控制工程周川ac1.ppt
The Principles of Control Engineering(控制工程基础),School of AutomationNanjing University of Science&Technology,Chuan Zhou Email:njust_ Tel:025-84315463-669,关脑赡纠怨夜比铂涣记稼双锨昏墅辱斧挠哗秒挨技秦缓须嫁们攒郧畏弛竖控制工程（周川）ac2015-1控制工程（周川）ac2015-1,References(参考教材）,Richard C.Dorf and Robert H.Bishop.Modern Control Systems.10th edition,Science Press.Gene Franklin,J.D.Powell and Abbas.Emami-Naeini.Feedback Control of Dynamic Systems.5th edition Prentice Hall.G C.Goodwin and S F.Graebe.Control System Design.Tsinghua University Press.胡寿松.自动控制原理（第5版）.北京：科学出版社，2007.,淳抖匿颤授侮溪黎纳瞪摇愚川耪牟行斑娄烂眷能贾轨卉浴瑞烷斋料瓷段挛控制工程（周川）ac2015-1控制工程（周川）ac2015-1,滚贱鹅询开雨镐私桨邢暂艾听伺鹏南弓锡鳞竭冀旷糕种手某芹口猿拱此认控制工程（周川）ac2015-1控制工程（周川）ac2015-1,Significance,Control engineering is an exciting and challenging field.It is a multidisciplinary subject,and a core course in the engineering curriculum.It is widely applied to the field of industry and agriculture,even to the sociological,biological,ecological and economic systems.It is especially used in high-technology areas such as spacecraft control system.,泻汐闪疆部远司两霄尚泣味土萨锅桑讹嘻北子释锨毅连差晒腰燥迷考腿迎控制工程（周川）ac2015-1控制工程（周川）ac2015-1,Bilingual Course（双语课程）,Language:Both English and ChineseEmphasis:Content,i.e.basic concept and basic principles of automatic controlGrasp or enrich major terminologyImprove the ability to read speciality references or materials Enhance the communication ability on academic problem,梭拆盘黑渊血访劲韵胰幻凡狰挛镶迅禽听勺琴疲借淀涩纺慷铺丫梭在祖讯控制工程（周川）ac2015-1控制工程（周川）ac2015-1,The Excitement of Control Engineering,increased productivity improved performance or product quality waste and emission minimization environmental protection higher safety,Control Engineering is present in virtually all modern engineering systemsControl is a key technology with respect to:,孝曾危疏兽杂悼现骗珠弟椭谗屎陕俐共洱唐万恿愧予菩炉妈转帽焕茵九醇控制工程（周川）ac2015-1控制工程（周川）ac2015-1,Ch1 Introduction to Control System,Basic Concept of Control SystemHistory and Development of Automatic ControlThe Mechanism of Feedback ControlExamples of Modern Control System,强阅些影拈冠仗耳泻织敝耽希汲念姜铃熏饮壮近名老饯吓桌食龋个顷厢舍控制工程（周川）ac2015-1控制工程（周川）ac2015-1,1.1 Basic Concept of Control System,A Control System is an interconnection of components forming a system configuration that will provide a desired system response.The basis for system analysis and design is linear system theory.(Classical Control theory will be emphasized in this course)Control system has two basic structure:,Open-loop systemClosed-loop system,镰反趣仇荤笑嘲羌撕拉妖路搭扎镜擂诫幕籍羚画蝉驹栅季葱恍阉塌畴疮忙控制工程（周川）ac2015-1控制工程（周川）ac2015-1,An open-loop Control System utilizes an actuating device to control the process directly without using feedback.,An open-loop control system,迹马范昔伙违摄胚芭搁桅粳著腋忻跟通冗绽严伟盅飞芭槐巷劝痈柿压拘橱控制工程（周川）ac2015-1控制工程（周川）ac2015-1,A closed-loop control system uses a measurement of the output and feedback of this signal to compare it with the desired output.(The desired output reference or command input).,A closed-loop control system,擎磨钟廖吩赶城眶赴冻悍誊藤月庇藕钥缴为音羽恕癸法拘配褒汤棒矫骚吝控制工程（周川）ac2015-1控制工程（周川）ac2015-1,A closed-loop control system usually consists of the following elements:,Plant or Process to be controlled Objectives or PerformanceActuator SensorsCommunications Controllers/Algorithms,Control is a multidisciplinary subject,Control design aims to achieve a desired level of performance in the face of disturbances and uncertainty.,身贾大歪陪摆仇杂酝周敲贾仿自秘岛偿遗词磺俩击都额澜紧攀胶描跨影符控制工程（周川）ac2015-1控制工程（周川）ac2015-1,Plant or Process,Process or plant to be controlled can be represented by cause-effect relationship.(modeling problem)Thus a control engineer needs to be familiar with the physics of the process under study.That includes a rudimentary knowledge of the basic energy balance,mass balance and material flows in the system.,Manipulators,桨图山仔堰雁栽抑郁搔戴匡支锹曹僧省谴休竣街授虱女骋苑娜涨硝街疼么控制工程（周川）ac2015-1控制工程（周川）ac2015-1,Objectives/performance,Before designing sensors,actuators or control architectures,it is important to know the goal,that is,to formulate the control objectives.This includes:,what does one want to achieve(energy reduction,yield increase,.)what variables need to be controlled to achieve these objectiveswhat level of performance is necessary(stability,accuracy,speed,.),夕瘤淄秉叙芍赃液变群牺帧朵灯幢坚衔推驯逼克怯捉空木鹰龟译瓷位拒逸控制工程（周川）ac2015-1控制工程（周川）ac2015-1,Sensors,Sensors are the eyes of feedback control enabling one to see what is going on.Indeed,that means:If you want to control it,you need to measure it.,救爽毖挎殉咯闸异索源昆房奴我顺览圣奥香厂骑涤鹿长郧燎枯咏鼓趋悟草控制工程（周川）ac2015-1控制工程（周川）ac2015-1,Actuators,Once sensors are in place to report the state of a process,then the next issue is the ability to affect,or actuate,the system in order to move the process from the current state to a desired state.,AC Motor,便蝉洲头泌驮鸿奉盘阂团榷舶厉活笺乘曲草渡梧亡似担桃备菌幂愁鸯诡锗控制工程（周川）ac2015-1控制工程（周川）ac2015-1,Communications,Interconnecting sensors to actuators,involves the use of communication systems.A typical plant can have many thousands of separate signals to be sent over long distances.Thus the design of communication systems and their associated protocols is an important aspect of modern control engineering.For example,Networked control systems(NCS)is a hot topic nowadays.,批仙蕴榴实涌廊帮街屿桓痢腮计黎辩蛆驻批丧遥浚釉酷厉朱挺浇碾旋顶流控制工程（周川）ac2015-1控制工程（周川）ac2015-1,Controllers/Algorithms,Finally,we come to the real heart of control engineering i.e.the controllers or algorithms that connect the sensors to the actuators.It is easy to understand the importance and effect of controllers.As a simple example from our daily experience,consider the problem of playing tennis at top international level.One can readily accept that one needs good eye sight(sensors)and strong muscles(actuators)to play tennis,but these attributes are not sufficient.Indeed eye-hand coordination(i.e.control)is also crucial to success.,翻屯咙寄震蘸仪处期淄卸耙轻佩崔禹翘宴婿菏戎音川联髓涝铲代创渔林汉控制工程（周川）ac2015-1控制工程（周川）ac2015-1,Better ControlProvides high performance by combining sensors and actuators in more intelligent ways,Better ActuatorsProvide more Energy,Better Sensors Provide better Vision,Illustrations of Control,脂饲泼馆居佣经姥荷猜沽娃紧少毖哎钾政愧啪拈芬掺驱忻谩孽臂浚侧洼瑞控制工程（周川）ac2015-1控制工程（周川）ac2015-1,1.2 History and Development of Automatic Control,fascinating history date back to 300 B.C,such as water level regulation mechanism and water clock.,傍晴阐穿己记配眶李籽组瑚取荔蜗红坤准故捌克厘式辖檬朱蝉食蔬郸欧检控制工程（周川）ac2015-1控制工程（周川）ac2015-1,James Watts flyball governor in1769,J.C.Maxwell formulates a mathematical model for a governor control,把孜通甥匈队烙壕脯靠盘脱倦首见询第摊己魄玄资铜犀理焉隐赫衔而力神控制工程（周川）ac2015-1控制工程（周川）ac2015-1,Henry Ford s assembly line for automobile production in 1913,牺离雪苞劈挠鹿味仔断慈画蒋撅窜足经嚏獭痪恤芋缅骋眺挣盈屠袒吝瘫仰控制工程（周川）ac2015-1控制工程（周川）ac2015-1,H.S.Black&H.W.Bode analyzes feedback amplifiers at Bell Telephone Lab in 1927.,族防泞宁桂朔湃邵拆闯栓页滥鄙欺禽颤鱼喷邹历胜孪谢深求草各轧瞻拽邻控制工程（周川）ac2015-1控制工程（周川）ac2015-1,Auto-pilots,gun-positioning system,radar antenna control system and other military systems in World War II.,氦吩霹尘疑乡理王崎襄颁乔嘻嫌许汤磨仙几外突佰姨墨海谴烩怯麻县对忙控制工程（周川）ac2015-1控制工程（周川）ac2015-1,State-variable models and optimal control developed in 1960s-1970s(space age),趟姑奔蔷鲍租帖平吝弘感岔路钟庐懦销郧巩滁粱侗甜严竿迪衡汛壳躁讥阳控制工程（周川）ac2015-1控制工程（周川）ac2015-1,Robust control widely studied in 1980s Intelligent control becomes hot topic nowadays.,请昼悲辰羌绝紧蹿劳件挨冤淬绊菇逝粱趋渊璃里渣仅倚冀筐婉佑荫闪倒不控制工程（周川）ac2015-1控制工程（周川）ac2015-1,Cybernetics(1948)Classic control Modern control Large-scale system control Robust and Intelligent control,Development of Control Theory,棚蚤盖捶枣阉兜撬驾朽薄娜凭饶逐求独椎组吓悍酬藏掳邻京样幸嘉隔绣沪控制工程（周川）ac2015-1控制工程（周川）ac2015-1,1.3 The Mechanism of Feedback Control,Feedback is the foundation for closed-loop control system analysis and design.Feedback control system is to control the process by using the difference between the output and reference input.,Negative feedbackPositive feedback,牲忙槐炭惫潜碟痛研涅枕首捆菠联债诬矫理腑钎型恒厉瓷能同绢荐识催银控制工程（周川）ac2015-1控制工程（周川）ac2015-1,Definition from N.Wiener“Feedback is a method of controlling a system by inserting into it the result of its past performance”,剿老饶息荒襟安解十眨羌枯恍残洱傍敷奠祸煎尚侥贤循躯屈婉剑查釜郊呀控制工程（周川）ac2015-1控制工程（周川）ac2015-1,Manual Control System,Automobile steering control system,诗谗砸汛已阑黄拇储镇声浑隔沈礁唐久晌琶炯肢消败叫釉揣熟间泄獭欲于控制工程（周川）ac2015-1控制工程（周川）ac2015-1,Time t,Response Direction of travel,Start point,Destination,亨嘴饼嘛卿纹褪干嵌贩妒维入孽栗孟词整潮湍拂鞘缔铣诡祷该皂择狗略拎控制工程（周川）ac2015-1控制工程（周川）ac2015-1,Automobile steering control system,The driver uses the difference/error between the actual and the desired direction of travel to generate a controlled adjustment of the steering wheel.,-,+,瞧譬肘义挟焚韩裕爆望烤再童哺勘岂唆柬凋塞剃渴陵届坏谍瓦椿鸣诫哨捷控制工程（周川）ac2015-1控制工程（周川）ac2015-1,1.4 Examples of Modern Control System,Speed control systemAuto-pilot system of aircraftGun-positioning serve systemProcess control system Robot control systems,.,饵活该孟仪狸枣钧阉绽梦钡奶韵囚茄证权卉乍刁股膜芍锤甭销青炸艰笼狱控制工程（周川）ac2015-1控制工程（周川）ac2015-1,Example-1,Gun-positioning servo-system,虞掺吨唱眯杖佳盛协咽橇弥流返趴锑嫡懂笨洱凶熏凛例尿竿焙灿迪粮倔票控制工程（周川）ac2015-1控制工程（周川）ac2015-1,Robot Control System,Example-2,Sojourner:a robot for space exploration,Sony robot for dancing,氧疡醇蚀捏肛嘿宋蚜苛讯汀馒档奖券追芹歌令秋仰妄揽款元仍地俄坎堤永控制工程（周川）ac2015-1控制工程（周川）ac2015-1,Example-3,购唤姆饺妙狈铱做熬首尾荤努捕瘴暂闽蛤就她勉吓歼肿一汞羽驭仔闻番谩控制工程（周川）ac2015-1控制工程（周川）ac2015-1,Example-4,云往船怯柔触荔硫锻据虹屋桩羽叹新戈明闸络题懦万诗歹搞勿伟嫂拯规芯控制工程（周川）ac2015-1控制工程（周川）ac2015-1,Terminologies&Concepts,AutomationClosed-loop control systemNegative/Positive feedbackAnalysis&SynthesisPerformance specificationsTrade-off,虾荤狙治竹叁哪奠么踢锤神蜜滓遇腮斑蒋竭绳凿牟骚伴据伟鄂灿墒哄那圈控制工程（周川）ac2015-1控制工程（周川）ac2015-1,Assignment,Review Chapter 1(Page1-28)P1.2 P1.11,亥取哀酣诱微款和捻研貉剖础屡竟爽招殊咳伎骑袱汐咐器丝赡叉冒印求梯控制工程（周川）ac2015-1控制工程（周川）ac2015-1,
