第1页 / 共887页
第2页 / 共887页
第3页 / 共887页
第4页 / 共887页
第5页 / 共887页
第6页 / 共887页
第7页 / 共887页
第8页 / 共887页
Feedback Control of Dynamic Systems.pdf
Cover
TOC
Preface
Chapter 1 - An Overview and Brief History of Feedback Control
A Perspective on Feedback Control
Chapter Overview
1.1 A Simple Feedback System
1.2 A First Analysis of Feedback
1.3 Feedback System Fundamentals
1.4 A Brief History
1.5 An Overview of the Book
Summary
Review Questions
Problems
Chapter 2 - Dynamic Models
A Perspective on Dynamic Models
Chapter Overview
2.1 Dynamics of Mechanical Systems
2.1.1 Translational Motion
2.1.2 Rotational Motion
2.1.3 Combined Rotation and Translation
2.1.4 Complex Mechanical Systems (W)**
2.1.5 Distributed Parameter Systems
2.1.6 Summary: Developing Equations of Motionfor Rigid Bodies
2.2 Models of Electric Circuits
2.3 Models of Electromechanical Systems
2.3.1 Loudspeakers
2.3.2 Motors
2.3.3 Gears
2.4 Heat and Fluid-Flow Models
2.4.1 Heat Flow
2.4.2 Incompressible Fluid Flow
2.5 Historical Perspective
Summary
Review Questions
Problems
Chapter 3 - Dynamic Response
A Perspective on System Response
Chapter Overview
3.1 Review of Laplace Transforms
3.1.1 Response by Convolution
3.1.2 Transfer Functions and Frequency Response
3.1.3 The G_ Laplace Transform
3.1.4 Properties of Laplace Transforms
3.1.5 Inverse Laplace Transform by Partial-Fraction Expansion
3.1.6 The Final Value Theorem
3.1.7 Using Laplace Transforms to Solve Differential Equations
3.1.8 Poles and Zeros
3.1.9 Linear System Analysis Using Matlab®
3.2 System Modeling Diagrams
3.2.1 The Block Diagram
3.2.2 Block-Diagram Reduction Using Matlab
3.2.3 Mason's Rule and the Signal Flow Graph (W)
3.3 Effect of Pole Locations
3.4 Time-Domain Specifications
3.4.1 Rise Time
3.4.2 Overshoot and Peak Time
3.4.3 Settling Time
3.5 Effects of Zeros and Additional Poles
3.6 Stability
3.6.1 Bounded Input—Bounded Output Stability
3.6.2 Stability of LTI Systems
3.6.3 Routh's Stability Criterion
3.7 Obtaining Models from Experimental Data: System Identification (W)
3.8 Amplitude and Time Scaling (W)
3.9 Historical Perspective
Summary
Review Questions
Problems
Chapter 4 - A First Analysis of Feedback
A Perspective on the Analysis of Feedback
Chapter Overview
4.1 The Basic Equations of Control
4.1.1 Stability
4.1.2 Tracking
4.1.3 Regulation
4.1.4 Sensitivity
4.2 Control of Steady-State Error to Polynomial Inputs: System Type
4.2.1 System Type for Tracking
4.2.2 System Type for Regulation and DisturbanceRejection
4.3 The Three-Term Controller: PID Control
4.3.1 Proportional Control (P)
4.3.2 Integral Control (I)
4.3.3 Derivative Control (D)
4.3.4 Proportional Plus Integral Control (PI)
4.3.5 PID Control
4.3.6 Ziegler—Nichols Tuning of the PID Controller
4.4 Feedforward Control by Plant Model Inversion
4.5 Introduction to Digital Control (W)
4.6 Sensitivity of Time Response to Parameter Change (W)
4.7 Historical Perspective
Summary
Review Questions
Problems
Chapter 5 - The Root-Locus Design Method
A Perspective on the Root-Locus Design Method
Chapter Overview
5.1 Root Locus of a Basic Feedback System
5.2 Guidelines for Determining a Root Locus
5.2.1 Rules for Determining a Positive (1800) Root Locus
5.2.2 Summary of the Rules for Determining a Root Locus
5.2.3 Selecting the Parameter Value
5.3 Selected Illustrative Root Loci
5.4 Design Using Dynamic Compensation
5.4.1 Design Using Lead Compensation
5.4.2 Design Using Lag Compensation
5.4.3 Design Using Notch Compensation
5.4.4 Analog and Digital Implementations (W)
5.5 A Design Example Using the Root Locus
5.6 Extensions of the Root-Locus Method
5.6.1 Rules for Plotting a Negative (0°) Root Locus
5.6.2 Consideration of Two Parameters
5.6.3 Time Delay (W)
5.7 Historical Perspective
Summary
Review Questions
Problems
Chapter 6 - The Frequency Response Design Method
A Perspective on the Frequency-Response Design Method
Chapter Overview
6.1 Frequency Response
6.1.1 Bode Plot Techniques
6.1.2 Steady-State Errors
6.2 Neutral Stability
6.3 The Nyquist Stability Criterion
6.3.1 The Argument Principle
6.3.2 Application of The Argument Principle to Control Design
6.4 Stability Margins
6.5 Bode's Gain—Phase Relationship
6.6 Closed-Loop Frequency Response
6.7 Compensation
6.7.1 PD Compensation
6.7.2 Lead Compensation (W)
6.7.3 PI Compensation
6.7.4 Lag Compensation
6.7.5 PID Compensation
6.7.6 Design Considerations
6.3.7 Specifications in Terms of the Sensitivity Function
6.7.8 Limitations on Design in Terms of the Sensitivity Function
6.8 Time Delay
6.8.1 Time Delay via the Nyquist Diagram (W)
6.9 Alternative Presentation of Data
6.9.1 Nichols Chart
6.9.2 The Inverse Nyquist Diagram (W)
6.10 Historical Perspective
Summary
Review Questions
Problems
Chapter 7 - State-Space Design
A Perspective on State-Space Design
Chapter Overview
7.1 Advantages of State-Space
7.2 System Description in State-Space
7.3 Block Diagrams and State-Space
7.4 Analysis of the State Equations
7.4.1 Block Diagrams and Canonical Forms
7.4.2 Dynamic Response from the StateEquations
7.5 Control-Law Design for Full-State Feedback
7.5.1 Finding the Control Law
7.5.2 Introducing the Reference Input with Full-StateFeedback
7.6 Selection of Pole Locations for Good Design
7.6.1 Dominant Second-Order Poles
7.6.2 Symmetric Root Locus (SRL)
7.6.3 Comments on the Methods
7.7 Estimator Design
7.7.1 Full-Order Estimators
7.7.2 Reduced-Order Estimators
7.7.3 Estimator Pole Selection
7.8 Compensator Design: Combined Control Law and Estimator (W)
7.9 Introduction of the Reference Input with the Estimator (W)
7.9.1 General Structure for the Reference
7.9.2 Selecting the Gain
7.10 Integral Control and Robust Tracking
7.10.1 Integral Control
7.10.2 Robust Tracking Control: The Error-SpaceApproach
7.10.3 Model-Following Design
7.10.4 The Extended Estimator
7.11 Loop Transfer Recovery
7.12 Direct Design with Rational Transfer Functions
7.13 Design for Systems with Pure Time Delay
7.14 Solution of State Equations (W)
7.15 Historical Perspective
Summary
Review Questions
Problems
Chapter 8 - Digital Control
A Perspective on Digital Control
Chapter Overview
8.1 Digitization
8.2 Dynamic Analysis of Discrete Systems
8.2.1 z-Transform
8.2.2 z-Transform Inversion
8.2.3 Relationship Between s and z
8.2.4 Final Value Theorem
8.3 Design Using Discrete Equivalents
8.3.1 Tustin's Method
8.3.2 Zero-Order Hold (ZOH) Method
8.3.3 Matched Pole—Zero (MPZ) Method
8.3.4 Modified Matched Pole—ZeroMMPZ) Method
8.3.5 Comparison of Digital ApproximationMethods
8.3.6 Applicability Limits of the Discrete EquivalentDesign Method
8.4 Hardware Characteristics
8.4.1 Analog-to-Digital (A/D) Converters
8.4.2 Digital-to-Analog Converters
8.4.3 Anti-Alias Prefilters
8.4.4 The Computer
8.5 Sample-Rate Selection
8.5.1 Tracking Effectiveness
8.5.2 Disturbance Rejection
8.5.3 Effect of Anti-Alias Prefilter
8.5.4 Asynchronous Sampling.
8.6 Discrete Design
8.6.1 Analysis Tools
8.6.2 Feedback Properties
8.6.3 Discrete Design Example
8.6.4 Discrete Analysis of Designs
8.7 Discrete State-Space Design Methods (W)
8.8 Historical Perspective
Summary
Review Questions
Problems
Chapter 9 - Nonlinear Systems
A Perspective on Nonlinear Systems
Chapter Overview
9.1 Introduction and Motivation: Why Study Nonlinear Systems?
9.2 Analysis by Linearization
9.2.1 Linearization by Small-Signal Analysis
9.2.2 Linearization by Nonlinear Feedback
9.2.3 Linearization by Inverse Nonlinearity
9.3 Equivalent Gain Analysis Using the Root Locus
9.3.1 Integrator Antiwindup
9.4 Equivalent Gain Analysis Using Frequency Response: Describing Functions
9.4.1 Stability Analysis Using Describing Functions
9.5 Analysis and Design Based on Stability
9.5.1 The Phase Plane
9.5.2 Lyapunov Stability Analysis
9.5.3 The Circle Criterion
9.6 Historical Perspective
Summary
Review Questions
Problems
Chapter 10 - Control System Design: Principles and Case Studies
A Perspective on Design Principles
Chapter Overview
10.1 An Outline of Control Systems Design
10.2 Design of a Satellite's Attitude Control
10.3 Lateral and Longitudinal Control of a Boeing 747
10.3.1 Yaw Damper
10.3.2 Altitude-Hold Autopilot
10.4 Control of the Fuel—Air Ratio in an Automotive Engine
10.5 Control of the Read/Write Head Assembly of a Hard Disk
10.6 Control of RTP Systems in Semiconductor Wafer Manufacturing
10.7 Chemotaxis or How E. Coll Swims Away from Trouble
10.8 Historical Perspective
Summary
Review Questions
Problems
Appendix
A.1 The r_ Laplace Transform
A.I.1 Properties of Laplace Transforms
A.1.2 Inverse Laplace Transform by Partial-Fraction Expansion
A.1.3 The Initial Value Theorem
A.1.4 Final Value Theorem
Appendix A Laplace Transforms
Appendix B Solutions to the Review Questions
Appendix C Mattab Commands
Bibliography
Index
FEEDBACK CONTROL OF
DYNAMIC SYSTEMS
Table of Laplace Transforms
Number
l
2
3
4
5
6
1
8
9
10
11
12
13
14
15
16
17
18
19
20
21
f(s)
I
I
s
1
s2
2!
s3
3!
s4
m!
sm+1
1
(s+a)
I
(s + a)2
(s + a)3
(s + a)m
l
I
a
s(s +a)
a
s2(s+ a)
b-a
(s + a)(s + b)
s
(s + a)2
a2
s(s + a)2
(b- a)s
(s + a)(s + b)
a
(s2 + a2)
s
(s2 + a2)
s+a
(s +a)2 + b2
b
(s + a)2 + b2
a2 +,;.
s [ (.s + a)2 + b2]
/(t), t?: 0
.S(t)
l (t)
I
,2
13
Im
e-at
te-at
_!_ 12e-a1
2!
1
,m-1e-at
(m - 1)!
l
-at
-e
-
1
-(at - I+ e at)
a
-at
-bt
-e
e
(I - at)e-at
1 - e-at (I + at)
be-bt - ae-at
sin at
cos at
e-at cosbt
e-at sin bt
I - e-at (cos bt + ~ sin bt)
Chronological History of Feedback Control
Driverless car -
Automotive stability augmentation systems -
Farm tractor auto-steering via GPS -
GPS
Unmanned aircraft -
High precision disk drive control -
Computer-aided control design -
Internal model control -
Feedback control of automotive engines -
Aircraft auto-landing -
Apollo digital autopilot -
Aircraft stability augmentation -
LQG design -
Inertial navigation -
Microprocessor -
Maximum principle -
Dynamic programming -
Numerical optimization -
Optimal filtering -
Sampled data systems -
Root locus -
Nyquist stability -
Frequency-response tools -
Feedback amplifier -
Autopilot -
lbility analysis of governor -
Routh stability -
Fly-ball governor l
lncubatorl
+-
I
1600s 1700s
I
I
I
1800s 1910
I
1920
I
1930
I
1940
I
1950
I
1960
I
1970
I
1980
1990 2000 2010 •
I
I
I
Feedback Control
of Dynamic Systems
Seventh Edition
Gene F. Franklin
Stanford University
J. oav;d Powell
Stanford University
Abbas Emami-Naeini
SC Solutions, Inc.
PEARSON
Boston Columbus
Indianapolis New York San Francis\.'o
l1pper SadJle Rher
AntMcrdam Cape Town Dubai London Madrid Milan Munkh P.aris Montreal Toronto
Delhi Mexico City Sao Paulo Sydney Hong Kong Seoul Singapore Taipei Tokyo
\!t..y f'IT.;.._k-nt and 1:-'Anonal Oi~uar,
[•CS __ lfr.f\'W J H.,rrm1
l',~ntl\(- l·J1tnr ff,>//\- Stmi.
l· . .ditnn.al ..\s-.1"1an1: .\.1n,lm R,Jt/riguez
._,t'1.:uttw Mar\ ... ·fing Mana~er: lim GaUigwr
Mari.:etin~ As-.istant: J.-1n Bn'tlnt
~unr Man.t~mg Edittlf: Scort Dis<1nno
Prr.,.iu.:tion Pn~ram Mana~cr: Clure Romeo
Pt·~lu..--:ti1)fl Pn~je..·1 Mana~~r: Ro.fc Kernan
Ou·e..·tor of Operat11ms: .Vick Sklit.~is
Operations Specialist: Linda Sagl'r
Cover Designer: Black Horse Desigm
Pem1issions Project Manager: Rachel Youde/man
Full-service Project Management:
Pm•ithra Jayapaul
Composition: Jnuve India
Printer/Binder: Couria Westford
Cover Printer: Plwe11ixCo/or Hagerstown
Typeface: JOI/~ Times
i
--~
j
Ct)(Jyright Cl 1015. 20 IO, I Q99 by Pearson Higher Education. Inc .. Upper Saddle River. NJ 07458. All rights reserved. Manufactured
in the Coiled State<. of America. This publication is protected by Copyright and permissions should be obtained from the publisher
prior to an~ prohibiteJ reproducrion. storage in a retrieval sysrem. or transmission in any form or by any means, electronic,
me.;·hanical. pho11xopying. recording. or likewise. To obtain permission(s) to use materials from this work, please submit a written
req~t to Pear-.on Higher Education. Pem1issions Department, One Lake Street. Upper Saddle River. NJ 07458.
Many {lf rbe designations by manufacturers and seller to distinguish their products are claimed as trademarks. Where those
de~ignations appe.ar in this hook. and the publisher wa'> aware of a trademark claim. the designations have been printed in initial
capi. or alJ caps.
The author and publisher of this book have used their best efforts in preparing this book. These efforts include the development,
re~ch. and te~ting of the.ories and programs to determine their effectiveness. The author and publisher make no warranty of any
lind. expre!-.--ed or implied. with regard to these programs or the documentation contained in this book. The author and publisher
shall not he liable in any event for incidental or consequential damages with. or arising out of, the furnishing. performance, or use
of the-.e programs.
Ower photos courtesy of: Surgery· robot, Digital Art/Corbis; NASA's Grover. Lora Koenig/NASA Goddard/NASA; Delivery drone,
Mipan/Fotolia; SpaceShipOne. Henning Dalhoff/Science Source/Photo Researchers, foe.
Pearson Education Ltd., London
Pearson Education Singapore. Pte. Ltd
Pear"'-m Education Canada. Inc.
Pear~on Education-Japan
Pean.on Edui.:ation Au<;tralia PT'f. Limited
Pearson Education North Asia. Ltd., Hong Kong
Pear-.on Educacion de Mexico. S.A. de C. V
Pean.on Education Malaysia. Pte. Ltd.
Pearson Ed1Kation, Irn: .. llpper Saddle River, New Jersey
Libra~· of Congre
To the memory of Gene F. Franklin
I~;
l __ ~-
. .
~ .
t
r
~-·
I
l
I
~
I
I
相关推荐
2023年江西萍乡中考道德与法治真题及答案.doc
2012年重庆南川中考生物真题及答案.doc
2013年江西师范大学地理学综合及文艺理论基础考研真题.doc
2020年四川甘孜小升初语文真题及答案I卷.doc
2020年注册岩土工程师专业基础考试真题及答案.doc
2023-2024学年福建省厦门市九年级上学期数学月考试题及答案.doc
2021-2022学年辽宁省沈阳市大东区九年级上学期语文期末试题及答案.doc
2022-2023学年北京东城区初三第一学期物理期末试卷及答案.doc
2018上半年江西教师资格初中地理学科知识与教学能力真题及答案.doc
2012年河北国家公务员申论考试真题及答案-省级.doc
2020-2021学年江苏省扬州市江都区邵樊片九年级上学期数学第一次质量检测试题及答案.doc
2022下半年黑龙江教师资格证中学综合素质真题及答案.doc
