自控原理课件(英文版)分析
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自控原理课件3(英文版)
r(t) 1 t 2 1(t)
1 t2 2
t 0
2
0
t 0
r (t )
L{1 2
t2
1(t)}
1 s3
0
t
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3-1. Introduction
Function imagine
t
t
0
Original function of Time-domain
image
relation
Image function
Unit-impulse response of first-order system
For the unit-impulse input, R(s)=1, so
(s) C(s) 1 R(s) Ts 1
C(s) 1 Ts 1
c(t) 1 et /T , for t 0 T
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3-2 Time response of first-order system
Figure 5-4 Unit-impulse response of the system shown
in Figure 5–1(a).
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3-2 Time response of first-order system
r(t)§R3(s).2C.3(s)=一F(阶s) R系(s)统的典c型(t) 响应
Given an absolute stable system, we will discuss further the relative stability of the system.
If the output of a system at steady state does not exactly agree with the input, the system is said to have steady-state error. This error is indicative of accuracy of the system.
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
自控原理课件(英文版)分析
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).
1-4 types and Basic components of control systems.
Example:
Desired output response (Command input)
Actuating device Controller
process plant
Output
1-4 types and Basic components of control systems.
Example: Water Level control system
Tank
Valve 1
Valve 2
Disturbance(valve 2)
Lever
Valve 1
Tank
1-4 types and Basic components of control systems.
Example: Temperature control system
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
Linear Systems versus Nonlinear System
A linear system satisfies the properties of superposition and Homogeneity: (Principle of Superposition).
1-4 types and Basic components of control systems.
Example:
Desired output response (Command input)
Actuating device Controller
process plant
Output
1-4 types and Basic components of control systems.
Example: Water Level control system
Tank
Valve 1
Valve 2
Disturbance(valve 2)
Lever
Valve 1
Tank
1-4 types and Basic components of control systems.
Example: Temperature control system
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
自动控制原理(全套课件659P)
手动控制
人在控制过程中起三个作用： （1）观测：用眼睛去观测温度计和转速表的指示值；
（2）比较与决策：人脑把观测得到的数据与要求的数据相比较，并进行
判断节，如调节阀门开度、改变触点位置。
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1.1 自动控制的基本概念
在现代科学技术的众多领域中，自动控制技术起着越来越重要的作用。 如数控车床按预定程序自动切削，人造卫星准确进入预定轨道并回收
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控制系统分析：已知系统的结构参数，分析系统的稳定性，求取系
统的动态、静态性能指标，并据此评价系统的过程称为控制系统分 析。
控制系统设计（或综合）：根据控制对象和给定系统的性能指标，
合理的确定控制装置的结构参数，称为控制系统设计。 被控量 ：指被控对象中要求保持给定值、要按给定规律变化的物理 量。被控量又称输出量、输出信号 。 给定值：系统输出量应达到的数值（例如与要求的炉温对应的电 压）。 扰动：是一种对自动控制系统输出量起反作用的信号，如电源电压
闭环控制是指系统的被控制量（输出量）
与控制作用之间存在着负反馈的控制 方式。采用闭环控制的系统称为闭环
控制系统或反馈控制系统。闭环控制
是一切生物控制自身运动的基本规律。 人本身就是一个具有高度复杂控制能
力的闭环系统。
优点：具有自动补偿由于系统内部和外 部干扰所引起的系统误差（偏差）的
能力，因而有效地提高了系统的精度。
脑
手
输出量 （手的位置）
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闭环控制系统方框图
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反馈控制系统的组成、名词术语和定义
反馈控制系统方框图
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1.2 自动控制理论的发展
自动控制原理2021双语cha幻灯片PPT
Chapter 1 Introduction to control systems
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
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The Principle of Automatic Control 2008
Block diagram
r
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
自动控制原理课件 CH5_1_Frequency Domain Analysis
7
1、Introduction to Frequency Characteristics
c (t )
1
Ai T T 2
2
t
eT
Ai
sin( t arctg T )
1 T 2 2
稳态响应 幅频特性
cs (t)
Ai
sin( t arctg T )
1 T 2 2
Ao M ( )
1
j ) s j
Ai G( j )
2j
Ai G( j ) e jG( j )
mn
Assume r ( t ) Ai sin( t ) c ( s ) G ( s ) R ( s ) b0 s m b1s m1 bm Ai ( s s1 )( s s2 ) ( s sn ) s 2 2 a1 a2 s j s j
cs (t) a1e jt a2e jt
Ai
1 T 2 2
相频特性 ( ) arctg T
频率特性
M ( )e j ( )
1
e jarctg T
1
1 T 2 2
1 j T
1 Ts 1 s j
G ( s ) s j
G ( j )
CEPE
CH5 Frequency Domain Analysis
8
1、Introduction to Frequency Characteristics
M ( )e j ( ) G ( j ) Frequency Characteristics
CEPE
CH5 Frequency Domain Analysis
6
1、Introduction to Frequency Characteristics
自动控制原理 ppt课件
现代控制理论
研究的主要对象是多输入、多输出——多变量系统。如，汽车看成是一个具有两个输 入（驾驶盘和加速踏板）和两个输出（方向和速度）的控制系统。计算机科学地发展， 极大地促进了控制科学地发展。
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经典控制理论 研究对象 线性定常系统 （单输入、单输出） 传递函数 （输入、输出描述） 根轨迹法和频率法
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非线性系统
特点：在构成系统的环节中有一个或一个以上的非线性环节。
非线性的理论研究远不如线性系统那么完整，目前尚无通用的方法可以解决各类非线 性系统。 近似处理。
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自动控制系统的分类
其他分类方式
按系统数学模型参数特性分：定常系统和时变系统 按功能分：温度控制系统、速度控制系统、位置控制系统等。 按元件组成分：机电系统、液压系统、生物系统等。
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控制系统性能的基本要求
稳定性（稳）
能工作（即达到稳态），并在有一定的环境和参数变化时，还能有稳定“裕量”
稳态精度（准）
系统进入稳态时，稳态值与预期的差别越小越好
动态过程（好/快）
在输入信号到到达稳态的变化全过程，包括离预期值的振荡和过渡时间。反例：高射 炮射角随动系统，虽然炮身最终能跟踪目标，但如果目标变动迅速，而炮身行动迟缓， 仍然抓不住目标
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课程主要任务
分析和设计反馈自动控制系统
建立系统的数学模型
• 传递函数，方框图，信号流图
根据模型分析系统特性
• 主要针对线性定常系统，采用经典控制理论 • 时域响应，稳定性分析，根轨迹法
北航自控原理课件8(英文版)
2 n
1 n
2
n
When
n
, we have
A( ) 2
(8) first-order unstable component
1 G(s) Ts 1
G( j ) 1 Tj 1 1 (T ) 1
(
n
[0.10 0.2
0.3 0.4
0.6 0.8 1]
(5) Differential component
G( s) s
G( s) s 1
G( j ) j e
j
2
(6) First order differential component
G ( j ) j 1 ( ) 1 e
Example:
s 10 s 10 G1 ( s) , G2 ( s ) s 1 s 1
Magnitude plot
Magnitude of G1(j) (dB)
20 15 10 5 0 -1 10
10
0
10
1
10
2
Magnitude of G2(j) (dB)
20 15 10 5 0 -1 10
(1) The steady-state output of a control system due to a sinusoidal input signal. Consider the system output Y ( s) T ( s) R( s) . where
A R( s) 2 s 2
A( )e
where
A( )
2 n 2 n
j ( )
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.
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1-1 What is a control system?
examples
Control of Traffic Lights
1-1 What is a control system?
Furnace temperature control system
Switch Power
Heater
Furnace
1-3 What is an automatic control system?
UR
UT
Amplifier
Amplifier
Thermocouple Furnace
Potentiometer Motor
Valve
Gas Air
Mixer
Temperature automatic control system
1-4 types and Basic components of control systems.
Principle of superposition
Superposition Property
r1
system
y1
r1 r2
system
y1 y2
r2
system
y2
Homogeneity Property
r
syay
1-4 types and Basic components of control systems.
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
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.
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）
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).
1-1 What is a control system?
Temperature control system
Desired temperature
thermometer
furnace
operator
gas
valve
air
mixer
1-1 What is a control system?
water level 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?
Open-loop system, closed-loop system (feedback control systems), Compound Control systems
1-4 types and Basic components of control systems.
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
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.
Chapter 1:
Introduction to Automatic Control
重点掌握: •控制系统的基本组成 •基本的控制方式及反馈控制系统的特点 •控制系统的性能要求
Main contents
1-1 What is a control system? 1-2 Why are control systems important? 1-3 What is an automatic control system? 1-4 Basic components and types of control system. 1-5 How to evaluate a automatic control system? 1-6 The development of automatic control theory.