自动控制原理（双语）课件.ppt

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1、ThePrincipleofAutomaticControl自动控制原理Lecturers：Prof.JiangBinDr.LuNingyunCollegeofAutomationEngineeringNUAA，2010.Autumn1NUAA-ThePrincipleofAutomaticControlChapter2Modelingofcontrolsystems控制系统建模2ReviewofChap1ImportantconceptsOpen-loopandclosed-loopcontrolsystems?AdvantagesanddisadvantagesofOLandC

2、Lcontrolsystems?Basicrequirementsofacontrolsystem?3HowtoanalyzeanddesignacontrolsystemThefirstthingistoestablishsystemmodel(mathematicalmodel)RefinputcontrollerManipulatedvar.plantdisturbanceOutputerrorsensor4Chap2Modelingofcontrolsystems2-1Introduction2-2Establishmentofdifferentialequationandl

3、inearization2-3Transferfunction2-4Structurediagram2-5Signal-flowgraphs52-1Introductiononmathematicalmodels6SystemmodelDefinition：Mathematicalexpressionofdynamicrelationshipbetweeninputandoutputofacontrolsystem.MathematicalmodelisfoundationtoanalyzeanddesignautomaticcontrolsystemsNomathematicalm

4、odelofaphysicalsystemisexact.Wegenerallystrivetodevelopamodelthatisadequatefortheproblemathandbutwithoutmakingthemodeloverlycomplex.7ThreemodelsDifferentialequation（微分方程）Transferfunction（传递函数）Frequencycharacteristic（频率特性）LaplacetransformFouriertransformTransferfunctionDifferentialequationFreque

5、ncycharacteristicLinearsystemStudytime-domainresponsestudyfrequency-domainresponse8ModelingmethodsAnalyticmethod解析方法/机理方法AccordingtoNewton’sLawofMotionLawofKirchhoffSystemstructureandparametersthemathematicalexpressionofsysteminputandoutputcanbederived.Thus,webuildthemathematicalmodel(suitablef

6、orsimplesystems).9ModelingmethodsSystemidentificationmethod系统辨识方法Buildingthesystemmodelbasedonthesysteminput—outputsignalThismethodisusuallyappliedwhentherearelittleinformationavailableforthesystem.BlackboxInputOutputBlackbox:thesystemistotallyunknown.Greybox:thesystemispartiallyknown.NeuralNet

7、works,FuzzySystems10WhyFocusonLTISystem(线性时不变系统)Whatislinearsystem?Asystemiscalledlineariftheprincipleofsuperposition(叠加原理）appliessystemk1*u1k2*u2Y=k1*y1+k2*y2Isy(t)=u(t)+2alinearsystem？11Whatistime-invariantsystem?Asystemiscalled