动态系统的数字控制 英文本2025|PDF|Epub|mobi|kindle电子书版本百度云盘下载

动态系统的数字控制 英文本PDF格式电子书版下载

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1 Introduction1

1.1 Problem Definition1

1.2 Overview of Design Approach5

1.3 Computer-Aided Design7

1.4 Suggestions for Further Reading7

1.5 Summary8

1.6 Problems8

2 Review of Continuous Control11

2.1 Dynamic Response11

2.1.1 Differential Equations12

2.1.2 Laplace Transforms and Transfer Functions12

2.1.3 Output Time Histories14

2.1.4 The Final Value Theorem15

2.1.5 Block Diagrams15

2.1.6 Response versus Pole Locations16

2.1.7 Time-Domain Specifications20

2.2 Basic Properties of Feedback22

2.2.1 Stability22

2.2.2 Steady-State Errors23

2.2.3 PID Control24

2.3 Root Locus24

2.3.1 Problem Definition25

2.3.2 Root Locus Drawing Rules26

2.3.3 Computer-Aided Loci28

2.4 Frequency Response Design31

2.4.1 Specifications32

2.4.2 Bode Plot Techniques34

2.4.3 Steady-State Errors35

2.4.4 Stability Margins36

2.4.5 Bode’s Gain-Phase Relationship37

2.4.6 Design38

2.5 Compensation39

2.6 State-Space Design41

2.6.1 Control Law42

2.6.2 Estimator Design46

2.6.3 Compensation：Combined Control and Estimation48

2.6.4 Reference Input48

2.6.5 Integral Control49

2.7 Summary50

2.8 Problems52

3 Introductory Digital Control57

3.1 Digitization58

3.2 Effect of Sampling63

3.3 PID Control66

3.4 Summary68

3.5 Problems69

4 Discrete Systems Analysis73

4.1 Linear Difference Equations73

4.2 The Discrete Transfer Function78

4.2.1 The z-Transform79

4.2.2 The Transfer Function80

4.2.3 Block Diagrams and State-Variable Descriptions82

4.2.4 Relation of Transfer Function to Pulse Response90

4.2.5 External Stability93

4.3 Discrete Models of Sampled-Data Systems96

4.3.1 Using the z-Transform96

4.3.2 Continuous Time Delay99

4.3.3 State-Space Form101

4.3.4 State-Space Models for Systems with Delay110

4.3.5 Numerical Considerations in Computing Φ and Γ114

4.3.6 Nonlinear Models117

4.4 Signal Analysis and Dynamic Response119

4.4.1 The Unit Pulse120

4.4.2 The Unit Step120

4.4.3 Exponential121

4.4.4 General Sinusoid122

4.4.5 Correspondence with Continuous Signals125

4.4.6 Step Response128

4.5 Frequency Response131

4.5.1 The Discrete Fourier Transform （DFT）134

4.6 Properties of the z-Transform137

4.6.1 Essential Properties137

4.6.2 Convergence of z-Transform142

4.6.3 Another Derivation of the Transfer Function146

4.7 Summary148

4.8 Problems149

5 Sampled-Data Systems155

5.1 Analysis of the Sample and Hold156

5.2 Spectrum of a Sampled Signal160

5.3 Data Extrapolation164

5.4 Block-Diagram Analysis of Sampled-Data Systems170

5.5 Calculating the System Output Between Samples：The Ripple180

5.6 Summary182

5.7 Problems183

5.8 Appendix186

6 Discrete Equivalents187

6.1 Design of Discrete Equivalents via Numerical Integration189

6.2 Zero-Pole Matching Equivalents200

6.3 Hold Equivalents202

6.3.1 Zero-Order Hold Equivalent203

6.3.2 A Non-Causal First-Order-Hold Equivalent：The Triangle-Hold Equivalent204

6.4 Summary208

6.5 Problems209

7 Design Using Transform Techniques211

7.1 System Specifications212

7.2 Design by Emulation214

7.2.1 Discrete Equivalent Controllers215

7.2.2 Evaluation of the Design218

7.3 Direct Design by Root Locus in the z-Plane222

7.3.1 z-Plane Specifications222

7.3.2 The Discrete Root Locus227

7.4 Frequency Response Methods234

7.4.1 Nyquist Stability Criterion238

7.4.2 Design Specifications in the Frequency Domain243

7.4.3 Low Frequency Gains and Error Coefficients259

7.4.4 Compensator Design260

7.5 Direct Design Method of Ragazzini264

7.6 Summary269

7.7 Problems270

8 Design Using State-Space Methods279

8.1 Control Law Design280

8.1.1 Pole Placement282

8.1.2 Controllability285

8.1.3 Pole Placement Using CACSD286

8.2 Estimator Design289

8.2.1 Prediction Estimators290

8.2.2 Observability293

8.2.3 Pole Placement Using CACSD294

8.2.4 Current Estimators295

8.2.5 Reduced-Order Estimators299

8.3 Regulator Design：Combined Control Law and Estimator302

8.3.1 The Separation Principle302

8.3.2 Guidelines for Pole Placement308

8.4 Introduction of the Reference Input310

8.4.1 Reference Inputs for Full-State Feedback310

8.4.2 Reference Inputs with Estimators：The State-Command Structure314

8.4.3 Output Error Command317

8.4.4 A Comparison of the Estimator Structure and Classical Methods319

8.5 Integral Control and Disturbance Estimation322

8.5.1 Integral Control by State Augmentation323

8.5.2 Disturbance Estimation328

8.6 Effect of Delays337

8.6.1 Sensor Delays338

8.6.2 Actuator Delays341

8.7 Controllability and Observability345

8.8 Summary351

8.9 Problems352

9 Multivariable and Optimal Control359

9.1 Decoupling360

9.2 Time-Varying Optimal Control364

9.3 LQR Steady-State Optimal Control371

9.3.1 Reciprocal Root Properties372

9.3.2 Symmetric Root Locus373

9.3.3 Eigenvector Decomposition374

9.3.4 Cost Equivalents379

9.3.5 Emulation by Equivalent Cost380

9.4 Optimal Estimation382

9.4.1 Least-Squares Estimation383

9.4.2 The Kalman Filter389

9.4.3 Steady-State Optimal Estimation394

9.4.4 Noise Matrices and Discrete Equivalents396

9.5 Multivariable Control Design400

9.5.1 Selection of Weighting Matrices Q1 and Q2400

9.5.2 Pincer Procedure401

9.5.3 Paper-Machine Design Example403

9.5.4 Magnetic-Tape-Drive Design Example407

9.6 Summary419

9.7 Problems420

10 Quantization Effects425

10.1 Analysis of Round-Off Error426

10.2 Effects of Parameter Round-Off437

10.3 Limit Cycles and Dither440

10.4 Summary445

10.5 Problems445

11 Sample Rate Selection449

11.1 The Sampling Theorem’s Limit450

11.2 Time Response and Smoothness451

11.3 Errors Due to Random Plant Disturbances454

11.4 Sensitivity to Parameter Variations461

11.5 Measurement Noise and Antialiasing Filters465

11.6 Multirate Sampling469

11.7 Summary474

11.8 Problems476

12 System Identification479

12.1 Defining the Model Set for Linear Systems481

12.2 Identification of Nonparametric Models484

12.3 Models and Criteria for Parametric Identification495

12.3.1 Parameter Selection496

12.3.2 Error Definition498

12.4 Deterministic Estimation502

12.4.1 Least Squares503

12.4.2 Recursive Least Squares506

12.5 Stochastic Least Squares510

12.6 Maximum Likelihood521

12.7 Numerical Search for the Maximum-Likelihood Estimate526

12.8 Subspace Identification Methods535

12.9 Summary538

12.10 Problems539

13 Nonlinear Control543

13.1 Analysis Techniques544

13.1.1 Simulation545

13.1.2 Linearization550

13.1.3 Describing Functions559

13.1.4 Equivalent Gains573

13.1.5 Circle Criterion577

13.1.6 Lyapunov’s Second Method579

13.2 Nonlinear Control Structures：Design582

13.2.1 Large Signal Linearization：Inverse Nonlinearities582

13.2.2 Time-Optimal Servomechanisms599

13.2.3 Extended PTOS for Flexible Structures611

13.2.4 Introduction to Adaptive Control615

13.3 Design with Nonlinear Cost Functions635

13.3.1 Random Neighborhood Search635

13.4 Summary642

13.5 Problems643

14 Design of a Disk Drive Servo：A Case Study649

14.1 Overview of Disk Drives650

14.1.1 High Performance Disk Drive Servo Profile652

14.1.2 The Disk-Drive Servo654

14.2 Components and Models655

14.2.1 Voice Coil Motors655

14.2.2 Shorted Turn658

14.2.3 Power Amplifier Saturation659

14.2.4 Actuator and HDA Dynamics660

14.2.5 Position Measurement Sensor663

14.2.6 Runout664

14.3 Design Specifications666

14.3.1 Plant Parameters for Case Study Design667

14.3.2 Goals and Objectives669

14.4 Disk Servo Design670

14.4.1 Design of the Linear Response671

14.4.2 Design by Random Numerical Search674

14.4.3 Time-Domain Response of XPTOS Structure678

14.4.4 Implementation Considerations683

14.5 Summary686

14.6 Problems687

Appendix A Examples689

A.1 Single-Axis Satellite Attitude Control689

A.2 A Servomechanism for Antenna Azimuth Control691

A.3 Temperature Control of Fluid in a Tank694

A.4 Control Through a Flexible Structure697

A.5 Control of a Pressurized Flow Box699

Appendix B Tables701

B.1 Properties of z-Transforms701

B.2 Table of z-Transforms702

Appendix C A Few Results from Matrix Analysis705

C.1 Determinants and the Matrix Inverse705

C.2 Eigenvalues and Eigenvectors707

C.3 Similarity Transformations709

C.4 The Cayley-Hamilton Theorem711

Appendix D Summary of Facts from the Theory of Probability and Stochastic Processes713

D.1 Random Variables713

D.2 Expectation715

D.3 More Than One Random Variable717

D.4 Stochastic Processes719

Appendix E MATLAB Functions725

Appendix F Differences Between MATLAB v5 and v4727

F.1 System Specification727

F.2 Continuous to Discrete Conversion729

F.3 Optimal Estimation730

References731

Index737