Control Systems Engineering Ch 1 Introduction Control Systems

Control Systems Engineering, Fourth Edition by Norman S. Nise Copyright © 2004 by John

學習成果 Learning Outcomes 學習控制系統的: • 定義 and 案例說明 (1. 1) • 發展沿革 (1. 2)

控制系統的定義: 找兩個現象間的關係案例: 牛頓第二定律 F=Ma Figure 1. 1 Simplified description of a control system

Figure 1. 3 Elevators Photos courtesy of United Technologies Otis Elevator. a. Early elevators

控制系統設計的標的電梯性能暫態反應 + 穩態誤差 Figure 1. 2 Elevator response Control Systems Engineering, Fourth

優勢 Advantages Figure 1. 4 Rover was built to work in contaminated areas at

1. 水(液)位控制 Liquid-Level Control 2. 希臘 300 B. C. 抽水馬捅 3. 2. 蒸氣壓力控制、溫度控制 4.

Figure 1. 5 a. Video laser disc player; b. objective lens reading pits on

Figure 1. 6 Block diagrams of control systems: a. open-loop system; b. closedloop system；

Figure 1. 7 案例 Computer hard disk drive, showing disks and read/write head Courtesy

分析、設計目標: 暫態反應 Transient Response 穩態反應 Steady-state response 穩定度 Stability Figure 1. 5 Elevator input

Figure 1. 8 案例 The search for extraterrestrial life is being carried out with

Figure 1. 9 Antenna azimuth position control system: a. system concept; b. detailed layout;

Figure 1. 12 Equivalent block diagram for the antenna azimuth position control system Control

暫態反應控制系統設計的標的衛星天線性能 Figure 1. 10 Response of a position control system showing effect

Figure 1. 11 The control system design process Control Systems Engineering, Fourth Edition by

以牛頓第二定律為例: F(t) = M a(t) Taking Laplace: F(t) = M a(t) → F(s) =

Figure 2. 15 a. Mass, spring, and damper system; b. block diagram Control Systems

Table 1. 1 Test waveforms used in control systems Control Systems Engineering, Fourth Edition

Figure P 1. 1 Potentiometer Control Systems Engineering, Fourth Edition by Norman S. Nise

Figure P 1. 2 Aircraft attitude defined Control Systems Engineering, Fourth Edition by Norman

Figure P 1. 3 Winder © J. Ayers, 1988. Control Systems Engineering, Fourth Edition

Figure P 1. 4 Control of a nuclear reactor Control Systems Engineering, Fourth Edition

Figure P 1. 5 Grinder system © 1997, ASME. Control Systems Engineering, Fourth Edition

Figure P 1. 6 High-speed proportional solenoid valve © 1996, ASME. Control Systems Engineering,

Figure P 1. 7 RL network Control Systems Engineering, Fourth Edition by Norman S.

Figure P 1. 8 RLC network Control Systems Engineering, Fourth Edition by Norman S.

Figure P 1. 9 High-speed rail system showing pantograph and catenary © 1997, ASME.

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學習成果 Learning Outcomes 學習控制系統的: • 定義 and 案例說明 (1. 1) • 發展沿革 (1. 2) • 分類 and 組成 (1. 3) • 分析 and 設計目標(1. 4) • 設計步驟 (1. 5 -1. 6) Control Systems Engineering, Fourth Edition by Norman S. Nise Copyright © 2004 by John Wiley & Sons. All rights reserved.

控制系統的定義: 找兩個現象間的關係案例: 牛頓第二定律 F=Ma Figure 1. 1 Simplified description of a control system Control Systems Engineering, Fourth Edition by Norman S. Nise Copyright © 2004 by John Wiley & Sons. All rights reserved.

Figure 1. 3 Elevators Photos courtesy of United Technologies Otis Elevator. a. Early elevators were controlled by hand ropes or an elevator operator. Here, a rope is cut to demonstrate the safety brake, an innovation in early elevators; b. Modern Duo-lift elevators make their way up the Grande Arche in Paris, driven by one motor, with each car counterbalancing the other. Today, elevators are fully automatic, using control systems to regulate position and velocity. Control Systems Engineering, Fourth Edition by Norman S. Nise Copyright © 2004 by John Wiley & Sons. All rights reserved.

優勢 Advantages Figure 1. 4 Rover was built to work in contaminated areas at Three Mile Island in Middleton, PA, where a nuclear accident occurred in 1979. The remote controlled robot’s long arm can be seen at the front of the vehicle. Control Systems Engineering, Fourth Edition by Norman S. Nise Copyright © 2004 by John Wiley & Sons. All rights reserved.

1. 水(液)位控制 Liquid-Level Control 2. 希臘 300 B. C. 抽水馬捅 3. 2. 蒸氣壓力控制、溫度控制 4. 1681 5. 3. 速度控制 6. 1745 7. 調整葉片迎風面 8. 控制風車轉速 Control Systems Engineering, Fourth Edition by Norman S. Nise Copyright © 2004 by John Wiley & Sons. All rights reserved.

Figure 1. 5 a. Video laser disc player; b. objective lens reading pits on a laser disc; c. optical path for playback showing tracking mirror rotated by a control system to keep the laser beam positioned on the pits. (a) (b) (c) Pioneer Electronics, Inc. Control Systems Engineering, Fourth Edition by Norman S. Nise Copyright © 2004 by John Wiley & Sons. All rights reserved.

學習成果 Learning Outcomes 學習控制系統的: • 定義 and 案例說明 (1. 1) • 發展沿革 (1. 2) • 分類 and 組成結構 (1. 3) • 分析 and 設計目標(1. 4) • 設計步驟 (1. 5 -1. 6) Control Systems Engineering, Fourth Edition by Norman S. Nise Copyright © 2004 by John Wiley & Sons. All rights reserved.

Figure 1. 6 Block diagrams of control systems: a. open-loop system; b. closedloop system； open-loop system closed-loop system Computer-controlled system: 控制器由電腦取代 Control Systems Engineering, Fourth Edition by Norman S. Nise Copyright © 2004 by John Wiley & Sons. All rights reserved.

學習成果 Learning Outcomes 學習控制系統的: • 定義 and 案例說明 (1. 1) • 發展沿革 (1. 2) • 分類 and 組成結構 (1. 3) • 分析 and 設計目標 (1. 4) • 設計步驟 (1. 5 -1. 6) Control Systems Engineering, Fourth Edition by Norman S. Nise Copyright © 2004 by John Wiley & Sons. All rights reserved.

Figure 1. 7 案例 Computer hard disk drive, showing disks and read/write head Courtesy of Quantum Corp. Control Systems Engineering, Fourth Edition by Norman S. Nise Copyright © 2004 by John Wiley & Sons. All rights reserved.

分析、設計目標: 暫態反應 Transient Response 穩態反應 Steady-state response 穩定度 Stability Figure 1. 5 Elevator input and output Control Systems Engineering, Fourth Edition by Norman S. Nise Copyright © 2004 by John Wiley & Sons. All rights reserved.

Figure 1. 8 案例 The search for extraterrestrial life is being carried out with radio antennas like the one pictured here. A radio antenna is an example of a system with position controls. © Peter Menzel. Control Systems Engineering, Fourth Edition by Norman S. Nise Copyright © 2004 by John Wiley & Sons. All rights reserved.

Figure 1. 9 Antenna azimuth position control system: a. system concept; b. detailed layout; c. schematic; d. functional block diagram Control Systems Engineering, Fourth Edition by Norman S. Nise Copyright © 2004 by John Wiley & Sons. All rights reserved.

Figure 1. 12 Equivalent block diagram for the antenna azimuth position control system Control Systems Engineering, Fourth Edition by Norman S. Nise Copyright © 2004 by John Wiley & Sons. All rights reserved.

暫態反應控制系統設計的標的衛星天線性能 Figure 1. 10 Response of a position control system showing effect of high and low controller gain on the output response Control Systems Engineering, Fourth Edition by Norman S. Nise Copyright © 2004 by John Wiley & Sons. All rights reserved.

學習成果 Learning Outcomes 學習控制系統的: • 定義 and 案例說明 (1. 1) • 發展沿革 (1. 2) • 分類 and 組成結構 (1. 3) • 分析 and 設計目標 (1. 4) • 設計步驟 (1. 5 -1. 6) Control Systems Engineering, Fourth Edition by Norman S. Nise Copyright © 2004 by John Wiley & Sons. All rights reserved.

以牛頓第二定律為例: F(t) = M a(t) Taking Laplace: F(t) = M a(t) → F(s) = M a(s) Output/input = M; a/F = M ; F(s) = M a(s) Control Systems Engineering, Fourth Edition by Norman S. Nise Copyright © 2004 by John Wiley & Sons. All rights reserved.

Figure P 1. 9 High-speed rail system showing pantograph and catenary © 1997, ASME. Control Systems Engineering, Fourth Edition by Norman S. Nise Copyright © 2004 by John Wiley & Sons. All rights reserved.