控制工程基礎(chǔ) 教學(xué)大綱

控制工程基礎(chǔ)大綱號(hào)：10025401學(xué)分：3學(xué)時(shí)：48執(zhí)筆人：周川審訂人：向崢嶸課程性質(zhì)：專業(yè)基礎(chǔ)課，必修一、課程的地位與作用《控制工程基礎(chǔ)》是電氣信息類及其相關(guān)專業(yè)的專業(yè)基礎(chǔ)課。隨著科學(xué)技術(shù)的突飛猛進(jìn)，自動(dòng)控制技術(shù)越來越廣泛地應(yīng)用于現(xiàn)代工業(yè)、農(nóng)業(yè)、交通、國防、宇航和社會(huì)領(lǐng)域中的各類系統(tǒng)。作為電氣信息類及相關(guān)專業(yè)的學(xué)生，學(xué)習(xí)并掌握自動(dòng)控制的基本理論和方法，對(duì)正確運(yùn)用控制論這一科學(xué)方法論分析和解決問題，具有重要的理論意義和現(xiàn)實(shí)意義。二、課程的教學(xué)目標(biāo)與基本要求1.教學(xué)目標(biāo)通過本課程的學(xué)習(xí)，使學(xué)生掌握有關(guān)自動(dòng)控制的基本理論與方法，了解自動(dòng)控制技術(shù)在國民經(jīng)濟(jì)各個(gè)領(lǐng)域中的地位與作用。2.基本要求要求掌握自動(dòng)控制系統(tǒng)的基本組成、工作原理、線性系統(tǒng)數(shù)學(xué)建模方法，以及經(jīng)典控制理論的系統(tǒng)分析與設(shè)計(jì)方法?？己瞬捎瞄]卷筆試，學(xué)習(xí)成績將根據(jù)平時(shí)作業(yè)和考試成績綜合評(píng)定。三、主要內(nèi)容1控制系統(tǒng)導(dǎo)論1.1自動(dòng)控制的基本原理1.1.1自動(dòng)控制技術(shù)及其應(yīng)用1.1.2△1.1.3自動(dòng)控制發(fā)展簡(jiǎn)史1.2自動(dòng)控制的基本控制方式1.21.2.21.2.31.2.41.3△反饋控制系統(tǒng)的基本組成1.4自動(dòng)控制系統(tǒng)的分類1.5△自動(dòng)控制系統(tǒng)的基本要求1.6典型輸入信號(hào)2系統(tǒng)的數(shù)學(xué)模型2.1控制系統(tǒng)的數(shù)學(xué)模型2.1.1基本概念2.1.2建立系統(tǒng)數(shù)學(xué)模型的方法2.1.3對(duì)系統(tǒng)數(shù)學(xué)模型的基本要求2.1.4經(jīng)典控制理論中常用的數(shù)學(xué)模型2.2控制系統(tǒng)的微分方程模型2.22.22.2.3不同的物理系統(tǒng)數(shù)學(xué)模型2.22.3線性系統(tǒng)的傳遞函數(shù)2.32.3.22.3.32.3.4典型環(huán)節(jié)2.3.5典型元部件2.4方框圖及其等效變換2.4.1△控制系統(tǒng)的方2.4.2△方2.5反饋控制系統(tǒng)的傳遞函數(shù)2.5.12.5.22.52.52.6信號(hào)流圖2.6.12.62.6.32.7MATLAB中傳遞函數(shù)工具箱及其使用3狀態(tài)空間模型3.1控制系統(tǒng)的狀態(tài)空間描述3.1.1基本概念3.1.2狀態(tài)空間描述的一般形式3.2狀態(tài)方程和傳遞函數(shù)的關(guān)系3.3數(shù)據(jù)模型的實(shí)驗(yàn)測(cè)定法3.3.1系統(tǒng)辨識(shí)的定義3.3.2系統(tǒng)辨識(shí)的三要素3.3.3數(shù)學(xué)模型的實(shí)驗(yàn)測(cè)定方法4反饋控制系統(tǒng)的特性4.1△控制系統(tǒng)的重要性能4.2控制系統(tǒng)的靈敏度4.3控制系統(tǒng)抗干擾的能力4.4控制系統(tǒng)中反饋的作用及其代價(jià)4.4.1對(duì)系統(tǒng)增益的影響4.4.2對(duì)系統(tǒng)穩(wěn)定性的影響5線性系統(tǒng)的時(shí)域分析法5.1控制系統(tǒng)時(shí)域分析的概念和意義5.2△系統(tǒng)時(shí)間響應(yīng)的性能指標(biāo)5.3一階系統(tǒng)的時(shí)域分析5.5.3.2△5.3.35.3.4一階系統(tǒng)的5.35.3.6線性定常系統(tǒng)的重要特性5.4二階系統(tǒng)的時(shí)域分析5.4.15.4.2△5.4.5.4.5.4.5△二階系統(tǒng)性能的改善5.5高階系統(tǒng)的時(shí)域分析5.5.5.25.5.35.5.45.6控制系統(tǒng)穩(wěn)態(tài)性能分析5.6.1△5.6.2△5.6.3△5.6.4動(dòng)態(tài)誤差系數(shù)5.6.5★擾動(dòng)作用6線性系統(tǒng)的穩(wěn)定性6.1穩(wěn)定性的概念6.1.1△穩(wěn)定性定義6.1.2△線性系統(tǒng)穩(wěn)定的充要條件6.2勞斯穩(wěn)定判據(jù)6.2.1勞斯穩(wěn)定判據(jù)6.2.2勞斯穩(wěn)定判據(jù)的應(yīng)用7線性系統(tǒng)的根軌跡法7.1根軌跡的概念7.1.1△7.1.27.2繪制根軌跡7.2.1△7.2.2參數(shù)根軌跡及其繪制7.2.3★零度根軌跡及其繪制7.2.4★具有延遲環(huán)節(jié)的根軌跡及其繪制7.2.5根軌跡族及其繪制7.3系統(tǒng)性能分析7.3.1基于根軌跡7.3.2基于根軌跡8線性系統(tǒng)的頻域分析法8.1引言8.2頻率特性基本概念8.2.18.8.3開環(huán)系統(tǒng)的典型環(huán)節(jié)分解與開環(huán)頻率特性曲線的繪制8.3.1△典型環(huán)節(jié)的頻率特性圖8.3.2最小相位系統(tǒng)與非最小相位系統(tǒng)8.3.3系統(tǒng)開環(huán)幅相曲線的繪制8.3.4系統(tǒng)開環(huán)對(duì)數(shù)頻率特性曲線的繪制9線性系統(tǒng)的頻域穩(wěn)定性9.1頻率域穩(wěn)定判據(jù)9.1.19.1.2△★9.1.3對(duì)數(shù)頻率9.2△穩(wěn)定裕度9.3閉環(huán)系統(tǒng)的頻域性能指標(biāo)9.3.1閉環(huán)頻率特性主要性能指標(biāo)9.3.2★閉環(huán)系統(tǒng)時(shí)域指標(biāo)和頻域指標(biāo)的關(guān)系10控制系統(tǒng)設(shè)計(jì)和校正10.1引言10.1.1性能指標(biāo)10.1.2基于Bode圖的系統(tǒng)性能分析10.2串聯(lián)校正10.2.1△串聯(lián)超前校正10.2.2△串聯(lián)滯后校正10.2.3△★串聯(lián)滯后-超前校正10.2.4按期望開環(huán)對(duì)數(shù)頻率特性設(shè)計(jì)串聯(lián)校正裝置10.3PID控制器設(shè)計(jì)10.3.1PID控制器基本結(jié)構(gòu)10.3.2PD控制器10.3.3PI控制器10.3.4PID控制器10.4★反饋校正10.4.1原理與結(jié)構(gòu)10.4.2反饋校正的功能10.5復(fù)合校正10.5.110.5.2四、時(shí)間分配1控制系統(tǒng)導(dǎo)論5382系統(tǒng)的數(shù)學(xué)模型616133狀態(tài)空間模型1234反饋控制系統(tǒng)的特性1235線性系統(tǒng)的時(shí)域分析法626146線性系統(tǒng)的穩(wěn)定性2247線性系統(tǒng)的根軌跡法22488線性系統(tǒng)的頻域分析法7210199線性系統(tǒng)的頻域穩(wěn)定性35810控制系統(tǒng)設(shè)計(jì)和校正62816總計(jì)3974896五、課程說明FundamentalofControlEngineering高等數(shù)學(xué)；工程數(shù)學(xué)；電路電氣信息類各專業(yè)1.胡壽松.自動(dòng)控制原理（第五版）.北京：科學(xué)出版社，2007.6.2.R.C.DorfandR.H.Bishop.ModernControlSystems.（第十版），北京：科學(xué)出版社，2005.9.本課程主要介紹經(jīng)典的反饋控制理論，重點(diǎn)講授基于輸入輸出描述的系統(tǒng)分析和綜合方法。主要內(nèi)容為：自動(dòng)控制的基本概念，自動(dòng)控制系統(tǒng)的組成；控制系統(tǒng)的數(shù)學(xué)模型及建模方法；介紹時(shí)域分析法，包括時(shí)域性能指標(biāo)的定義，勞斯穩(wěn)定判據(jù)、穩(wěn)態(tài)誤差分析、動(dòng)態(tài)性能分析及時(shí)域校正方法；介紹根軌跡分析法，包括閉環(huán)根軌跡圖的繪制及基于根軌跡圖的系統(tǒng)性能的定性分析；介紹頻域分析法，包括頻率特性的概念、頻率特性的繪制，Nyquist穩(wěn)定性判據(jù)，頻域性能指標(biāo)的定義與計(jì)算，以及頻率響應(yīng)法定量分析控制系統(tǒng)動(dòng)態(tài)性能的方法；介紹控制系統(tǒng)的綜合校正方法，重點(diǎn)介紹串聯(lián)校正、反饋校正和復(fù)合控制校正的原理及方法。課程教學(xué)以講授為主，輔以多媒體課件及課堂討論和習(xí)題。考核方式為閉卷筆試和平時(shí)成績綜合評(píng)定。課程介紹CourseDescriptionFundamentalsofControlEngineeringAdvancedMathematics；MathematicsinEngineering；CircuitsElectricalEngineering,InformationandAutomationspecialties’R.C.DorfandR.H.Bishop.ModernControlSystems.11thEdition,PublishingHouseofElectronicsIndustry,Oct.2010.K.Ogata.ModernControlEngineering,5thEdition,PublishingHouseofElectronicsIndustry,Jan.2011.closedbookwrittenexaminationsandtheusualresultsThiscoursewillmainlyintroducetheclassicalfeedbackcontroltheoryandfocusontheteachingofinputandoutputdescriptionbasedsystemanalysisandsynthesismethods.Themaincontentsofthiscoursearethebasicconceptsandcompositionsofautomaticcontrol,thecontrolsystemsmathematicalmodelsandmodelingmethods;Itwillintroducethetimedomainanalysisapproacheswhichincludesthedefinitionoftimedomainperformanceindexes,theRolls’stabilitycriterions,thesteadystateerroranalysis,thedynamicperformanceanalysisandthetimedomaincorrectionmethods;theintroductionofrootlocusanalysiswhichincludestheplotofclosed-looprootlocusandtherootlocusbasedqualitativeanalysisofsystems’performance;theintroductionoffrequencydomainanalysiswhichcoverstheconceptsoffrequencycharacteristics,theplotoffrequencycharacteristics,theNyquiststabilitycriterion,thedefinitionandcalculationoffrequency-domainperformanceindexes,thequantitativeanalysisofdynamicalcontrolsystemsfrequencyresponses,thecontrolsystemscomprehensivecorrectionmethods,thekeypointsontheprincipleandmethodsofseriescorrections,feedbackcorrectionsandcompositecorrections.Thiscoursewillbemostlybasedonthelectures,combinedwithmultimediaPPTsandstudentsclassdiscussionsandexercises.Theassessmentofthiscoursewillbeadoptedonaclosedbookexamination,andthestudentsfinalnoteswillbecalculatedonthebasisofclosedbookwrittenexaminationsandtheusualresults.英文教學(xué)大綱StatusandRoles“FundamentalsofControlEngineering”isanimportantbasiccourseforspecialtiesofElectricalEngineering,InformationandAutomations.Withtherapiddevelopmentofscienceandtechnology,theautomaticcontroltechnologiesbecomemoreandmorevastlyusedinthemodernindustry,agriculture,transportation,defense,aerospaceandnationaleconomy,etc.AsanElectricalEngineering,InformationandAutomationspecialties’studentlearnsandmastersthebasictheoriesandapproachesofautomaticcontrol,tocorrectlyapplythescientificmethodologyofcontroltheoryinanalyzingandresolvingproblems,havingimportanttheoreticalandpracticalsignificance.TeachingobjectivesandbasicrequirementsWiththestudyofthiscourse,itwillmakethestudentstomasterthebasictheoriesofautomaticcontrolandtounderstandthestatusandrolesofautomaticcontroltechnologiesindivers’fieldsofnationaleconomy.Thiscourserequiresthatstudentsshouldmasterthebasicsandprinciplesoftheautomaticcontrolsystems,themathematicalmodelingmethodsoflinearsystems,aswellastheclassicalcontroltheory’ssystemanalysisanddesignapproaches,suchasthetimedomainmethods,frequencydomainmethodsandtherootlocusmethods.Theassessmentofthiscoursewillbebasedonaclosedbookexamination,andthestudents’finalnoteswillbecalculatedonthebasisoftheclosedbookwrittenexaminationsandtheusualresults.

MainContents1BasicConceptofAutomaticControl1.1BasicPrincipleandMethodofAutomaticControl1.1.1A1.1.2BriefHistoryofAutomaticControlDevelopment1.1.3△PrincipleofFeedbackControlBasicFormsofAutomaticControlSystem1.2.1△Closed-loopControlCombinedControl1.3△BasicComponentofClosed-loopControlSystem1.4ClassificationofAutomaticControlSystem1.5△PerformanceofAutomaticControlSystem1.5.1Stability1.5.2Swiftness1.5.3Accuracy2MathematicalModelofControlSystem2.1DifferentialEquationandTransferFunction2.1.1LinearOrdinary2.1.22.1.3△Characteristicsof2.2TransferFunctionofTypicalControlElement2.2.1△PassiveNetworks2.2.2△ActiveNetworks2.2.32.2.4△★TypicalActuators2.3BlockDiagramandItsEquivalentTransformation2.3.1△BlockDiagramof2.3.2△2.3.32.4TypicalComponentandItsTransferFunction2.5TransferFunctionofFeedbackControlSystem2.5.1△Open-loopTransferFunction2.5.2△TransferFunctionofClosed-loopsystem2.5.3OutputofClosed-loopsystem2.5.4ErrorofClosed-loopsystem3AnalysisofLinearSysteminTimeDomain3.1TypicalControlProcessandItsPerformanceIndices3.1.1Typicalinputsignal3.1.2△PerformanceIndexinTimeDomain3.2Analysisof1stOrderLinearSystem3.2.1MathematicalModelof1stOrderLinearSystem3.2.2△StepResponseof1stOrderLinearSystem3.2.3RampResponseof1stOrderLinearSystem3.2.4ImpulseResponseof1stOrderLinearSystem3.2.5ImportantConclusionsofLinearConstantSystem3.3Analysisof2ndOrderLinearSystem3.3.1△MathematicalModelof2ndOrderLinearSystem3.3.2△StepResponseof2ndOrderLinearSystem3.3.3△PerformanceIndexof2ndOrderSystem3.3.4RampResponseof2ndOrderSystem3.3.5ImpulseResponseof2ndOrderLinearSystem3.4AnalysisofhighOrderLinearSysteminTimeDomain3.4.1MathematicalModelofHighOrderLinearSystem3.4.2StepResponseofHighOrderLinearSystem3.4.3★PerformanceAnalysisofHighOrderLinearSystem3.4.4△ConceptofDominantPoles3.5StabilityAnalysisofControlSystem3.5.1△ConceptofStability3.5.2△SufficientandNecessaryConditionforStabilityofLinearConstantSystem3.5.3RouthCriterion3.5.43.6SteadyStateErrorAnalysis3.6.1△ConceptofErrorandSteadyStateError3.6.2△TypesofControlSystem3.6.3△StaticErrorCoefficients3.6.4★Steady4RootLocusofLinearSystem4.1EquationofRootLocus

4.1.1△RootLocusConcept4.1.2★RootLocusandSystemPerformance4.1.3EquationofRootLocus4.2RootLocusProcedure4.2.17RulesofRootLocus4.2.2★DeterminationofClosed-loopSystem’sPoles4.3GeneralizedRootLocus4.3.1P4.3.2EquivalentOpen-loopTransferFunction4.3.3★EffectsofAdditionalOpen-loopZeros4.3.4★EffectsofAdditionalOpen-loopPoles4.3.5★RootLocusof0Degree5FrequencyResponseofLinearSystem5.1FrequencyCharacteristicsandplotofFrequencyCharacteristics5.1.1△BasicConceptofFrequencyCharacteristics5.1.2GeometryrepresentationofFrequencyCharacteristics5.1.3△PlotofTypicalElementFrequencyCharacteristics5.2PlotofFrequencyCharacteristicsofOpen-loopSystem5.2.1△PlotofFrequencyCharacteristicsinLogarithmCoordinate5.2.2△PolarplotofFrequencyCharacteristics5.2.3MinimumPhaseSystemandNon-MinimumPhaseSystem5.3NyquistStabilityCriterion5.3.1PrincipleofArgument.5.3.2△★NyquistStabilityCriterion5.3.3LogarithmStabilityCriterion5.3.4△MarginofStability5.4RelationshipbetweenFrequencyCharacteristicsandPerformanceIndexinTimeDomain5.4.1△LogarithmAmplitude-FrequencyCharacteristicsofTypicalSystem5.4.2△★RelationshipbetweenOpen-loopAmplitude-FrequencyCharacteristicsandPerformanceIndexinTimeDomain5.4.3★FrequencyCharacteristicsofClosed-loopSystem5