1.1 definition of automatic control system
Definition of Control System
An interconnection of components forming a system configuration that will provide a desired system response.
由相互关联的部件按一定的结构构成的系统,能够提供预期的系统响应。
Definition of automatic control:
The automatic control is the technology which is under the circumstance of no person participating directly,making use of additional equipment or device (control device, controller or regulator), makes some operates states or parameters (control variables) of equipment,plant and process automatically follow the pre-arranged regulation
自动控制是指在无人直接参与的情况下,利用控制装置、控制器或调节器使被控对象或过程按照预期的规律运行的过程
1.2 History of Automatic Control
1.3 Some Basic Concepts and Terms
concepts
被控对象(plant or process):要求实现自动控制的机器、设备,或生
产过程。
控制器/装置(Controller/Control device):对被控对象起控制作用的
装置的总称。
输出信号(Output):也称为被控量,表现为被控对象的工作状态,并
要求实现自动控制的物理量。
输入信号(Input):被控量的输入值。
执行器(Actuator ):根据控制输入要求,执行某种动作的机构或设备。
扰动(Disturbance):所有妨碍控制器对被控对象进行正常控制的因素。
反馈(Feedback):利用传感器或量测装置将系统实际输出量返回至系
统输入端,与输入量进行比较的过程。
负反馈(Negative feedback):输入量与反馈量求差的过程。
正反馈(Positive feedback) :输入量与反馈量求和的过程。
1.4 Classification of Automatic Control Systems
The types of control systems are classified three categories:
Open-loop (开环) control systems
Closed-loop (闭环) control systems(feedback control systems)
Compound control (复合控制) systems
An open-loop control system utilizes an actuating device to control the process directly without using feedback.
The output of the open-loop system has no effect upon the input signal;
There is the need to know an accurate model of individual components
A closed-loop control system uses a measurement of output and feedback of this signal to compare it with the desired output (reference or command)
输出与输入端之间存在反馈回路,输出对系统的控制作用有影响。
The output of the closed-loop system has effect upon the input signal.
There is no need to know an accurate model of individual components
A combination control system (CCS) consists of open-loop system (OLS) and closed-loop system (CLS)。
The combination system can rapidly reject not only the disturbances that can be measured, but also the disturbances inside feedback loop that can not be measured.
Especially, it keeps the stability of an origin system and improves accuracy of the system simultaneously
Classification by mathematical model:
Linear control systems
线性系统由线性微分方程、线性差分方程或线性代数方程描述(满足叠加性和齐次性)
Non-linear control systems
系统中只要有一个元部件的输入-输出特性是非线性的,就为非线性系统。
Classification by the nature of the signal:
Continuous control systems
若输入量和输出量都是时间连续函数的系统,称为连续系统;
连续系统中各部分传递的信号都是随时间连续变化的信号;连续线性系统通常采用常微分方程描述。
Discrete control systems(Digital control system)
若输入量和输出量存在时间非连续函数的系统,称为离散系统;
离散系统中某一处或多处的信号为脉冲序列或数字量传递的系统;离散系统通常采用差分方程描述;
连续信号经过采样开关的采样就可转换为离散信号。
按输入量的变化规律(According to the requirements of the output),线性连续系统可分为:
Constant value control system(恒值控制系统)
Purpose: overcome the disturbance to maintain a constant output value;
Example: constant temperature box
Servo control system(随动系统)
Purpose: the output tracks the input quantity accurately and quickly;
Example: the antiaircraft radar-tracking control system
Program control system(程序控制系统/过程控制系统)
Purpose: the input signal changes according to a rearranged rule with time, and the program makes the output repeat the input signal quickly and accurately;
Example: automatic washer, program controlled machine tool ( numerical control machine)
1.5 How to Evaluate a Control System
The fundamental requirements of control systems are as follows:
Stability(稳定性): stability, smooth and steady 保证控制系统正常工作的先决条件。
Swiftness(快速性): peak time, settling time and percent overshoot
反映了对控制系统过渡过程的时间的
– peak time: Tp
– settling time: Ts
– percent overshoot (P.O.) : σ%
Accuracy(准确性): steady-sate error:
e
s
s
e_{ss}
ess衡量控制系统控制精度的重要标。
1.6 Typical External Action Signals
(1) Step function (阶跃函数)
幅值R =1的阶跃函数称为单位阶跃函数。
在控制系统的分析设计工作中,一般将阶跃函数作用下系统的响应特性作为评价系统动态性能指标的依据。
电源电压突跳;负载突然变化;飞机飞行中遇到的常值阵风扰动均可视为阶跃函数作用
(2) Ramp function (斜坡/速度函数)
雷达-高射炮防空系统,当雷达跟踪目标以恒定速率飞行时,可视为斜坡函数作用
(3) Impulse function (脉冲函数)
A=1为单位脉冲函数,δ函数。
注:脉冲函数现实中不存在,只是理想的数学定义。
(4) Sinusoidal function (正弦函数)
A : 振幅;
ωt=2πf: 角频率;
φ: 初始相角
舰船的摇摆系统,稳定平台随动系统均处于正弦函数的波浪下工作;
频率响应分析法,主要依据正弦函数的输入。