控制系统设计:PID控制与诊断指南

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"控制系统设计指导:使用计算机理解和诊断反馈控制器" 在控制系统的设计和应用领域,基础知识自20世纪初就已经奠定。控制系统的概念,如炮台瞄准或水温调节,与我们今天所使用的并无太大差异。尽管随着时间的推移和技术的进步,数字处理器改变了我们实施控制算法的方式,但许多情况下,算法的本质并未改变。比例积分微分(PID)控制在过去的四五十年间,其工作原理基本保持不变。 控制系统的广泛应用使其在教育体系中占据了一席之地。大多数工程大学都提供相关课程,甚至有些专业要求学生进行基础训练。考虑到这些原则的持久性和大量受过培训的工程师参与其中,我们可能会期待大多数从业者对基础有深入理解。然而,实际情况似乎并非如此。 "Control System Design Guide"是由George Ellis撰写的第四版专著,由Kollmorgen Corporation出版,是Butterworth-Heinemann的 imprint of Elsevier的一部分。这本书自1991年首次出版以来,历经多次修订,最新的第四版于2012年发布,反映了该领域的最新进展。 本书旨在帮助读者理解和诊断反馈控制器,利用计算机作为工具来优化控制系统的性能。书中可能涵盖了以下内容: 1. 控制系统的基本原理:包括负反馈、稳定性分析、频率响应和时域分析等基础概念。 2. PID控制器的工作机制:解释了比例、积分和微分三个部分如何协同工作,以实现精确控制。 3. 数字控制的实现:讨论了如何使用数字处理器来模拟传统的模拟控制策略,并探讨其优点和挑战。 4. 系统建模与仿真:介绍了如何构建数学模型,并通过计算机仿真来预测和优化系统行为。 5. 控制器参数调整:讲述了如何通过试错法或优化算法来调整PID参数,以达到最佳性能。 6. 面向实际应用的设计考虑:包括噪声处理、系统干扰抑制和抗振性设计等方面。 7. 故障诊断和故障安全设计:讨论如何检测系统异常并确保在故障条件下系统的安全运行。 此外,书中可能还涉及了版权和许可信息,提醒读者在复制或传播内容时必须获得出版商的书面许可,并提供了获取许可的途径。 《控制系统设计指导》不仅提供了控制系统设计的基础理论,还强调了如何将这些理论应用于实际问题的解决,是工程师和学生深入理解控制系统的宝贵资源。通过阅读此书,读者能够提升在控制系统设计和诊断方面的技能,更好地应对实际工程挑战。
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Observers in Control Systems - A Practical GuideObservers in Control Systems ?..........................................Acknowledgments xi..............................................................Safety xiii..................................................................................1 Control Systems and the Role of Observers 1................1.1 Overview 1...................................................................................1.2 Preview of Observers 2...............................................................1.3 Summary of the Book 4...............................................................2 Control-System Background 5..........................................2.1 Control-System Structures 5.......................................................2.2 Goals of Control Systems 13.........................................................2.3 Visual ModelQ Simulation Environment 17...................................2.4 Software Experiments: Introduction to Visual ModelQ 18.............2.5 Exercises 39..................................................................................3 Review of the Frequency Domain 41..................................3.1 Overview of the s-Domain 41........................................................3.2 Overview of the z-Domain 54........................................................3.3 The Open-Loop Method 59...........................................................3.4 A Zone-Based Tuning Procedure 62.............................................3.5 Exercises 66..................................................................................4 The Luenberger Observer: Correcting SensorProblems 67.............................................................................4.1 What Is a Luenberger Observer? 67.............................................4.2 Experiments 4A-4C: Enhancing Stability with an Observer 72......4.3 Predictor-Corrector Form of the Luenberger Observer............4.4 Filter Form of the Luenberger Observer 78...................................4.5 Designing a Luenberger Observer 82...........................................4.6 Introduction to Tuning an Observer Compensator 90...................4.7 Exercises 95..................................................................................5 The Luenberger Observer and Model Inaccuracy 97........5.1 Model Inaccuracy 97.....................................................................5.2 Effects of Model Inaccuracy 100.....................................................5.3 Experimental Evaluation 102...........................................................5.4 Exercises 114..................................................................................6 The Luenberger Observer and Disturbances 115...............6.1 Disturbances 115.............................................................................6.2 Disturbance Response 123.............................................................6.3 Disturbance Decoupling 129...........................................................6.4 Exercises 138..................................................................................7 Noise in the Luenberger Observer 141................................7.1 Noise in Control Systems 141.........................................................7.2 Sensor Noise and the Luenberger Observer 145............................7.3 Noise Sensitivity when Using Disturbance Decoupling 156............7.4 Reducing Noise Susceptibility in Observer-Based Systems 161....7.5 Exercises 170..................................................................................8 Using the Luenberger Observer in Motion Control 173......8.1 The Luenberger Observers in Motion Systems 173........................8.2 Observing Velocity to Reduce Phase Lag 185................................8.3 Using Observers to Improve Disturbance Response...............8.4 Exercises 212..................................................................................References 213..........................................................................A Observer-Based Resolver Conversion in IndustrialServo Systems1 217.................................................................B Cures for Mechanical Resonance in IndustrialServo Systems1 227.................................................................Introduction 227.....................................................................................Two-Part Transfer Function 228............................................................Low-Frequency Resonance 229............................................................Velocity Control Law 230.......................................................................Methods of Correction Applied to Low-Frequency Resonance 231......Conclusion 235......................................................................................Acknowledgments 235..........................................................................References 235.....................................................................................C European Symbols for Block Diagrams 237.......................Part I: Linear Functions 237..................................................................Part II: Nonlinear Functions 238............................................................D Development of the Bilinear Transformation 241...............Bilinear Transformation 241..................................................................Prewarping 242.....................................................................................Factoring Polynomials 243....................................................................Phase Advancing 243............................................................................Solutions to Exercises 245.......................................................Chapter 2........................................................................................Chapter 3 245........................................................................................Chapter 4 246........................................................................................Chapter 5 246........................................................................................Chapter 6 247........................................................................................Chapter 7 248........................................................................................Chapter 8 249........................................................................................Index 251....................................................................................