校正272/273 622Phase瞝ag compensation相位滯後校正280/281 623Phase lag瞝ead compensation相位滯後渤前校正288/287 624PID compensationPID校正294/293 63Parallel Compensation of Control Systems控制系統的並聯校正300/299 631Feedback compensation回饋校正300/299 632Compound compensation複合校正302/301 Chapter7Analysis and Compensation of Control Systems based on MATLAB基於 MATLAB的控制系統分析與校正/30571Introduction概述306/307 711Basic operations and commands基本操作及命令306/307 712MATLAB functionsMATLAB函數310/311 713Plotting response curves繪製回應曲線310/311 72Description of Mathematical Models based on MATLAB基於MATLAB的數學模型描述316/317 721Description of mathematical models of continuous systems連續系統數學模型的描述316/317 722Transformations between various mathematical models各種數學模型之間的轉換324/325 723Control system modeling based on MATLAB基於MATLAB的控制系統建模326/325 724Modeling method based on Simulink基於Simulink的建模方法328/327 73Performance Analysis of Control Systems based on MATLAB基於MATLAB的控制系統性能分析330/329 731Time瞕omain analysis of control systems控制系統的時域分析330/329 732Frequency瞕omain analysis of control systems控制系統的頻域分析336/337 733Stability analysis of control systems控制系統的穩定性分析340/341 74Compensation of Control Systems based on MATLAB基於MATLAB的控制系統校正346/345 Appendix AExercises課後練習351 References參考文獻368
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