现代控制系统(11版): 实际应用与创新设计实例

现代控制系统

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《现代控制系统(第11版)_EN》是一本在全球范围内广受欢迎的教材，它涵盖了控制系统领域的核心概念和技术，旨在为学生提供理论与实践相结合的学习体验。本书共分为多个章节，内容详实且紧密围绕现代科技领域的实际应用。第一章"控制系统导论"通过实例如Hybrid Fuel Vehicles（混合动力汽车）和Wind Power（风能）系统，介绍了控制系统的基本原理，引导读者理解如何将控制理论应用于现实世界中的复杂系统。这些例子旨在激发学生的创新思维，通过解决实际问题来提升问题解决能力。在Chapter II "系统数学模型"中，作者通过诸如Electric Traction Motor Control（电动牵引电机控制）、Mechanical Accelerometer（机械加速度计）和Laboratory Robot（实验室机器人）等例子，展示了如何构建和分析系统模型，以及选择合适的数学工具进行分析。例如，CDP2.1 涉及牵引驱动电机控制的设计问题，通过这种方法，学生可以学习到如何设计控制器以优化系统性能。第三章进一步深入，探讨了如Space Station（空间站）姿态控制和Disk Drive Read System（硬盘驱动器读取系统）的实际模型建立。例如，CDP3.1 提供了关于如何利用模型来控制空间站姿态的实例，而Chapter 2 的Example Disk Drive Read System 则展示了精密机械系统中的控制策略。 Chapter 4 到Chapter 7 分别涵盖了反馈控制系统的特性、性能、稳定性分析（如根轨迹法和频率响应方法）、以及控制系统设计的方法，如State Variable Feedback System Design（状态变量反馈系统设计）和Robust Control Systems（鲁棒控制系统）。例如，DP1.5 至DP1.7 针对不同类型的控制系统设计问题进行了深入剖析，让学生在实践中掌握这些关键技能。数字控制系统是现代控制系统的重要组成部分，书中专门章节对此进行了详细的介绍，包括但不限于Traction Drive Motor Control（牵引驱动电机控制）和Automobile Cruise Control（汽车巡航控制）等现代车辆控制系统的数字化实现。最后，书中还关注了新兴领域的应用，如Dairy Farm Automation（奶牛场自动化）、Nanorobotics in Medicine（纳米机器人在医学中的应用）以及Hubble Telescope Vibration（哈勃望远镜振动控制），这些例子展示了控制技术的前沿进展及其在不同行业中的广泛应用。《现代控制系统(第11版)_EN》通过丰富的实例和设计问题，不仅提供了扎实的理论基础，还为学生提供了将所学知识应用于实践的平台，帮助他们成为具备创新能力的工程师。

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Preface

THE AUDIENCE

This text is designed for an introductory undergraduate course in control systems for

engineering students. There is very little demarcation between aerospace, chemical,

electrical, industrial, and mechanical engineering in control system practice; there-

fore,

this text is written without any conscious bias toward one discipline. Thus, it is

hoped that this book will be equally useful for all engineering disciplines and, per-

haps,

will assist in illustrating the utility of control engineering. The numerous prob-

lems and examples represent all fields, and the examples of the sociological,

biological, ecological, and economic control systems are intended to provide the

reader with an awareness of the general applicability of control theory to many

facets of life. We believe that exposing students of one discipline to examples and

problems from other disciplines will provide them with the ability to see beyond

their own field of study. Many students pursue careers in engineering fields other

than their own. For example, many electrical and mechanical engineers find them-

selves in the aerospace industry working alongside aerospace

engineers.

hope this

introduction to control engineering will give students a broader understanding of

control system design and analysis.

In its first ten editions, Modern

Control.

Systems has been used in senior-level

courses for engineering students at more than 400 colleges and universities. It also

has been used in courses for engineering graduate students with no previous back-

ground in control engineering.

THE ELEVENTH EDITION

A companion website is available to students and faculty using the eleventh edition.

The website contains practice exercises, all the m-files in the book, Laplace and

z-transform tables, written materials on matrix algebra, complex numbers, and sym-

bols,

units, and conversion factors. An icon will appear in the book margin whenever

there is additional related material on the website. Also, since the website provides

a mechanism for continuously updating and adding control-related materials of

interest to students and professors, it is advisable to visit the website regularly dur-

ing the semester or quarter when taking the course. The MCS website address is

http://www.prenhall.com/dorf.

With the eleventh edition, we continue to evolve the design emphasis that histori-

cally has characterized Modem Control Systems. Using the real-world engineering

problems associated with designing a controller for a disk drive read system, we pre-

sent the Sequential Design Example (identified by an arrow icon in the text), which is

considered sequentially in each chapter using the methods and concepts in that chap-

ter. Disk drives are used in computers of all sizes and they represent an important ap-

plication of control engineering. Various aspects of the design of controllers for the disk

drive read system are considered in each chapter. For example, in Chapter

we identify

the control

goals,

identify the variables to be controlled, write the control specifications,

and establish the preliminary system configuration for the disk drive.Then,

Chapter

we obtain models of the process, sensors, and actuators. In the remaining chapters, we

continue the design process, stressing the main points of the chapters.

Preface

XVII

problems, modern in the best sense. Therefore, this book includes discussions on

robust control systems and system sensitivity, state variable models, controllability

and observability, computer control systems, internal model control, robust PID con-

trollers, and computer-aided design and

analysis,

to name a few. However, the classi-

cal topics of control theory that have proved to be so very useful in practice have

been retained and expanded.

Building Basic

Principles:

From Classical to Modern. Our goal is to present a clear

exposition of the basic principles of frequency- and time-domain design techniques.

The classical methods of control engineering are thoroughly covered: Laplace trans-

forms and transfer functions; root locus design; Routh-Hurwitz stability analysis;

frequency response methods, including Bode, Nyquist, and Nichols; steady-state

error for standard test signals; second-order system approximations; and phase and

gain margin and bandwidth. In addition, coverage of the state variable method is

significant. Fundamental notions of controllability and observability for state vari-

able models are discussed. Full state feedback design with Ackermann's formula for

pole placement is presented, along with a discussion on the limitations of state vari-

able feedback. Observers are introduced as a means to provide state estimates when

the complete state is not measured.

Upon this strong foundation of basic principles, the book provides many oppor-

tunities to explore topics beyond the traditional. Advances in robust control theory

are introduced in Chapter

12.

The implementation of digital computer control sys-

tems is discussed in Chapter

13.

Each chapter (but the first) introduces the student

to the notion of computer-aided design and analysis. The book concludes with an

extensive references section, divided by chapter, to guide the student to further

sources of information on control engineering.

Progressive Development of Problem-Solving

Skills.

Reading the

chapters,

attending

lectures and taking notes, and working through the illustrated examples are all part of

the learning process. But the real test comes at the end of the chapter with the prob-

lems.

The book takes the issue of problem solving seriously. In each chapter, there are

five problem types:

U Exercises

_1 Problems

G Advanced Problems

G Design Problems

• Computer Problems

For example, the problem set for The Root Locus Method, Chapter 7 (see page

407) includes 27 exercises, 39 problems, 13 advanced problems, 13 design problems,

and 9 computer-based problems. The exercises permit the students to readily utilize

the concepts and methods introduced in each chapter by solving relatively straight-

forward exercises before attempting the more complex problems. Answers to one-

third of the exercises are provided. The problems require an extension of the

concepts of the chapter to new situations. The advanced problems represent prob-

lems of increasing complexity. The design problems emphasize the design task; the

XViii Preface

computer-based problems give the student practice with problem solving using

computers. In total, the book contains more than 800

problems.

Also,

the MCS web-

site contains practice exercises that are instantly graded, so they provide quick feed-

back for students. The abundance of problems of increasing complexity gives

students confidence in their problem-solving ability as they work their way from the

exercises to the design and computer-based

problems.

A complete instructor manual,

available for all adopters of the text for course use, contains complete solutions to

all end-of-chapter problems.

A set of m-files, the Modern Control Systems Toolbox, has been developed by

the authors to supplement the text. The m-files contain the scripts from each com-

puter-based example in the text. You may retrieve the m-files from Prentice Hall at

http://www.prenhall.com/dorf.

Design Emphasis without Compromising Basic Principles. The all-important topic

of design of real-world, complex control systems is a major theme throughout the

text. Emphasis on design for real-world applications addresses interest in design by

ABET and industry.

The design process consists of seven main building blocks which we arrange

into three groups:

Establishment of goals and variables to be controlled, and definition of

specifications (metrics) against which to measure performance

System definition and modeling

Control system design and integrated system simulation and analysis

In each chapter of this book, we highlight the connection between the design

process and the main topics of that chapter. The objective is to demonstrate differ-

ent aspects of the design process through illustrative examples. Various aspects of

the control system design process are illustrated in detail in the following examples:

J insulin delivery control system (Section 1.8, page 27)

• fluid flow modeling (Section 2.8, page 83)

• space station orientation modeling (Section 3.8, page 176)

J blood pressure control during anesthesia (Section 4.8, page 237)

D attitude control of an airplane (Section 5.9,page 319)

3 robot-controlled motorcycle (Section

6.5,

page 375)

3 automobile velocity control (Section 7.7, page 452)

_1 control of one leg of a six-legged robot (Section 8.6, page 526)

• hot ingot robot control (Section 9.8,page 610)

U milling machine control system (Section 10.12, page 714)

_1 diesel electric locomotive control (Section 11.9, page 798)

U digital audio tape controller (Section

12.8,

page 861)

i_l fly-by-wire aircraft control surface (Section 13.10, page 928)

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现代控制系统(11版): 实际应用与创新设计实例

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现代控制系统第十一版答案

现代控制系统第十一版

TILT_INT_EN FLIP_INT_EN ANYM_INT_EN SHAKE_INT_EN TILT_35_INT_EN

#define RS485_EN RS485_EN_PORT,RS485_EN_PIN

val = (hdptx_i_bias_en | hdptx_i_bgr_en) << 16 | hdptx_i_bias_en | hdptx_i

代码解释assign data_en = phase_en_delay[16];

assign IO_dht11 = S_dht11_en ? S_dht11_out : 1'bz ; assign S_dht11_in = IO_dht11 ;

HAL_GPIO_WritePin(MOTOR_EN_GPIO_PORT,MOTOR_EN_PIN,x)什么意思

解释这行代码 def decoder_eval(self, f_en): x1_1 = self.DB1_1(torch.cat([f_en[0], self.up_eval(f_en[0], f_en[1])], 1))

rs485_TX_EN的头文件如何定义

#define REG_RC_PLL_EN_PLL_EN BIT(0)这是什么意思

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