自控原理课件1(英文版)
自控原理Ch1_Introduction
V-1
V-2
Rhine daughters
2011/9/7 Chapter 1
2011/9/7
Chapter 1
12
Automatic Control & Aerospace Technology
Brief history:
– In the 1950s, more complex and sophisticated automatic control system has emerged – In the 1960s, the development of microelectronics, computer and modern control theory evolved boosted the control and navigation of aircraft greatly. – In the 1970s, analog automatic flight systems are prevalent – In the 1980s, auto-flight systems adopted digital systems instead of analog systems – In the 1990s, Telex Flight Control expanded the application
2011/9/7
Chapter 1
8
Why are control systems important?
自控原理英文版分析
Desired temperature
thermometer
operator
gas
valve
air
furnace
mixer
1-3 What is an automatic control system?
Definition of automatic control system
A control system without people involved is called automatic control system.
2. According to whether the system is satisfied the superposition principle
Linear Systems versus Nonlinear System
A linear system satisfies the properties of superposition and Homogeneity: (Principle of Superposition).
1-3 What is an automatic control system?
water level automatic control system
1-4 types and Basic components of control systems.
1. According to the form of given signal Regulator Systems versus Servo Systems (恒值系 统和随动系统）
Open-loop system, closed-loop system (feedback control systems), Compound Control systems
自动控制系统英文原理
Classification of control systems there are three ways: by automatic classification methods in order to participate in the control mode classification, to adjust the law category.One way to control category 1, the open-loop control system if the computer output of open loop control system to exercise control of the production process, but the control results --- the state of the production process does not affect the computer control systems, computer \ controller \ production and other sectors does not constitute a closed loop, is called open-loop control system computer. the production process of the state is no feedback to the computer, but by the operator to monitor the status of the production process, decision control program, and tell the computer to control the role of exercising control. 2, closed loop control system computer to the production of an object or process control, the state can directly influence the production process computer control system, called the closed-loop control system computer. Control of the computer monitor in the operator, the automatic acceptance of the production process state test results, calculate and determine the control scheme, the direct command and control units (devices) of action, the role of exercising control of the production process. In such systems, aircraft control components under control of control information sent to control device operation, the other running equipment condition as the output, measured by the detection part, the feedback as input to the control computer; to make control Computer \ Control Components \ production \ test components form a closed loop. We will call this form of control computer control closed-loop control. Closed loop control system computer, using a mathematical model to set the value of the production process and test results of the best value of the deviation between the feedback and control the production process to run at their best. 3, line control system as long as the computer controlled production of the controlled object or process, to exercise direct control, without human intervention are called the control computer on-line control, or on-line control system. 4, offline control system control computer does not directly participate in the control object or the controlled production process. It only managed to complete the process of the controlled object or the status of testing, and testing of data processing; and then develop control programs, the output control instruction, operator reference control instructions manually controlled operation to control parts of the object or subject control process control. This control form is called off-line computer control system. 5, real-time control system control computer real-time control system iscontrolled by the control of the object or process, or request when the request processing control, the control function in a timely manner to address and control systems, commonly used in the production process is interrupted for the occasion. Such as steel, each one refining furnace steel is a process; and if the process rolling, rolling out each piece of steel considered a process, each process is repeated. Only enter the process only requires a computer control. Once control of the computer, it requires a computer from the production process information in the required time to respond to or control. Such systems often use sophisticated interrupt system and interrupt handling procedures to achieve. In summary, an online system is not necessarily a real-time system. But a real-time system must be an online system.Second, in order to participate in the control mode to Category 1, direct digital control system by the control computer to replace conventional analog instruments and direct regulation to control the production process, as the computer as digital signals, so named after the DDC control. Actually controlled the production process control components, control signals received by the process controller input / output channels of D / (D / A) converter output of the digital control computer volume to be converted into analog; analog input control machine to go through the process of input / output channels of analog / digital (A / D) converter into a digital number into the computer. DDC control systems often use a small computer or microprocessor, the time-sharing system to achieve multiple points of control. Is in fact a discrete sampling with the controller, to achieve discrete multi-point control. DDC computer control system that has become the main control computer control system forms. DDC control of the advantage of flexibility, large, focused on high reliability and low cost. Can use several forms of digital computing circuits, or even dozens of loop production process, integral to proportional --- --- differential (PID) control to maintain the industrial state of the controlled object at a given value, the deviation small and stable. And as long as the change of control algorithms and applications can achieve more complex control. Such as feedforward control and the best control. Under normal circumstances, DDC-level control often more complex as the implementation of advanced control level. 2, supervisory computer control system supervisory computer control system for a particular production process, according to the production process of various states, according to the production process of the mathematical model to calculate the best production equipment should be running a given value, and the best value automatically or manually on the DDCExecutive-level computer or analog meter to align the regulation or control of the target set. By a DDC or adjust the instrument at various points on the production process (running equipment) to exercise control. SCC system is that it can guarantee the production process is always controlled the situation in the best condition to run, so get the most benefit. SCC results directly affect the merits of the first of its mathematical model, this should always improve the operation process model, and modify the control algorithm, and application control procedures. 3, multi-level control systems in modern manufacturing enterprises in the production process not only the need to address the problem of online control, and Huan Zhi Li called for a solution of production problems, the daily product line, the number of arrangements for planning and scheduling, and Rose plans develop a long term planning, notice Xiaoshou prospects, there was multi-level control system. DDC class is mainly used for direct control of the production process, for PID, or feedforward control; SCC level is mainly used for optimal control or adaptive control or learning control calculation, and command and control the same DDC class report back to the MIS class. DDC level usually microcomputers, SCC-level general use of small computers or high-end microcomputers. MIS Workshop main function of governance is based on plant-level production of varieties issued, the number of orders and collect up the production process of the state of information, at any time reasonable schedule to achieve optimal control, command and SCC-level supervisory control. Factory management level MIS main function is to accept the company and factory production tasks assigned by the actual situation of optimized computing, Zhi Ding factory production plans and short-term (ten days or weeks or days) arrangements, and then issued to the plant-level production tasks. Corporate governance level MIS main function is to guess the market demand computing to develop strategic long-term development planning, and contract orders, raw material supply situation and the production conditions, comparison of the optimal production program selection and calculation, work out the entire company business a long time (months or ten days) of the production plan, sales plan, assigned to the task of the factory management level. MIS-level main function is to achieve real-time information processing, decision-makers at all levels to provide useful information, make on the production planning \ scheduling and management programs to plan the coordination and management control in the optimal state. This one can control the size and scope of enterprise size divided into several levels. Each level has to be addressed accordingto the size of the amount of information to determine the type of computer used. MIS generally use small computer shop class or high-grade micro-computer, the factory management level of the MIS with a medium-sized computer, and corporate governance level MIS is to use large-scale computer, or use super computer. 4, distributed control or distributed control system distributed control or distributed control, the control system is divided into a number of independent local control subsystems to complete the controlled production process control task. Since the emergence of micro-computers and rapid development of distributed control to provide for the realization of the material and technical basis, in recent years, decentralized control can be different almost normal development, and has become an important trend in the development of computer control. Since the 70's, appeared focused on distributed control system, called DCS. It is a decentralized local control of the new computer control system.Three, classified according to the law regulating 1, program control if the computer control system the division of a predetermined time function control, such control is called program control. Such as the furnace temperature-time curves Anzhao some control on the process control. Here the procedure is time-varying changes have to determine the corresponding value, rather than the computer running. 2, sequence control in the process control based on the generated sequence control, computer, over time, as can be determined according to the corresponding control value and previous results at the moment both to exercise on the production process control system, called the order of the computer control . 3, proportional - integral - differential analog PID control regulation of conventional PID control instrument can be completed. Micro-computer can also be achieved with PID control. 4, feedforward control is usually the feedback control system, have certain effects on the interference in order to generate feedback over the role of inhibitory control of interference, and thus delay the control of undesirable consequences. In order to overcome the negative lag control, with the computer accepts the interference signal after the, did not produce effects in the Huan insert a feedforward control Zuoyong, it Ganghao interference point in the interference of the control to completely offset the effect on the variable, it was Ming Wei Yin Er disturbance compensation control. 5, optimal control (optimal control) system control computer, such as to have controlled object is best known as the best run of the control system control system. Such as computer control system is limited in the existing conditions, select appropriate control law(mathematical model), the controlled object indicators in optimal running condition. Such as the largest output, consumption of the largest, highest quality standards, such as the least scrap rate. Best is determined by a set of mathematical models, sometimes several in a limited range of the best indicators of the pursuit of individual, sometimes the best indicators of comprehensive requirements. 6, the adaptive control system, optimal control, when the working conditions or qualifications change, we can not get the best control effects. If the situation changes in working conditions, the control system can still be controlled in the best state of the object's control, such control system called the adaptive system. This requires mathematical model reflects the change in the conditions, how to achieve the best state. Control computer to detect changes in terms of the information given by the laws of mathematical models to calculate, to change the control variables, the controlled objects still in the best condition. 7, self-learning control system if the computer can keep the results under the controlled object gain experience running their own change and improve the control law so that more and better control effect, this control system is called self-learning control system. Above mentioned optimal control, adaptive control and self-learning control are related to multi-parameter, multi-variable complex control systems, are all problems of modern control theory. Determine the stability of the system, many factors affect the control of complex mathematical models, have to be a production control, production technology, automation, instrumentation, programming, computer hardware, each with various personnel to be realized. Controlled object by the length of reaction time required to control the number of points and mathematical models to determine the complexity of the computer use scale. Generally speaking, a strong need to functionality (speed and computing power) of the computer can be achieved. The Zhuzhong control, can be a single type also is not single, you can combine several forms to achieve control of the production process. This should address the actual situation of the controlled object, the system analysis, system design determined at the time.Keywords ：open the control,closed loop control。
北航自控原理课件1(英文版)
terms
5. 被控量(controlled variable)
被控制的物理量；
6. 输出（Output）
The response obtained from a system （通常与被控量 一致。）
7.干扰(disturbance)
所有使被控量偏离期望值的因素
8. 反馈（Feedback）
- The output of a system that is returned to modify the input.
History of Automatic Control 1769: James Watt’s steam engine and flyball governor. 1868:J.C.Maxwell formulates a mathematical model for a governor control of steam engine. 1932: H.Nyquist develops a method for analyzing the stability of systems.
In general,the objectives can be identified with inputs. 通常目标规定为系统的输入。
Basic components of control systems
被控对象(plant,process) 测量元件（sensor）
可以对被控量进行测量，并转换成能与输入信号进 行比较的量纲和数值，也称为反馈元件；
Reference input Feedback signal Comparison Controller Plant Output
Measurement
)
Features of feedback control systems
自动控制系统英文原理
Classification of control systems there are three ways: by automatic classification methods in order to participate in the control mode classification, to adjust the law category.One way to control category 1, the open-loop control system if the computer output of open loop control system to exercise control of the production process, but the control results --- the state of the production process does not affect the computer control systems, computer \ controller \ production and other sectors does not constitute a closed loop, is called open-loop control system computer. the production process of the state is no feedback to the computer, but by the operator to monitor the status of the production process, decision control program, and tell the computer to control the role of exercising control. 2, closed loop control system computer to the production of an object or process control, the state can directly influence the production process computer control system, called the closed-loop control system computer. Control of the computer monitor in the operator, the automatic acceptance of the production process state test results, calculate and determine the control scheme, the direct command and control units (devices) of action, the role of exercising control of the production process. In such systems, aircraft control components under control of control information sent to control device operation, the other running equipment condition as the output, measured by the detection part, the feedback as input to the control computer; to make control Computer \ Control Components \ production \ test components form a closed loop. We will call this form of control computer control closed-loop control. Closed loop control system computer, using a mathematical model to set the value of the production process and test results of the best value of the deviation between the feedback and control the production process to run at their best. 3, line control system as long as the computer controlled production of the controlled object or process, to exercise direct control, without human intervention are called the control computer on-line control, or on-line control system. 4, offline control system control computer does not directly participate in the control object or the controlled production process. It only managed to complete the process of the controlled object or the status of testing, and testing of data processing; and then develop control programs, the output control instruction, operator reference control instructions manually controlled operation to control parts of the object or subject control process control. This control form is called off-line computer control system. 5, real-time control system control computer real-time control system iscontrolled by the control of the object or process, or request when the request processing control, the control function in a timely manner to address and control systems, commonly used in the production process is interrupted for the occasion. Such as steel, each one refining furnace steel is a process; and if the process rolling, rolling out each piece of steel considered a process, each process is repeated. Only enter the process only requires a computer control. Once control of the computer, it requires a computer from the production process information in the required time to respond to or control. Such systems often use sophisticated interrupt system and interrupt handling procedures to achieve. In summary, an online system is not necessarily a real-time system. But a real-time system must be an online system.Second, in order to participate in the control mode to Category 1, direct digital control system by the control computer to replace conventional analog instruments and direct regulation to control the production process, as the computer as digital signals, so named after the DDC control. Actually controlled the production process control components, control signals received by the process controller input / output channels of D / (D / A) converter output of the digital control computer volume to be converted into analog; analog input control machine to go through the process of input / output channels of analog / digital (A / D) converter into a digital number into the computer. DDC control systems often use a small computer or microprocessor, the time-sharing system to achieve multiple points of control. Is in fact a discrete sampling with the controller, to achieve discrete multi-point control. DDC computer control system that has become the main control computer control system forms. DDC control of the advantage of flexibility, large, focused on high reliability and low cost. Can use several forms of digital computing circuits, or even dozens of loop production process, integral to proportional --- --- differential (PID) control to maintain the industrial state of the controlled object at a given value, the deviation small and stable. And as long as the change of control algorithms and applications can achieve more complex control. Such as feedforward control and the best control. Under normal circumstances, DDC-level control often more complex as the implementation of advanced control level. 2, supervisory computer control system supervisory computer control system for a particular production process, according to the production process of various states, according to the production process of the mathematical model to calculate the best production equipment should be running a given value, and the best value automatically or manually on the DDCExecutive-level computer or analog meter to align the regulation or control of the target set. By a DDC or adjust the instrument at various points on the production process (running equipment) to exercise control. SCC system is that it can guarantee the production process is always controlled the situation in the best condition to run, so get the most benefit. SCC results directly affect the merits of the first of its mathematical model, this should always improve the operation process model, and modify the control algorithm, and application control procedures. 3, multi-level control systems in modern manufacturing enterprises in the production process not only the need to address the problem of online control, and Huan Zhi Li called for a solution of production problems, the daily product line, the number of arrangements for planning and scheduling, and Rose plans develop a long term planning, notice Xiaoshou prospects, there was multi-level control system. DDC class is mainly used for direct control of the production process, for PID, or feedforward control; SCC level is mainly used for optimal control or adaptive control or learning control calculation, and command and control the same DDC class report back to the MIS class. DDC level usually microcomputers, SCC-level general use of small computers or high-end microcomputers. MIS Workshop main function of governance is based on plant-level production of varieties issued, the number of orders and collect up the production process of the state of information, at any time reasonable schedule to achieve optimal control, command and SCC-level supervisory control. Factory management level MIS main function is to accept the company and factory production tasks assigned by the actual situation of optimized computing, Zhi Ding factory production plans and short-term (ten days or weeks or days) arrangements, and then issued to the plant-level production tasks. Corporate governance level MIS main function is to guess the market demand computing to develop strategic long-term development planning, and contract orders, raw material supply situation and the production conditions, comparison of the optimal production program selection and calculation, work out the entire company business a long time (months or ten days) of the production plan, sales plan, assigned to the task of the factory management level. MIS-level main function is to achieve real-time information processing, decision-makers at all levels to provide useful information, make on the production planning \ scheduling and management programs to plan the coordination and management control in the optimal state. This one can control the size and scope of enterprise size divided into several levels. Each level has to be addressed accordingto the size of the amount of information to determine the type of computer used. MIS generally use small computer shop class or high-grade micro-computer, the factory management level of the MIS with a medium-sized computer, and corporate governance level MIS is to use large-scale computer, or use super computer. 4, distributed control or distributed control system distributed control or distributed control, the control system is divided into a number of independent local control subsystems to complete the controlled production process control task. Since the emergence of micro-computers and rapid development of distributed control to provide for the realization of the material and technical basis, in recent years, decentralized control can be different almost normal development, and has become an important trend in the development of computer control. Since the 70's, appeared focused on distributed control system, called DCS. It is a decentralized local control of the new computer control system.Three, classified according to the law regulating 1, program control if the computer control system the division of a predetermined time function control, such control is called program control. Such as the furnace temperature-time curves Anzhao some control on the process control. Here the procedure is time-varying changes have to determine the corresponding value, rather than the computer running. 2, sequence control in the process control based on the generated sequence control, computer, over time, as can be determined according to the corresponding control value and previous results at the moment both to exercise on the production process control system, called the order of the computer control . 3, proportional - integral - differential analog PID control regulation of conventional PID control instrument can be completed. Micro-computer can also be achieved with PID control. 4, feedforward control is usually the feedback control system, have certain effects on the interference in order to generate feedback over the role of inhibitory control of interference, and thus delay the control of undesirable consequences. In order to overcome the negative lag control, with the computer accepts the interference signal after the, did not produce effects in the Huan insert a feedforward control Zuoyong, it Ganghao interference point in the interference of the control to completely offset the effect on the variable, it was Ming Wei Yin Er disturbance compensation control. 5, optimal control (optimal control) system control computer, such as to have controlled object is best known as the best run of the control system control system. Such as computer control system is limited in the existing conditions, select appropriate control law(mathematical model), the controlled object indicators in optimal running condition. Such as the largest output, consumption of the largest, highest quality standards, such as the least scrap rate. Best is determined by a set of mathematical models, sometimes several in a limited range of the best indicators of the pursuit of individual, sometimes the best indicators of comprehensive requirements. 6, the adaptive control system, optimal control, when the working conditions or qualifications change, we can not get the best control effects. If the situation changes in working conditions, the control system can still be controlled in the best state of the object's control, such control system called the adaptive system. This requires mathematical model reflects the change in the conditions, how to achieve the best state. Control computer to detect changes in terms of the information given by the laws of mathematical models to calculate, to change the control variables, the controlled objects still in the best condition. 7, self-learning control system if the computer can keep the results under the controlled object gain experience running their own change and improve the control law so that more and better control effect, this control system is called self-learning control system. Above mentioned optimal control, adaptive control and self-learning control are related to multi-parameter, multi-variable complex control systems, are all problems of modern control theory. Determine the stability of the system, many factors affect the control of complex mathematical models, have to be a production control, production technology, automation, instrumentation, programming, computer hardware, each with various personnel to be realized. Controlled object by the length of reaction time required to control the number of points and mathematical models to determine the complexity of the computer use scale. Generally speaking, a strong need to functionality (speed and computing power) of the computer can be achieved. The Zhuzhong control, can be a single type also is not single, you can combine several forms to achieve control of the production process. This should address the actual situation of the controlled object, the system analysis, system design determined at the time.Keywords ：open the control,closed loop control。
自动控制原理 Chapter 1 All in English
1.1 System and System Analysis
A system is any collection of interacting elements for which there are cause-and-effect relationships among the variables.
Learn & Discussion Get More Progresses
2. Friends after classes 3. No work, no gain. No hard work, no heavy gain. No zuo, no die. No big zuo, no bad die.
credit学分 hour学时 required course必修课 performance assessment成绩评定 assignment 作业 computer test 上机考试 final exam 期末考试 textbook教材 reference参考书
syllabus提纲 system系统 automatic Control Systems 自动控制系统 mechanical Engineering System机械工程系统 system analysis系统分析 principle原理
2018/10/22 12
Dynamic systems: variables are time-dependent.
(variables: variables & derivatives of one oபைடு நூலகம் more variables )
In the process of analyzing a system, two tasks must be performed: Modeling the system (1.2) Solving the model (1.3). The combination of the two steps (1.2&1.3) is referred to as system analysis.
自动控制专业英语CH1.ppt
2020年10月8日9时23分
专业英语
7
II. 定语位置的变换 1.单词定语的位置 （1）英语单词的定语一般位于被修饰的中心词之前，
汉译时一般采用同样的语序。例如 minute organisms（微生物），semiconductor devices （半导体器件），qualified engineer（合格的工程 师），above statement（上述声明），washingup machine（洗碗机），the earths surface（地 球表面），the growing tension（日益加剧的紧张 局势），the fifth anniversary（五周年纪念日）等。 但是，由于英汉两种文字表达的习惯不同，有些单词 定语在汉译时必须注意正确理解，如life expectancy应译为“预期寿命”，cost difference 译为“差价”。这是因为英语的中心词是表示抽象性 状的名词，而定语却是表示具体事物的名词，汉译时 应将定语与中心词的偏正关系加以对调。
the open loop gain A of the OA used (e.g.
it must not exceed 1000), and the
expected values of vo are within the
operational range of the OA.
只要所用运放的闭环增益比开环增益A小得多 （即不能超过1000），这个传递函数就能准 确地描述输出信号，且vo的预期值在运放的 工作范围之内。
➢ 负反馈使输出稳定在工作范围内，并提供一 个较小但控制准确的增益，即所谓闭环增益。
return
②This transfer function describes accurately the output signal as long as
自动化专业英文P2U1英文全文带翻译课件
categories 类型 be characterized by ..的特点在于
Control theory itself has two categories:classical and modern.Classical control theory, which had its start during Word War II, can be characterized by the transfer function concept with analysis and design principally in the Laplace and frequency domains.
自动飞行控制系统把飞行员从保持正确航向、高度和姿 态的连续操作任务中解脱出来。没有了这些常规操作，飞 行员可以执行其他的任务，如领航或通讯，这样就减少了 所需的机组人员，降低了飞行费用。
intuition 直觉 commands 命令 disturbances 扰动
dynamic regulations
航向 姿态 机组人员
An autopilot(flight control system) relieves the pilot of the task of continuously operating the controls to maintain the desired heading, altitued, and atitude.Freed of this routine task,the pilot can perform other tasks,such as navigation and/or communications, thus reducing the number of crew required and consequently the operating cost of the aircarft
自动控制原理2021双语cha幻灯片PPT
控制系统简介
2
The Principle of Automatic Control 2008
Course Description
• This course is concerned with the analysis and design of control system
Manipulated variable 〔操纵量〕:按照指定规律变化使得被控 量到达指定目标的变量(varied by controller so as to affect the controlled variable)
e.g. Temperature control system (空调〕
Speed control system 〔汽车〕
转速0~1000转 扰动
P
电位器 ur
电压 uk 放大器
可控硅 ua 直流 n
功放
电动机
13
The Principle of Automatic Control 2008
Comments on open-loop control system
• The output is not measured and compared with the input, no feedback
comparing and using the difference (error) as a means of control –feedback control system
15
The Principle of Automatic Control 2008
Block diagram
r
自动控制原理PPT
稳定性(Stability)：系统处于平衡状态下，受到扰动作用后，系统恢复原有平 衡状态的能力。它是自控系统最基本的要求。 稳定是系统正常工作的前提。为了使系统在环境或参数变化时还能保持稳 定，在设计时还要留有一定的稳定裕量。 准确性(Accuracy)：即系统的稳态精度；常以稳态误差来衡量，即稳态时系 统期望输出量和实际输出量之差的大小。 稳定的系统在过渡过程（暂态）结束后所处的状态称为稳态。设计时希望 稳态误差要小。例如：在恒值调速系统中，希望因负载扰动引起的稳态转速的 变动要尽量小；在随动系统中，希望输出信号与输入信号尽量一致。 要求动态误差（偏差）和稳态误差都越小越好。
d 2uc di C dt dt 2
1 uc idt C
duc iC dt
消去中间变量并整理得：
d 2 uc duc LC 2 RC uc u r dt dt
23
4）. Example 2
机械平移系统
课本P9，例2-2
！静止（平衡）工作点作为零点，以消除重力的影响。
1）微分方程的系数取决于系统的结构参数 2）阶次等于独立储能元件的数量
2
方块图（方框图） Block diagram
系统中各个环节的功能及信号转换和传输关系的 表示，由方框和带箭头的直线组成（consist of blocks
and arrows）
输入 Input
Process
输出 Output
处理
Arrow : 信号的传递方向 (input or output ) Block : 处理（传递）过程 ( the relationship between input and output )，一个方框代表一个环节（环节：系统的每 个具有一定功能的组成部分）。
自控控制原理第1章课件
23
第四节 对控制系统的基本要求
总体上来说，对任何控制系统的基本要求，集中体现在 系统性能的“稳定性”、 “动态特性”和 “稳态特性”三个方面 或简称为“稳” 、“快”和 “准”。
一、稳定性
控制系统 “稳定性” 的定义，有多种表达。 一种较通常的表达是，一个处于靜止或某一平衡工作状态
的系统， 在受到任何输入（给定信号或扰动）作用时，系统的
注意：不满足叠加性和齐次性！
22
自动控制系统的分类
2．连续系统和离散系统
（1）连续系统：系统中各元件的输入量和输出量均为时间t的连续函数。连 续系统的运动规律可用微分方程描述，系统中各部分信号都是模拟量。 （2）离散系统：系统中某一处或几处的信号是以脉冲系列或数码的形式传 递的系统。离散系统的运动规律可以用差分方程来描述。计算机控制系统就 是典型的离散系统。
(1) 从系统组成结构看，开环控制方式简单，复合控制 方式复杂，闭环控制方式介于两者间；
(2) 从性能看，开环控制方式较差，闭环控制方式较好； 复合控制方式最好；
(3) 现代工程应用系统中，闭环控制方式应用最广泛。
பைடு நூலகம்13
第二节 闭环系统的基本组成
基本组成的 结构方块图
14
闭环系统的基本组成
(1）被控对象：要进行控制的设备或生产过程。（例，工作机械） (2）执行机构：作用于被控制对象的装置或设备。(例，电动机) （3）测量装置：用来检测被控量，并将其转换成与给定量相 同
第一章 自动控制系统的基本概念
第一节 自动控制的基本方式 第二节 闭环系统的基本组成 第三节 自动控制系统的分类 第四节 对控制系统的基本要求
1
第一节 自动控制的基本方式
一、两个定义： （1）自动控制：
自动控制原理 英文版
y
y 0 y
y0
df dx
x0
f ( x)
y k x
A
x
x 0 x0 x
Example 2.5 : Elasticity equation
F ( x ) kx
suppose : k 12.65; 1.1;
F ( x ) kx
'
operating point x0 0.25
1) Identify the output and input variables of the control systems.
2) Write the differential equations of each system’s component in terms of the physical laws of the components. * necessary assumption and neglect. * proper approximation. 3) Dispel the intermediate(across) variables to get the input-output description which only contains the output and input variables. 4) Formalize the input-output equation to be the “standard” form: Input variable —— on the right of the input-output equation . Output variable —— on the left of the input-output equation. Writing the equation—according to the falling-power order.
自动控制原理课件Module
or accurate model of the individual component; • The ability to recover from external, unwanted
Typical steps:
• selection of actuators and sensors • development of a dynamic model of the system to be controlled • design of control systems based on the sound fundamental principles • implementation of the controller using analog or digital electronics
The main disadvantage : • Require detailed knowledge of each component
in order to determine the input value for a required output.
1.5.2 About closed-loop control system
Text Book:
Morris Driels. Linear Control Systems Engineering (线性控制系统工程）. 北京： 清华大学出版社，2000年12月
Other Reference Teaching Books:
• Richard C. Dorf, Robert H. Bishop. Modern Control Systems （Ninth Edition)（现代控 制系统 第九版）. 北京：科学出版社， 2002年3月
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Open loop control
An Open-loop control system utilizes an actuating device to control the process directly without using feedback.
开环控制(Open-loop Control)——系统的输 出端与输入端之间不存在反馈回路，输出量 对系统的控制作用没有影响。
In general,the objectives can be identified with inputs. 通常目标规定为系统的输入。
1-4 types and Basic components of control systems. Basic components of control systems
-
Signal (variable)
xxx
Components (devices)
x3 x2
Adders (comparison) e =x 1+ x3 -x 2
Example: next pages
1-4 types and Basic components of control systems.
Closed-loop control systems
A closed-loop control system uses a measurement of output and feedback of the signal to compare it with the desired output(reference or command).
Water Level control system
Valve 1
Valve 2
Disturbance(valve 2)
Lever
Valve 1
Tank
1-4 types and Basic components of control systems.
Example:
Temperature control system
1-3 What is an automatic control system?
water level automatic control system
1-4 types and Basic components of control systems.
1. According to the form of given signal
1-4 types and Basic components of control systems. Block diagram of control systems
The block diagram description for a control system : Convenience
x x1 + + e
Reference input Feedback signal Comparison Controller Plant Output
Measurement
1-4 types and Basic components of control systems.
Features of feedback control systems 优点：抗干扰能力强，控制精度高 缺点：复杂，有时会产生不稳定。
1-4 types and Basic components of control systems. Features of open-loop control 优点：简单，相对来说成本低 缺点：对可能出现的被控量偏离给定 值的偏差没有任何修正能力，抗干扰 能力差，控制精度不高。
1-4 types and Basic components of control systems.
1-1 What is a control system?
Definition of a control system
An interconnection of components forming a system configuration that will provide a desired system response.
Desired temperature
thermometer
furnace
mixer operator
gas
valve
air
1-3 What is an automatic control system?
Definition of automatic control system
A control system without people involved is called automatic control system.
由相互关联的部件按一定的结构构成的 系统，能够提供预期的系统响应。
1-2 Why are control systems important?
(1)控制系统无处不在. (2)提高产量，降低成本. (3)提高精度、可靠性. (4)能够在许多人不到达的场所发挥作用.
1-3 What is an automatic control system?
Switch
Heater Power Command input
Furnace
Switch & Heater
Controller
Furnace 被控对象 Plant
Output
1-4 types and Basic components of control systems.
Example: Tank
A linear system satisfies the properties of superposition and Homogeneity: (Principle of Superposition).
1-4 types and Basic components of control systems.
1-4 types and Basic components of control systems. Open-loop Control System
R
Controller
U
Plant 被控对象
C
Measurement
Controller
n
U
Plant
C
The output of the open-loop system has no effect upon the input signal. There is the need to know an accurate model of individual components.
3. According to whether the system’s parameters are changed with time
Time-Invariant Systems versus Time-varying System 4. According to the form of the signal Continuous Systems versus Discrete Systems
5. According to the number of I/O
SISO Systems versus MIMO Systems 6. According to the structure of the system Open-loop system, closed-loop system (feedback control systems), Compound Control systems
Regulator Systems versus Servo Systems (恒值系 统和随动系统）
2. According to whether the system is satisfied the superposition principle Linear Systems versus Nonlinear System
UR Amplifier UT
Amplifier
Thermocouple Furnace
Potentiometer
Motor
Gas
Valve
Mixer
Air
Air
UR
C Amplifier UT Amplifier Thermocouple Motor
1-4 types and Basic components of control systems.
Compensator
R
n
Controller
Plant
C
— Feedback element
1-4 types and Basic components of control systems. Objectives of control
The objectives of the control system is to control the outputs in some prescribed manner by the inputs through the elements of control systems.
Principle of superposition
Superposition Property
1
r
system system
y1
y2
r2
r1 r2
system
y1 y2
Homogeneity Property
r
system
y
ar
system
ay
1-4 types and Basic components of control systems.