华信教育资源网
控制工程基础(第2版)
作   译   者:谭跃刚 出 版 日 期:2022-09-01
出   版   社:电子工业出版社 维   护   人: 
书   代   号:TH442410 I S B N:9787121442414
定价 69.8
您的专属联系人更多
关注 评论(0) 分享
配套资源 图书内容 样章/电子教材 图书评价
  • 配 套 资 源

    本书资源

    本书暂无资源

    会员上传本书资源

  • 图 书 内 容

    内容简介

    本书主要介绍机械工程、电气工程等工程系统分析与控制的基础理论,主要内容包括工程系统(简称系统)的数学模型、时域分析、根轨迹分析、频域分析,以及工程系统控制设计等。本书的特点是以"工程控制系统—建模—分析—设计”为主线,重点突出工程系统控制性能的分析及设计,不强调严格的数学推演,在继续保持第1 版内容的系统性和完整性的基础上,侧重基本概念、思想方法的理解和应用,适应传授理论知识和培养创新能力并重的需要。

    图书详情

    ISBN:9787121442414
    开 本:16(185*260)
    页 数:358
    字 数:573

    本书目录

    目 录
    第1 章 绪论 ················································································································.1
    1.1 控制与反馈控制 ···································································································.1
    1.2 开环控制和闭环控制 ·····························································································.4
    1.2.1 开环控制 ···································································································.4
    1.2.2 闭环控制 ···································································································.4
    1.3 控制系统的分类 ···································································································.5
    1.4 控制理论的发展历程 ·····························································································.7
    1.5 控制系统性能的基本要求和设计 ··············································································.9
    1.5.1 控制系统性能的基本要求 ··············································································.9
    1.5.2 控制系统的设计 ·························································································.10
    习题 ························································································································.11
    第2 章 控制系统的数学模型 ·······················································································.12
    2.1 数学模型概述 ·····································································································.12
    2.2 控制系统的微分方程 ····························································································.13
    2.2.1 控制系统微分方程的建立 ·············································································.13
    2.2.2 非线性微分方程的线性化 ·············································································.17
    2.3 控制系统的状态方程 ····························································································.20
    2.3.1 基本概念 ··································································································.20
    2.3.2 线性系统状态空间表达式的建立 ····································································.23
    2.4 控制系统的传递函数 ····························································································.26
    2.4.1 传递函数的定义和特性 ················································································.26
    2.4.2 传递函数的计算 ·························································································.28
    2.4.3 传递函数的基本形式 ···················································································.29
    2.4.4 典型环节的传递函数 ···················································································.30
    2.5 控制系统的框图 ··································································································.35
    2.5.1 框图的组成及建立步骤 ················································································.35
    2.5.2 框图的等效变换 ·························································································.36
    2.5.3 梅逊公式 ··································································································.43
    2.6 控制系统的传递函数 ····························································································.47
    2.6.1 闭环控制系统的开环传递函数 ·······································································.47
    2.6.2 闭环控制系统的闭环传递函数 ·······································································.48
    2.7 应用MATLAB 建立系统数学模型 ···········································································.51
    2.7.1 传递函数的MATLAB 模型 ···········································································.51
    2.7.2 状态空间表达式的MATLAB 模型 ··································································.55
    习题 ························································································································.58
    第3 章 控制系统的时域分析 ·······················································································.66
    3.1 概述 ·················································································································.66
    3.2 控制系统的典型输入信号 ······················································································.67
    3.3 控制系统时域响应的求解 ······················································································.70
    3.3.1 基于微分方程求解时域响应 ··········································································.70
    3.3.2 基于状态方程求解时域响应 ··········································································.72
    3.3.3 基于传递函数求解时域响应 ··········································································.76
    3.4 控制系统的时域性能指标 ······················································································.77
    3.4.1 系统时域响应的时间历程 ·············································································.77
    3.4.2 系统的动态性能指标 ···················································································.78
    3.4.3 系统的稳态性能指标 ···················································································.79
    3.5 控制系统的时域分析与性能指标计算 ·······································································.79
    3.5.1 一阶系统的时域分析与性能指标计算 ······························································.80
    3.5.2 二阶系统的时域分析与性能指标计算 ······························································.82
    3.5.3 高阶系统的时域分析与性能指标计算 ······························································.90
    3.6 控制系统的稳态误差 ····························································································.93
    3.6.1 稳态误差的概念 ·························································································.93
    3.6.2 系统的型次 ·······························································································.94
    3.6.3 系统稳态误差的计算 ···················································································.95
    3.6.4 提高系统稳态精度的方法 ···········································································.100
    3.7 控制系统的稳定性分析 ·······················································································.102
    3.7.1 稳定性的概念 ··························································································.102
    3.7.2 系统稳定的条件 ·······················································································.103
    3.7.3 系统稳定性的劳斯判据 ··············································································.107
    3.7.4 劳斯判据的应用 ·······················································································.110
    3.8 控制系统的可控性和可观测性 ··············································································.112
    3.8.1 可控性及其判断 ·······················································································.112
    3.8.2 可观测性及其判断 ····················································································.116
    3.8.3 系统传递函数与可控性和可观测性的关系 ······················································.118
    3.9 基于MATLAB 的系统时域响应计算和时域性能分析 ·················································.119
    3.9.1 系统的时域响应计算 ·················································································.119
    3.9.2 系统的动态响应特性分析 ···········································································.122
    3.9.3 系统稳定性分析 ·······················································································.123
    3.9.4 可控性和可观测性分析 ··············································································.127
    习题 ······················································································································.129
    第4 章 控制系统的根轨迹分析 ··················································································.134
    4.1 根轨迹的概念 ···································································································.134
    4.2 根轨迹的基本条件与绘制规则 ··············································································.136
    4.2.1 根轨迹的基本条件 ····················································································.137
    4.2.2 根轨迹的绘制规则 ····················································································.138
    4.3 控制系统根轨迹的绘制 ·······················································································.148
    4.3.1 最小相位系统的根轨迹绘制 ········································································.148
    4.3.2 零度根轨迹的绘制 ····················································································.149
    4.3.3 系统的参量根轨迹绘制 ··············································································.153
    4.4 控制系统的根轨迹分析 ·······················································································.155
    4.4.1 增加开环零点和开环极点对根轨迹的影响 ······················································.155
    4.4.2 系统性能的根轨迹分析 ··············································································.158
    4.5 基于MATLAB 的系统根轨迹分析 ·········································································.162
    习题 ······················································································································.164
    第5 章 控制系统的频域分析 ·····················································································.166
    5.1 控制系统的频率响应与频率特性函数 ·····································································.166
    5.1.1 系统的频率响应 ·······················································································.166
    5.1.2 系统的频率特性函数 ·················································································.168
    5.2 控制系统的频率特性图 ·······················································································.170
    5.2.1 系统的极坐标图 ·······················································································.170
    5.2.2 系统的对数频率特性图 ··············································································.179
    5.3 奈奎斯特稳定判据 ·····························································································.192
    5.3.1 系统的奈奎斯特稳定条件 ···········································································.192
    5.3.2 基于对数频率特性图的系统稳定性判据 ·························································.199
    5.4 控制系统的相对稳定性 ·······················································································.201
    5.5 控制系统的频域性能指标 ····················································································.205
    5.5.1 系统的闭环频率特性 ·················································································.205
    5.5.2 系统闭环频率特性与开环频率特性的关系 ······················································.208
    5.6 基于MATLAB 的系统频域性能分析 ······································································.210
    5.6.1 系统的频域特性函数 ·················································································.210
    5.6.2 利用MATLAB 绘制频率特性图 ···································································.212
    习题 ······················································································································.216
    第6 章 控制系统的设计 ····························································································.221
    6.1 控制系统设计的基本问题 ····················································································.221
    6.1.1 系统的校正 ·····························································································.221
    6.1.2 串联校正装置的一般结构 ···········································································.223
    6.2 串联校正装置的设计 ··························································································.226
    6.2.1 串联超前校正装置的设计 ···········································································.226
    6.2.2 串联滞后校正装置的设计 ···········································································.233
    6.2.3 串联滞后-超前校正装置的设计 ···································································.237
    6.3 PID 控制系统的设计 ··························································································.243
    6.3.1 PID 控制器的设计 ····················································································.243
    6.3.2 设计PID 控制器的Z-N 法 ··········································································.250
    6.4 状态反馈与极点配置设计 ····················································································.255
    6.4.1 状态反馈 ································································································.256
    6.4.2 极点配置设计法 ·······················································································.256
    6.5 应用MATLAB 进行控制系统设计 ·········································································.259
    习题 ······················································································································.265
    第7 章 离散控制系统的基础理论 ··············································································.270
    7.1 概述 ···············································································································.270
    7.1.1 采样控制系统 ··························································································.271
    7.1.2 数字控制系统 ··························································································.271
    7.2 离散信号与Z 变换 ·····························································································.272
    7.2.1 信号采样与离散信号 ·················································································.272
    7.2.2 离散信号的Z 变换 ····················································································.278
    7.3 离散控制系统的数学模型 ····················································································.284
    7.3.1 差分方程 ································································································.284
    7.3.2 离散控制系统的状态空间表达式 ··································································.287
    7.3.3 脉冲传递函数 ··························································································.289
    7.4 离散控制系统的性能分析 ····················································································.295
    7.4.1 离散控制系统的时域分析 ···········································································.295
    7.4.2 离散控制系统的稳定性分析 ········································································.299
    7.4.3 离散控制系统的稳态误差 ···········································································.304
    7.4.4 离散控制系统的根轨迹分析 ········································································.308
    7.4.5 离散控制系统的频域分析 ···········································································.309
    7.5 离散控制系统的设计 ··························································································.312
    7.5.1 离散PID 控制器的模拟化设计 ····································································.312
    7.5.2 离散控制系统的离散化设计 ········································································.316
    7.6 应用MATLAB 分析与设计离散控制系统 ································································.316
    7.6.1 连续控制系统的离散化 ··············································································.317
    7.6.2 离散控制系统的数学模型 ···········································································.318
    7.6.3 离散控制系统的分析 ·················································································.319
    7.6.4 基于MATLAB 离散控制系统设计 ································································.324
    习题 ······················································································································.325
    参考文献 ·····················································································································.330
    附录A 拉氏变换 ·······································································································.331
    附录B 常用函数的拉氏变换与Z 变换表 ····································································.336
    附录C 部分习题参考答案 ·························································································.337
    展开

    前     言

    前 言
           编者在第1 版的基础上,参考任课教师和学生的反馈意见,结合培养本科生分析处理复杂工程系统能力等专业认证要求,进行修订形成第2 版。本书不仅在内容上有所调整和更新,而且加强了理论与实际的结合,突出了控制工程基础的实用性。根据我国高等学校“新工科”建设发展的要求,以及我国本科生工程基础类课程教学改革的需要,为使学生在较少的学时内能系统地掌握控制工程的基本概念、基础理论和方法,编者删除了控制理论中一些不常用的内容,增加了从实际系统到数学模型的系统建模内容,使学生能够获得从实际系统分析到数学模型建立的知识和能力。在控制系统设计方面,编者弱化了控制系统校正中的图形试凑设计,增强了串联校正与PID 控制的关系,以及PID 控制器设计的内容。在内容表述上,侧重于概念的阐述和系统分析,不苛求数学的严密推演,突出对控制工程基础的概念、理论和方法等共性问题的理解和实际应用。全书文字简洁,易读易懂,各章习题配有答案,便于学生自学。本书内容编排满足工科高校相关专业40~64 课时的教学需要。
          本书由谭跃刚教授和黄安贻教授担任主编,刘兆冰副教授和陈祯副教授担任副主编。各章编写分工如下:谭跃刚、刘兆冰编写第5~7 章,黄安贻、陈祯编写第1~4 章。最后,由谭跃刚、黄安贻进行审核定稿。本书的再次出版得到了不少任课教师的大力支持,在此向这些教师表示衷心的感谢。本书可能存在一些缺陷和不妥之处,恳请广大读者和同行专家批评指正。
    编 者
    2022 年4 月
    展开

    作者简介

    谭跃刚,工学博士,现为武汉理工大学机电工程学院教授、博士生导师。研究方向为机器人及其控制、控制理论与应用、机械装备动态监测技术与应用。
  • 样 章 试 读
    本书暂无样章试读!
  • 图 书 评 价 我要评论
华信教育资源网