目录Preface前言
Chapter1Introduction to Electromechanical Control Engineering机电控制工程概论1
11Introduction概述2/3
12Structures of Control Systems控制系统的结构4/3
121Openloop control systems开环控制系统4/3
122Closedloop control systems闭环控制系统4/5
123The composition of feedback control systems反馈控制系统的组成8/9
13The Classification of Control Systems控制系统的分类10/11
131The classification in terms of the characteristics of input signals按输入信号的特征分类10/11
132The classification in terms of realization ways of controllers按控制器的实现方式分类12/13
133The classification in terms of error按误差分类12/13
14Basic Requirements of Control Systems控制系统的基本要求14/13
141Stability稳定性14/13
142Rapidity快速性14/15
143Accuracy准确性16/15
Chapter2Mathematical Models of Control Systems控制系统的数学模型18
21Differential Equations of Control Systems控制系统的微分方程20/21
211Linear systems and nonlinear systems线性系统与非线性系统20/21
212The establishment of differential equations微分方程的建立24/25
213Solution of differential equations微分方程的求解28/29
22The Laplace Transform拉普拉斯变换30/31
221Definition of the Laplace transform拉普拉斯变换的定义30/31
222Laplace transforms of typical functions典型函数的拉普拉斯变换30/31
223Fundamental theorems of the Laplace transform拉普拉斯变换的基本定理32/33
224The inverse Laplace transform拉普拉斯反变换38/39
23The Transfer Function of Control Systems控制系统的传递函数42/45
231Definition of the transfer function传递函数的定义44/45
232Characteristics of the transfer function传递函数的特点44/45
233Forms of the transfer function传递函数的形式46/47
24Transfer Functions of Typical Elements典型环节的传递函数48/47
241Proportion element比例环节48/49
242Differential element微分环节48/49
243Integral element积分环节52/55
244Inertial element惯性环节54/55
245Firstorder differential element一阶微分环节56/57
246Secondorder oscillation element二阶振荡环节56/57
247Secondorder differential element二阶微分环节58/61
248Delay element延时环节60/61
25Function Block Diagrams of Control Systems控制系统的框图模型60/63
251Basic connection modes of control systems控制系统的基本连接方式62/63
252The closedloop control system under disturbances扰动作用下的闭环控制系统66/67
253The drawing of block diagrams框图的绘制68/69
254The simplification of block diagrams框图的简化70/69
26Mathematical Models of Typical Control Systems典型控制系统的数学模型74/75
261Mechanical systems机械系统74/77
262Electrical systems电气系统80/81
Chapter3TimeDomain Analysis of Control Systems控制系统的时域分析85
31Transient Response of Control Systems控制系统的瞬态响应86/87
311Typical input signals典型输入信号86/87
312Time response时间响应92/93
313Timedomain performance indicators of control systems控制系统的时域性能指标94/95
32Mathematical Models and Time Response of FirstOrder Systems一阶系统的数学模型和时间
响应98/97
321Mathematical models of firstorder systems一阶系统的数学模型98/97
322Time response of firstorder systems一阶系统的时间响应98/99
33Mathematical Models and Time Response of SecondOrder Systems二阶系统的数学模型和时间
响应106/107
331Mathematical models of secondorder systems二阶系统的数学模型108/107
332Time response of secondorder systems二阶系统的时间响应110/111
333Timedomain performance indicators of secondorder systems二阶系统的时域性能
指标116/119
34Time Response and Performance Analysis of HigherOrder Systems高阶系统的时间响应与性能
分析126/127
341Time response of higherorder systems高阶系统的时间响应126/127
342Performance analysis of higherorder systems高阶系统的性能分析130/131
Chapter4Frequency Characteristic Analysis of Control Systems控制系统的频率
特性分析13841Basic Concepts of Frequency Characteristics频率特性的基本概念140/141
411Frequency response频率响应140/141
412Frequency characteristics and solving methods频率特性及其求取方法142/143
413Graphical representation of frequency characteristics频率特性的图形表示法146/145
42Frequency Characteristics of Typical Elements典型环节的频率特性148/147
421Proportion element比例环节148/147
422Integral element and differential element积分环节和微分环节148/149
423Inertial element and firstorder differential element惯性环节和一阶微分环节150/151
424Oscillation element and secondorder differential element振荡环节和二阶微分环节154/157
425Time delay element延时环节160/161
43Openloop Frequency Characteristics of Control Systems控制系统的开环频率特性160/161
431The openloop polar plot of control systems控制系统的开环极坐标图160/161
432The openloop Bode plot of control systems控制系统的开环伯德图174/175
44Closedloop Frequency Characteristics of Control Systems控制系统的闭环频率特性182/185
441Closedloop frequency characteristics of control systems控制系统的闭环频率特性182/185
442Estimation of closedloop frequency characteristics using openloop frequency characteristics
利用开环频率特性估计闭环频率特性182/185
443Closedloop frequency domain performance indicators of control systems控制系统的闭环
频域性能指标186/189
Chapter5Performance Analysis of Control Systems控制系统的性能分析193
51Stability Analysis of Control Systems控制系统的稳定性分析194/195
511Introduction概述194/195
512The algebraic stability criterion代数稳定性判据198/199
513The stability criterion of control systems in the frequency domain控制系统的频域稳定性
判据210/211
514Relative stability analysis of control systems控制系统的相对稳定性分析222/223
52Error Analysis of Control Systems控制系统的误差分析232/235
521System error and error transfer function系统误差和误差传递函数234/235
522Analysis and calculation of system static errors系统静态误差分析与计算240/239
523Analysis and calculation of system dynamic errors系统动态误差分析与计算248/251
524The relationship between openloop characteristics and steadystate error开环特性与稳态
误差的关系254/255
53Dynamic Performance Analysis of Control Systems控制系统的动态性能分析258/259
531The relationship between dynamic performance and openloop frequency characteristics
动态性能与开环频率特性的关系258/259
532The relationship between dynamic performance and closedloop frequency characteristics
动态性能与闭环频率特性的关系262/262
Chapter6Comprehensive Compensation of Control Systems控制系统的综合校正269
61Introduction概述270/271
62Cascade Compensation of Control Systems控制系统的串联校正272/271
621Phaselead compensation相位超前校正272/273
622Phaselag compensation相位滞后校正280/281
623Phase laglead compensation相位滞后超前校正288/287
624PID compensationPID校正294/293
63Parallel Compensation of Control Systems控制系统的并联校正300/299
631Feedback compensation反馈校正300/299
632Compound compensation复合校正302/301
Chapter7Analysis and Compensation of Control Systems based on MATLAB基于
MATLAB的控制系统分析与校正/30571Introduction概述306/307
711Basic operations and commands基本操作及命令306/307
712MATLAB functionsMATLAB函数310/311
713Plotting response curves绘制响应曲线310/311
72Description of Mathematical Models based on MATLAB基于MATLAB的数学模型描述316/317
721Description of mathematical models of continuous systems连续系统数学模型的描述316/317
722Transformations between various mathematical models各种数学模型之间的转换324/325
723Control system modeling based on MATLAB基于MATLAB的控制系统建模326/325
724Modeling method based on Simulink基于Simulink的建模方法328/327
73Performance Analysis of Control Systems based on MATLAB基于MATLAB的控制系统性能
分析330/329
731Timedomain analysis of control systems控制系统的时域分析330/329
732Frequencydomain analysis of control systems控制系统的频域分析336/337
733Stability analysis of control systems控制系统的稳定性分析340/341
74Compensation of Control Systems based on MATLAB基于MATLAB的控制系统校正346/345
Appendix AExercises课后练习351
References参考文献368