Preface前言 Chapter 1 Introduction to Electromechanical Control Engineering機電控制工程概論 1.1 Introduction概述 1.2 Structures of Control Systems控制系統的結構 1.2.1 Open?loop control systems開環控制系統 1.2.2 Closed?loop control systems閉環控制系統 1.2.3 The composition of feedback control systems反饋控制系統的組成 1.3 The Classification of Control Systems控制系統的分類 1.3.1 The classification in terms of the characteristics of input signals按輸入信號的特徵分類 1.3.2 The classification in terms of realization ways of controllers按控制器的實現方式分類 1.3.3 The classification in terms of error按誤差分類 1.4 Basic Requirements of Control Systems控制系統的基本要求 1.4.1 Stability穩定性 1.4.2 Rapidity快速性 1.4.3 Accuracy準確性 Chapter 2 Mathematical Models of Control Systems控制系統的數學模型 2.1 Differential Equations of Control Systems控制系統的微分方程 2.1.1 Linear systems and nonlinear systems線性系統與非線性系統 2.1.2 The establishment of differential equations微分方程的建立 2.1.3 Solution of differential equations微分方程的求解 2.2 The Laplace Transform拉普拉斯變換 2.2.1 Definition of the Laplace transform拉普拉斯變換的定義 2.2.2 Laplace transforms of typical functions典型函數的拉普拉斯變換 2.2.3 Fundamental theorems of the Laplace transform拉普拉斯變換的基本定理 2.2.4 The inverse Laplace transform拉普拉斯反變換 2.3 The Transfer Function of Control Systems控制系統的傳遞函數 2.3.1 Definition of the transfer function傳遞函數的定義 2.3.2 Characteristics of the transfer function傳遞函數的特點 2.3.3 Forms of the transfer function傳遞函數的形式 2.4 Transfer Functions of Typical Elements典型環節的傳遞函數 2.4.1 Proportion element比例環節 2.4.2 Differential element微分環節 2.4.3 Integral element積分環節 2.4.4 Inertial element慣性環節 2.4.5 First?order differential element一階微分環節 2.4.6 Second?order oscillation element二階振蕩環節 2.4.7 Second?order differential element二階微分環節 2.4.8 Delay element延時環節 2.5 Function Block Diagrams of Control Systems控制系統的框圖模型 2.5.1 Basic connection modes of control systems控制系統的基本連接方式 2.5.2 The closed?loop control system under disturbances擾動作用下的閉環控制系統 2.5.3 The drawing of block diagrams框圖的繪製 2.5.4 The simplification of block diagrams框圖的簡化 2.6 Mathematical Models of Typical Control Systems典型控制系統的數學模型 2.6.1 Mechanical systems機械系統 2.6.2 Electrical systems電氣系統 Chapter 3 Time?Domain Analysis of Contro 3.1.3 Time?domain performance indicators of control systems控制系統的時域性能指標 3.2 Mathematical Models and Time Response of First?Order Systems一階系統的數學模型和時間響應 3.2.1 Mathematical models of first?order systems一階系統的數學模型 3.2.2 Time response of first?order systems一階系統的時間響應 3.3 Mathematical Models and Time Response of Second?Order Systems二階系統的數學模型和時間響應 3.3.1 Mathematical models of second?order systems二階系統的數學模型 3.3.2 Time response of second?order systems二階系統的時間響應 3.3.3 Time?domain performance indicators of second?order systems二階系統的時域性能指標 3.4 Time Response and Performance Analysis of Higher?Order Systems高階系統的時間響應與性能分析 3.4.1 Time response of higher?order systems高階系統的時間響應 3.4.2 Performance analysis of higher?order systems高階系統的性能分析 Chapter 4 Frequency Characteristic Analysis of Control Systems控制系統的頻率特性分析 4.1 Basic Concepts of Frequency Characteristics頻率特性的基本概念 4.1.1 Frequency response頻率響應 4.1.2 Frequency characteristics and solving methods頻率特性及其求取方法 4.1.3 Graphical representation of frequency characteristics頻率特性的圖形表示法 4.2 Frequency Characteristics of Typical Elements典型環節的頻率特性 4.2.1 Proportion element比例環節 4.2.2 Integral element and differential element積分環節和微分環節 4.2.3 Inertial element and first?order differential element慣性環節和一階微分環節 4.2.4 Oscillation element and second?order differential element振蕩環節和二階微分環節 4.2.5 Time delay element延時環節 4.3 Open?loop Frequency Characteristics of Control Systems控制系統的開環頻率特性 4.3.1 The open?loop polar plot of control systems控制系統的開環極坐標圖 4.3.2 The open?loop Bode plot of control systems控制系統的開環伯德圖 4.4 Closed?loop Frequency Characteristics of Control Systems控制系統的閉環頻率特性 4.4.1 Closed?loop frequency characteristics of control systems控制系統的閉環頻率特性 4.4.2 Estimation of closed?loop frequency characteristics using open?loop frequency characteristics利用開環頻率特性估計閉環頻率特性 4.4.3 Closed?loop frequency domain performance indicators of control systems控制系統的閉環頻域性能指標 Chapter 5 Performance Analysis of Control Systems控制系統的性能分析 5.1 Stability Analysis of Control Systems控制系統的穩定性分析 5.1.1 Introduction概述 5.1.2 The algebraic stability criterion代數穩定性判據 5.1.3 The stability criterion of control systems in the frequency domain控制系統的頻域穩定性判據 5.1.4 Relative stability analysis of control systems控制系統的相對穩定性分析 5.2 Error Analysis of Control Systems控制系統的誤差分析 5.2.1 System error and error transfer function系統誤差和誤差傳遞函數 5.2.2 Analysis and 6.3 Parallel Compensation of Control Systems控制系統的並聯校正 6.3.1 Feedback compensation反饋校正 6.3.2 Compound compensation複合校正 Chapter 7 Analysis and Compensation of Control Systems based on MATLAB基於MATLAB的控制系統分析與校正/3057.1 Introduction概述 7.1.1 Basic operations and commands基本操作及命令 7.1.2 MATLAB functionsMATLAB函數 7.1.3 Plotting response curves繪製響應曲線 7.2 Description of Mathematical Models based on MATLAB基於MATLAB的數學模型描述 7.2.1 Description of mathematical models of continuous systems連續系統數學模型的描述 7.2.2 Transformations between various mathematical models各種數學模型之間的轉換 7.2.3 Control system modeling based on MATLAB基於MATLAB的控制系統建模 7.2.4 Modeling method based on Simulink基於Simulink的建模方法 7.3 Performance Analysis of Control Systems based on MATLAB基於MATLAB的控制系統性能分析 7.3.1 Time?domain analysis of control systems控制系統的時域分析 7.3.2 Frequency?domain analysis of control systems控制系統的頻域分析 7.3.3 Stability analysis of control systems控制系統的穩定性分析 7.4 Compensation of Control Systems based on MATLAB基於MATLAB的控制系統校正 Appendix AExercises課後練習 References參考文獻