FEEDBACK CONTROL SYSTEMS ANALYSISPDF电子书下载

查看更多关于的内容

INTRODUCTION 1

Chapter 1．The concept of feedback control 1

1．1 Open-loop control systems 1

1．2 Feedback,or closed-loop,systems 7

1．3 Examples of servo systems．Philosophical considerations 11

1．4 Introduction to servo problems．Outline of following chapters 20

PART ONE．DYNAMICS OF LINEAR SYSTEMS 25

Chapter 2．Deriving the equations of linear systems 25

2．1 General considerations 25

2．2 A few notes on linearity 26

2．3 Electric lumped-constant systems 29

2．4 Other systems:analogy 37

Chapter 3．Transients 43

3．1 The concept of transients 43

3．2 The importance of transients 46

3．3 Time response of linear systems 47

Chapter 4．The Laplace transform 53

4．1 Definition and fundamental properties 53

4．2 Other important properties 56

4．3 Impulse functions 58

4．4 Other properties of the Laplace transform 61

4．5 Basic concepts concerning Fourier transforms 62

4．6 Obtaining the time response of a linear system 63

Appendix 64

Chapter 5．First-order systems 68

5．1 Transient response 68

5．2 Harmonic response 72

5．3 Response to an arbitrary input,transfer function 77

5．4 Examples of first-order systems 78

5．5 Lags and time constants 80

Chapter 6．Second-order systems 83

6．1 Frequency-response curves and loci 83

6．2 Transfer functions and loci 87

6．3 Transient response 95

6．4 Performance of second-order systems 98

6．5 The poles of the transfer function,as located in the complex plane 109

6．6 Examples of second-order systems．Their importance 112

Chapter 7．Transfer functions 114

7．1 The concept,of transfer function 114

7．2 Application to steady state 118

7．3 Application to transients 122

7．4 Philosophy of the transfer function:the two practical approaches 125

7．5 Determination of transfer functions 126

Chapter 8．The harmonic approach:transfer loci 132

8．1 Nyquist loci and equivalent representations 132

8．2 Nichols loci．Practical construction of transfer loci(Bode plots) 139

8．3 Relation to the time response 143

8．4 Principle of experimental techniques for the determination of transfer loci 150

8．5 Relation between amplitude and phase 154

8．6 Synthesis:conclusion on the harmonic approach 158

Chapter 9．The pole-zero-configuration approach．Stability 159

9．1 The pole configuration and stability 159

9．2 Algebraic stability criteria 163

9．3 The pole-zero configuration 169

9．4 Concluding remarks on the pole-zero approach 176

Chapter 10．Transfer matrices 178

10．1 Transfer matrices 178

10．2 Cascade-system synthesis with predetermined transfer functions 187

10．3 Impedance matching for maximum power transfer 190

Chapter 11．Linearity domain 193

11．1 Amplitude linearity domain 193

11．2 Frequency linearity domain 195

11．3 Synthesis:linearity domain 198

Chapter 12．Statistical considerations 200

12．1 Introduction 200

12．2 Concept of frequency spectrum 201

12．3 Fundamental relation,applications 206

12．4 Fundamentals of information theory 210

PART TWO．LINEAR SERVO SYSTEMS 215

Chapter 13．Transfer functions and transfer loci of feedback control systems 215

13．1 Open-loop and closed-loop transfer functions 215

13．2 Harmonic approach．Graphical interpretation of H=KG/(1+KG) 223

13．3 Open-loop gain adjustment 229

13．4 Influence of time lags 234

Chapter 14．Pole-zero configuration approach:the root-locus method 237

14．1 The concept of root locus 237

14．2 Construction of root loci 239

14．3 Stability of feedback control systems 253

Chapter 15．The steady state of feedback control systems 260

15．1 Position error 260

15．2 Generalization 262

15．3 Application to automatic piloting 265

Chapter 16．Graphical stability criteria for feedback control systems 268

16．1 Nyquist＇s criterion 268

16．2 Various applications 276

16．3 The left-hand criterion 279

16．4 Practical concept of stability 280

Chapter 17．Performance criteria 284

17．1 Ideal control systems and practical specifications 284

17．2 A set of general-purpose criteria 286

17．3 Evaluating the effect of time lags 289

17．4 More elaborate criteria 290

17．5 Practical use of performance criteria 294

Chapter 18．Compensation of feedback control systems 295

18．1 Concept of compensation．Compensating networks 295

18．2 Phase-lead compensation,or derivative control 297

18．3 Phase-lag compensation,or integral control 307

18．4 Combination of lead and lag compensation 312

18．5 Generalization 314

Chapter 19．Servo-system synthesis 318

19．1 Synthesis by means of pole-zero configuration 319

19．2 Statistical approach to servo-system synthesis 326

19．3 Conclusion on servo-system synthesis 334

Chapter 20．Sampled-data systems 335

20．1 Linear sampled-data systems 336

20．2 z transforms 341

20．3 Frequency analysis of sampled-data systems 352

20．4 Remarks on sampled-data servo synthesis 361

Chapter 21．Multiple feedback control systems 364

21．1 Definition,examples 364

21．2 Analog computers and simulators 366

21．3 Some remarks on general theory 370

PART THREE．NONLINEAR SERVO SYSTEMS 374

Chapter 22．General remarks on nonlinear systems 374

22．1 General remarks on linearity and nonlinearity 374

22．2 Definition and classification of nonlinear systems 379

22．3 Nonlinearities most frequently encountered in servo systems 381

22．4 Method of investigation 389

Chapter 23．Transients in nonlinear servo systems 394

23．1 Time response of on-off servo systems 394

23．2 Time response of servo systems with one nonlinear element 398

23．3 Conclusion 402

Chapter 24．The first-harmonic approximation 403

24．1 The concept of the describing function 403

24．2 Describing functions of common nonlinear elements 406

24．3 Stability of servo systems with one nonlinear element 414

24．4 Performance and compensation 421

24．5 Additional comments on describing functions 423

Chapter 25．The Poincaré approach in the phase plane 432

25．1 The phase plane 432

25．2 Applications to some simple nonlinear servo systems 436

25．3 Optimum on-off servo systems 443

Chapter 26．Oscillations of on-off control systems 446

26．1 Introduction 447

26．2 Self-oseillations of on-off regulators 449

26．3 Forced oscillations in on-off servo systems 475

26．4 Stability of periodic states 477

Chapter 27．Additional methods applicable to nonlinear systems 484

27．1 Poincaré＇s theorems 484

27．2 Limit cycles,stability 491

Chapter 28．Linearization．Final remarks 498

28．1 Linearization 498

28．2 Concluding remarks on nonlinear systems 501

PART FOUR．COMPONENTS OF SERVO SYSTEMS 503

Chapter 29．Error-sensing devices 503

29．1 Some remarks on sensing devices and noise 503

29．2 Classification of sensing devices 511

29．3 Variable-impedance sensing devices 513

29．4 Generators as sensing devices 523

29．5 Vacuum tubes as sensing devices 531

29．6 Gyroscopic sensing devices 532

29．7 Accelerometers 535

29．8 Choice of a sensing device 537

Chapter 30．Determination and design of servomotors 539

30．1 The problem 539

30．2 Discussion of inertias and gear ratios 542

30．3 Determining the transfer function of a motor from its characteristic curves 549

30．4 Points for comparison of the various types of motors 552

30．5 Positioning the characteristic and design calculations of the motor in compliance with the specifications 554

Chapter 31．Electric servomotors 569

31．1 General features of motors 569

31．2 Effect of inductance on time constants 576

31．3 Field-controlled motors 581

31．4 Armature-controlled motors 586

31．5 Alternating-current motors 591

31．6 Numerical data for electric servomotors 600

Chapter 32．Hydraulic servomotors 604

32．1 Description of hydraulic motors 604

32．2 Summary of the fundamental laws of hydrodynamics 613

32．3 Transfer function of a hydraulic transmission 619

32．4 Equations of valve-controlled hydraulic motors 623

32．5 Servocontrols or boosters 628

32．6 Additional remarks 631

32．7 Numerical data sheets for hydraulic servomotors 635

Chapter 33．Amplifiers and preamplifiers 641

33．1 The general problem 641

33．2 Vacuum-tube amplifiers 644

33．3 Relay amplifiers 645

33．4 Rotating amplifier．Ward-Leonard system 648

33．5 Machines derived from the Ward-Leonard system 655

33．6 Mixed electronic-tube amplifiers 660

33．7 Magnetic amplifier 665

33．8 Rectifying,demodulating,filtering 668

33．9 Example 675

33．10 Transistors 681

33．11 Comparative table of the principal types of amplifier 696

PART FIVE．BASIC DESIGN OF A SERVO SYSTEM 698

Chapter 34．Two examples of basic system design 698

34．1 Some major principles 698

34．2 First example:positional servo for a measuring system 699

34．3 Second example:autopilot for a guided missile 710

Problems 719

Five-language Glossary of Important Automatic-control Terms 757

Alphabetical List of Glossary Words 768

Complementary Notes to Glossary 771

Selected Bibliography 775

Index 783

查看更多关于的内容