计算机控制系统(英文版) Chapter 1 Computer Control Theory and Design.ppt

* 1.4 Computer-Control Theory 1.4.4 Aliasing Aliasing: The phenomenon that the sampling process creates new frequency components. Sampling of a signal with frequency ? creates signal components with frequencies where ?s is the sampling frequency, and n is an arbitrary integer. * 1.4 Computer-Control Theory * 1.4 Computer-Control Theory * 1.4 Computer-Control Theory * 1.4 Computer-Control Theory Phenomena: Fig 1.10 and Fig. 1.11 are examples which indicate that sampling creates lower frequencies. Fig. 1.12 is the example shows sampling creates higher frequencies. Conclusions: From equation (1.6), we see that there will be low-frequency components created whenever the sampled signal contains frequencies are larger than half the sampling frequency. All show that CCS cannot be fully understood within CTS framework, it is thus useful to have other tools for analysis. * 1.4 Computer-Control Theory Presampling Filters or Antialiasing Filters Nyquist frequency: half of sampling frequency To avoid the difficulties in Fig. 1.10, it is essential that all signal components with frequencies higher than the Nyquist frequency are removed before a signal is sampled. The filters that reduce the high-frequency components of the signals are called antialiasing filter. These filters are an important component of CCS. The proper selection of sampling periods and antialiasing filters are important aspects of the design of CCS. * 1.4 Computer-Control Theory 1.4.5 Difference Equation CCS can be designed simply by using continuous time theory and approximating the differential equations describing the controllers by difference equations. CCS have the potential of giving control schemes with behavior that cannot be obtained by CTS. Sampling can create phenomena that are not found in LTI systems. The selection of the sampling period is important and it is necessary to use antialiasing filters. The need for a theory for CCS. * 1.5 Summarization 1.5.1 Inherently Sampled System