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Modern Control Systems 12th Edition （现代控制理论）.pdf

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    Cover Page
    Design Examples and Design Problems (DP)
    Title Page
    ISBN 0136024580
    Contents
    1 Introduction to Control Systems
    2 Mathematical Models of Systems
    3 State Variable Models
    4 Feedback Control System Characteristics
    5 The Performance of Feedback Control Systems
    6 The Stability of Linear Feedback Systems
    7 The Root Locus Method
    8 Frequency Response Methods
    9 Stability in the Frequency Domain
    10 The Design of Feedback Control Systems
    11 The Design of State Variable Feedback Systems
    12 Robust Control Systems
    13 Digital Control Systems
    APPENDIX, References, Index
    Preface
    About the Authors
    1 Introduction to Control Systems
    2 Mathematical Models of Systems
    3 State Variable Models
    4 Feedback Control System Characteristics
    5 The Performance of Feedback Control Systems
    6 The Stability of Linear Feedback Systems
    7 The Root Locus Method
    8 Frequency Response Methods
    9 Stability in the Frequency Domain
    10 The Design of Feedback Control Systems
    11 The Design of State Variable Feedback Systems
    12 Robust Control Systems
    13 Digital Control Systems
    APPENDIX A: MATLAB Basics
    References
    Index
    Back Page
    Design Examples and Design Problems (DP) CHAPTER 1 Example Example Example Example Example Example Example CDP1.1 DP1.1 DP1.2 DP1.3 DPI .4 DPI .5 DP1.6 DPI.7 DP1.8 Hybrid Fuel Vehicles Wind Power Embedded Computers Smart Grid Control Systems Rotating Disk Speed Control Insulin Delivery Control System Disk Drive Read System Traction Drive Motor Control Automobile Noise Control Automobile Cruise Control Dairy Farm Automation Welder Control Automobile Traction Control Hubble Telescope Vibration Nanorobotics in Medicine Human Transportation Vehicle PAGE 22 23 24 28 30 31 32 46 46 46 46 46 46 47 47 47 CHAPTER 2 Example Example Example Example Example Example Example CDP2.1 DP2.1 DP2.2 DP2.3 DP2.4 DP2.5 Photovoltaic Generators Fluid Flow Modeling Electric Traction Motor Control Mechanical Accelerometer Laboratory Robot Low-Pass Filter Disk Drive Read System Traction Drive Motor Control Selection of Transfer Functions Television Beam Circuit Transfer Function Determination Op Amp Differentiating Circuit Grandfather Clock Pendulum 91 94 104 106 109 111 128 155 155 155 155 155 156 CHAPTER 3 Example Modeling the Orientation of a Space Station Printer Belt Drive Disk Drive Read System Traction Drive Motor Control Shock Absorber for Motorcycle Diagonal Matrix Differential Equation Aircraft Arresting Gear Bungi Jumping System State Variable Feedback Example Example CDP3.1 DP3.1 DP3.2 DP3.3 DP3.4 DP3.5 CHAPTER 4 Example English Channel Boring Machines Mars Rover Vehicle Blood Pressure Control Disk Drive Read System Traction Drive Motor Control Speed Control System Airplane Roll Angle Control Example Example Example CDP4.1 DP4.1 DP4.2 193 200 209 230 230 230 230 230 231 254 257 259 273 296 296 297 DP43 DP4.4 DP4.5 DP4.6 DP4.7 DP4.8 Velocity Control System Laser Eye Surgery Pulse Generating Op Amp Hydrobot Unmanned Underwater Vehicles Mobile Remote-Controlled Video Camera 297 297 298 298 298 299 CHAPTER 5 Example Example Hubble Telescope Pointing Attitude Control of an Airplane Disk Drive Read System Traction Drive Motor Control Jet Fighter Roll Angle Control Welding Arm Position Control Automobile Active Suspension Satellite Orientation Control Deburring Robot for Machined Parts DC Motor Position Control Three-Dimensional Cam Spray Paint Robot Example CDP5.1 DP5.1 DP5.2 DP5.3 DP5.4 DP5.5 DP5.6 DP5.7 DP5.8 CHAPTER 6 Example Example Example CDP6.1 DP6.1 DP6.2 DP6.3 DP6.4 DP6.5 DP6.6 DP6.7 DP6.8 Tracked Vehicle Turning Robot-Controlled Motorcycle Disk Drive Read System Traction Drive Motor Control Automobile Ignition Control Mars Guided Vehicle Control Parameter Selection Space Shuttle Rocket Traffic Control System State Variable Feedback Inner and Outer Loop Control PD Controller Design CHAPTER 7 Example Example Example Example Example CDP7.1 DP7.1 DP7.2 DP7.3 DP7.4 DP7.5 DP7.6 DP7.7 DP7.8 DP7.9 Wind Turbine Speed Control Laser Manipulator Control Robot Control System Automobile Velocity Control Disk Drive Read System Traction Drive Motor Control Pitch Rate Aircraft Control Helicopter Velocity Control Mars Rover Remotely Controlled Welder High-Performance Jet Aircraft Control of Walking Motion Mobile Robot with Vision OP Amp Control System Robot Arm Elbow Joint Actuator 343 346 360 379 379 379 379 380 380 380 381 381 404 406 421 438 438 439 439 439 439 439 440 440 497 500 502 505 516 543 543 543 544 544 544 545 545 545 546
    DP7.10 Four-Wheel-Steered Automobile 546 547 DP7.11 Pilot Crane Control DP7.12 Planetary Rover Vehicle 547 DP7.13 Roll Angle Aircraft Autopilot 548 DP7.14 PD Control of a Marginally Stable Process 548 DPI 0.7 DP10.8 DP10.9 DP10.10 DP10.11 Aircraft Roll Angle Control Windmill Radiometer Control with Time Delay Loop Shaping Polymerase Chain Reaction Control 828 828 829 830 830 873 876 888 903 903 903 903 904 904 905 905 935 935 938 940 943 958 974 974 974 974 975 976 976 977 978 978 979 979 979 979 CHAPTER 13 Example Example Example CDP13.1 DP13.1 DP13.2 Worktable Motion Control Fly-by-wire Aircraft Control Disk Drive Read System Traction Drive Motor Control Temperature Control System Disk Drive Read-Write Head- Positioning System DP13.3 Vehicle Traction Control DP13.4 Machine-Tool System DPI3.5 Polymer Extruder Control DPI 3.6 Sampled-Data System 1009 1011 1023 1034 1034 1034 1034 1035 1035 1035 CHAPTER 11 Example Example Example CDP11.1 DP11.1 DPI 1.2 DPI 1.3 DP11.4 DP11.5 DP 11.6 DPI 1.7 Automatic Test System Diesel Electric Locomotive Disk Drive Read System Traction Drive Motor Control Levitation of a Steel Ball Automobile Carburetor State Variable Compensation Helicopter Control Manufacturing of Paper Coupled-Drive Control Tracking a Reference Input CHAPTER 12 Example Example Example Example Aircraft Autopilot Space Telescope Control Robust Bobbin Drive Ultra-Precision Diamond Turning Machine Digital Audio Tape Controller Disk Drive Read System Traction Drive Motor Control Turntable Position Control Robust Parameter Design Dexterous Hand Master Microscope Control Microscope Control Artificial Control of Leg Articulation Elevator Position Control Electric Ventricular Assist Device Space Robot Control Solar Panel Pointing Control Magnetically Levitated Train Mars Guided Vehicle Control Benchmark Mass-Spring Example Example CDP12.1 DP12.1 DP12.2 DP12.3 DP12.4 DP12.5 DPI 2.6 DP12.7 DP12.8 DP12.9 DP12.10 DP12.11 DP12.12 DP 12.13 CHAPTER 8 Example Maximum Power Pointing Example Example Example CDP8.1 DP8.1 DP8.2 DP8.3 DP8.4 DP8.5 DP8.6 DP8.7 Tracking Engraving Machine Control Control of a Six-Legged Robot Disk Drive Read System Traction Drive Motor Control Automobile Steering System Autonomous Planetary Explorer-Ambler Vial Position Control Under a Dispenser Automatic Anesthesia Control Black Box Control State Variable System Design PID Controller Design CHAPTER 9 Example Example PID Control of Wind Turbines Remotely Controlled Reconnaissance Vehicle Hot Ingot Robot Control Disk Drive Read System Traction Drive Motor Control Mobile Robot for Toxic Waste Cleanup Control of a Flexible Arm Blood Pressure Regulator Robot Tennis Player Electrohydraulic Actuator Steel Strip-Rolling Mill Lunar Vehicle Control High-Speed Steel-Rolling Mill Two-Tank Temperature Control State Variable Feedback Control Nuclear Reactor Control Example Example CDP9.1 DP9.1 DP9.2 DP9.3 DP9.4 DP9.5 DP9.6 DP9.7 DP9.8 DP9.9 DP9.10 DP9.11 CHAPTER 10 Example Example Example Example CDP10.1 DPI 0.1 DPI 0.2 Rotor Winder Control System The X-Y Plotter Milling Machine Control System Disk Drive Read System Traction Drive Motor Control Two Cooperating Robots Heading Control of a Bi-Wing Aircraft Mast Flight System High-Speed Train Tilt Control Tape Transport Speed Control Automobile Engine Control DPI 0.3 DP 10.4 DP10.5 DPI 0.6 583 585 588 602 628 628 628 628 628 630 630 631 674 678 681 700 735 735 735 735 735 735 735 738 738 738 739 739 783 787 790 802 826 826 826 826 826 828 828
    Modern Control Systems TWELFTH EDITION Richard C. Dorf University of California, Davis Robert H. Bishop Marquette University Prentice Hall Upper Saddle River Boston Columbus San Francisco New York Indianapolis London Toronto Sydney Singapore Tokyo Montreal Dubai Madrid Hong Kong Mexico City Munich Paris Amsterdam Cape Town
    Vice President and Editorial Director, ECS: Marcia J. Horton Senior Editor: Andrew Gilfillan Associate Editor: Alice Dworkin Editorial Assistant: William Opaluch Vice President, Production: Vince O'Brien Senior Managing Editor: Scott Disanno Production Liaison: Jane Bonnell Production Editor: Maheswari PonSaravanan,TexTech International Senior Operations Supervisor: Alan Fischer Operations Specialist: Lisa McDowell Executive Marketing Manager: Tim Galligan Marketing Assistant: Mack Patterson Senior Art Director and Cover Designer: Kenny Beck Cover Images: Front: Scarlet macaw flying/Frans Lanting/Corbis; Back: Courtesy of Dr. William Kaiser and Dr. Philip Rundel of UCLA, and National Instruments Art Editor: Greg Dulles Media Editor: Daniel Sandin Composition/Full-Service Project Management: TexTech International Lab VIEW is a trademark of National Instruments. MATLAB is a registered trademark of The Math Works, Inc. Company and product names mentioned herein are the trademarks or registered trademarks of their respective owners. Copyright © 2011,2008,2005,2001 by Pearson Education, Inc., Upper Saddle River, New Jersey 07458. All rights reserved. Manufactured in the United States of America. This publication is protected by Copyright and permis sions should be obtained from the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording, or likewise. To obtain permission(s) to use materials from this work, please submit a written request to Pearson Higher Education, Permissions Department, 1 Lake Street, Upper Saddle River, NJ 07458. The author and publisher of this book have used their best efforts in preparing this book. These efforts include the development, research, and testing of the theories and programs to determine their effectiveness. The author and publisher make no warranty of any kind, expressed or implied, with regard to these programs or the documentation contained in this book. The author and publisher shall not be liable in any event for incidental or consequential damages in connection with, or arising out of, the furnishing, performance, or use of these programs. Library of Congress Cataloging-in-Publication Data Dorf, Richard C. Modern control systems / Richard C. Dorf, Robert H. Bishop. — 12th ed. p. cm. ISBN-13:978-0-13-602458-3 ISBN-10:0-13-602458-0 TJ216.D67 2010 629.83-dc22 1. Feedback control systems. I. Bishop, Robert H. II. Title. 2010015651 Prentice Hall is an imprint of www.pearsonhighered.com 10 9 8 7 6 5 4 3 21 ISBN-13:978-0-13-602458-3 0-13-602458-0 ISBN-10:
    Of the greater teachers— when they are gone, their students will say: we did it ourselves. Dedicated to Lynda Ferrera Bishop and Joy MacDonald Dorf In grateful appreciation
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