现代控制理论 Modern Control Theory ().ppt

The Principle of Automatic Control自动控制原理 Lecturers：Prof. Jiang Bin Dr. Lu Ningyun College of Automation Engineering NUAA，2008. Autumn NUAA-The Principle of Automatic Control Chapter 2 Modeling of control systems 控制系统建模 Review of Chap1 Important concepts Open-loop and closed-loop control systems? Advantages and disadvantages of OL and CL control systems? Basic requirements of a control system? How to analyze and design a control system The first thing is to establish system model (mathematical model) Chap2 Modeling of control systems 2-1 Introduction 2-2 Establishment of differential equation and linearization 2-3 Transfer function 2-4 Structure diagram 2-5 Signal-flow graphs 2-1 Introduction on mathematical models System model Definition： Mathematical expression of dynamic relationship between input and output of a control system. Three models Differential equation （微分方程） Transfer function （传递函数） Frequency characteristic （频率特性） Modeling methods Modeling methods Why Focus on LTI System (线性时不变系统) What is linear system? A system is called linear if the principle of superposition (叠加原理）applies For a LTI system 2.2 Establishment of differential equation and linearization Differential equation Linear ordinary differential equations (线性常微分方程） A wide range of systems in engineering are modeled mathematically by differential equations In general, the differential equation of an n-th order system is written How to establish ODE of a control system 首先要根据各个元件的物理规律，列写各个元件的微分方程，得到一个微分方程组，然后消去中间变量，即得控制系统总的输入和输出的微分方程。 Examples-1 RLC circuit 关于例1的一个思考题 能否直观地判断出一个电路系统是几阶微分方程？ Examples-2 the mass-spring-friction system Examples-3 Nonlinear system 现实中，绝大多数系统本质上都是非线性系统(nonlinear system)，例如钟摆系统(pendulum system) ，需要用非线性微分方程描述。 Linearization of nonlinear differential equations 控制系统会有意引入非线性特性以便取得更好的控制效果。 Methods of linearization 2-3 Transfer function (传递函数） Solving Differential Equations WHY need LAPLACE transform? Laplace Transform Exa