第 1 章绪论 ·····································1 1.1 自动控制的基本概念·················1 1.1.1 自动控制的定义·····················1 1.1.2 控制理论的发展过程················1 1.1.3 自动控制系统的组成················2 1.1.4 自动控制系统的基本控制 方式···································4 1.2 自动控制系统的分类·················6 1.3 对自动控制系统的基本要求········7 1.4 控制系统实例···························8 1.4.1 电冰箱制冷控制系统················8 1.4.2 函数记录仪···························9 1.4.3 炉温控制系统······················ 10 本章小结······································ 11 习题············································ 11 第2 章控制系统的数学模型············· 13 2.1 微分方程的建立······················ 13 2.2 传递函数······························· 14 2.2.1 传递函数的基本概念·············· 14 2.2.2 传递函数的性质··················· 15 2.2.3 典型环节及其传递函数··········· 16 2.3 结构图·································· 17 2.3.1 结构图的组成和绘制·············· 17 2.3.2 结构图的等效变换················· 18 2.4 信号流图······························· 23 2.4.1 信号流图的基本概念·············· 23 2.4.2 信号流图的绘制··················· 24 2.4.3 梅森增益公式及其应用··········· 25 本章小结······································ 26 习题············································ 27 第3 章线性系统的时域分析············· 29 3.1 典型输入信号························ 29 3.2 自动控制系统的时域性能 指标····································· 31 3.3 一阶系统的时域分析··············· 32 3.3.1 一阶系统的数学模型·············· 32 3.3.2 一阶系统的单位阶跃响应及 性能分析··························· 32 3.3.3 一阶系统的单位斜坡响应及 性能分析··························· 33 3.3.4 一阶系统的单位加速度响应及 性能分析··························· 33 3.3.5 一阶系统的单位脉冲响应及 性能分析··························· 34 3.4 二阶系统的时域分析··············· 34 3.4.1 二阶系统的数学模型·············· 34 3.4.2 二阶系统的单位阶跃响应········ 35 3.4.3 欠阻尼二阶系统的动态性能 分析································ 37 3.4.4 二阶系统的单位斜坡响应········ 42 3.4.5 二阶系统性能的改善·············· 44 3.5 高阶系统的时域分析··············· 46 3.6 稳定性分析···························· 48 3.6.1 系统稳定的充分必要条件········ 49 3.6.2 劳斯判据··························· 50 3.6.3 相对稳定性························ 53 3.7 稳态误差······························· 54 3.7.1 误差的定义························ 54 3.7.2 输入引起的稳态误差·············· 55 3.7.3 静态误差系数······················ 56 3.7.4 扰动作用下的稳态误差··········· 59 3.7.5 改善系统稳态精度的方法········· 60 本章小结······································ 62 习题············································ 63 第4 章根轨迹法 ····························· 67 4.1 根轨迹的基本概念··················· 67 4.1.1 根轨迹······························ 67 4.1.2 根轨迹方程························· 68 4.2 根轨迹图的绘制法则··············· 70 4.3 参数根轨迹···························· 80 4.4 利用根轨迹分析系统性能········· 82 4.4.1 已知根轨迹增益确定闭环极点 和传递函数························· 82 4.4.2 已知系统性能指标确定闭环 极点································· 83 4.4.3 增加开环零点对系统性能的 影响································· 84 4.4.4 增加开环极点对系统性能的 影响································· 87 本章小结······································ 88 习题············································ 89 第5 章线性系统的频域分析············· 92 5.1 频率特性的基本概念··············· 92 5.1.1 频率特性的定义··················· 92 5.1.2 频率特性的表示方法·············· 93 5.2 典型环节及系统频率特性········· 94 5.2.1 典型环节的频率特性·············· 95 5.2.2 开环系统的频率特性·············103 5.3 频域特性法的稳定性分析········109 5.3.1 奈奎斯特稳定判据················109 5.3.2 稳定裕度··························114 5.3.3 开环对数幅频特性曲线与 系统性能之间的关系·············117 本章小结·····································126 习题···········································127 第6 章控制系统设计······················131 6.1 概述····································131 6.2 PID 控制器··························· 131 6.2.1 PID 控制器概述·····