现代控制工程第一章.pptx

The Control of Mechatronic EngineeringSchool of Mechanic EngineeringShanghai Dianji UniversitySeptember, 2008Significance（课程意义）Control engineering is an exciting and challenging field.It is a multidisciplinary subject, and a core course in the engineering curriculum.It is widely applied to the field of industry and agriculture, even to the sociological, biological, ecological and economic systems.It is especially used in high-technology areas such as spacecraft control system.Contents（课程内容）Introduction to Control SystemsMathematical Modeling of Dynamic SystemsThe Analysis of Linear Feedback Systems in the Time DomainThe Root Locus MethodFrequency Response MethodsThe Design Compensation of Control systemsRequirements（课程要求）ReferenceExperimentExerciseMethod of examsClass disciplineHow contactChapter 1 Introduction to Control Systems（In Chinese）1-1 Concepts of Control Systems1-2 Basic Types of Control modes1-3 Classes of Control Systems1-4 Principles to the Control system Design （Basic requirements）Automatic Control 在没有人直接参与的情况下，采用控制装置或机械（Controller）使被控制对象（Controlled object）达到预期的目标 。Research of AC Classic control theory Modern control theory 经典控制理论（Classic control theory） 主要研究的对象： 单输入、单输出线性定常系统的分析和设计问题 现代控制理论（Modern control theory） 现代控制理论研究对象: 多输入、多输出、时变参数、高精度复杂系统的 分析和设计问题研究对象数学工具分析方法局限性经典控制理论单I/O线性定常系统微分方程，传递函数时域法频域法根轨迹法对复杂多变量系统、时变和非线性系统无能为力现代控制理论多输入-多输出变系数，非线性等系统线性代数、矩阵理论状态空间法比较繁琐（但由于计算机技术的 迅速发展，已克服)1.2 Basic Types of Control modesClosed-loop Control（闭环控制）A closed-loop control system uses a measurement of the output and feedback of this signal to compare it with the desired output(reference or command).Open-loop Control（开环控制）An open-loop control system utilizes an actuating device to control the process directly without using feedbackComposite Control（复合控制）风扇叶片（Controlled Object）控制电压开关或程序Controller电机（Actuators）电风扇的控制一.开环控制 (Open-loop control)术语例: 电炉温度控制系统分析控制组成 输入量 (Input) 控制装置 被控对象 输出量 (Output)扰动开环控制系统的方框图 输入量输出量控制装置受控对象(b) 方块图扰动