2020161自动控制原理(中英文)

1、自动控制原理课程教学大纲课程编号：2020161课程类别：必修授课对象：本科三年级先修课程：复变函数，积分变换，信号与系统。学分：4总学时：56 课学时：48 实验学时：8一、课程性质、教学目的与任务课程性质：专业基础课，专业知识链条中的关键环节之一，自动控制原理是仪器仪 表类、测控类专业的重要基础课之一，这些专业主要学习信号传感（获取）、信号处理、 控制及光机电系统等知识，而控制是知识链条中的重要一环，随着科技发展，自动化、 智能化已成为仪器、产品、系统等的重要功能，这就要求学生必须具备自动控制方面的 知识。教学目的与任务：培养学生自动控制原理的基础知识，学习掌握经典控制的基本理 论、基本方

2、法和控制系统的基本设计方法，重点学习分析和设计线性控制系统的基本理 论、基本方法及控制系统设计方法。主要容包括：控制系统的数学模型、控制系统的时 域分析法、控制系统的根轨迹法、控制系统的频域分析法、控制系统的常用校正方法等。二、教学基本要求学习经典控制的基本理论和基本方法，重点学习分析和设计线性控制系统的基本理 论和基本方法。主要容包括：控制系统的数学模型、控制系统的时域分析法、控制系统 的根轨迹法、控制系统的频域分析法、控制系统的常用校正方法等。三、教学容第一章控制系统的一般要概念 （4课时）自动控制的基本原理与方式，自动控制系统示例，自动控制系统的分类，对自动控 制系统的基本要求1、 基本

3、概念；2、 反馈系统基本组成；3、 基本控制方式；4、 控制系统分类：开环、闭环、复合控制；第二章控制系统的数学模型（8课时）控制系统的时域数学模型，拉普拉斯变换，控制系统的复域数学模型，控制系统的 状态空间模型，控制系统的结构图与信号流图2-1时域模型、微分方程表示方法；2-2复域模型1、 传递函数的定义与性质；2、 传递函数的零、极点表示，开环增益、根轨迹增益等；3、 典型环节的传递函数（比例、惯性、微分、积分、振荡）；2-3控制系统的结构图与信号流图1、 结构图的等效变换与化简2、 信号流图组成与性质A.性质、术语（理解）B.由结构图转化为信号流图方法C.梅逊公式第三章线性系统的时域分析

4、法 （10课时）线性系统时间响应的性能指标，一阶系统的时域分析，二阶系统的时域分析，高阶 系统的时域分析，线性系统的稳定性分析，线性系统的稳态误差计算。3-1线性系统时间响应的性能标0, tp,小 b%3-2 一阶系统的单位阶跃响应，3-3二阶系统的时域响应1、二阶系统的标准数学模型闭环传递函数形式，表示为单位反馈系统形式2、二阶系统单位阶跃响应（重点：欠阻尼情形）L，4，b%3、二阶系统性能改善A、比例一微分控制掌握原理、特点B、测速反馈控制 掌握原理、特点及性能参数计算3-4高阶系统时域分析，主导闭环极点概念3-5线性系统稳定性分析劳斯判据及其应用3-6线性系统的稳态误差1、误差传递函数计

5、算2、利用终值定理求稳态误差3、系统类型（型别）4、典型参考信号输入下的稳态误差；误差系数5、减小稳态误差方法：提高型别、提高开环增益、采用复合控制6、扰动误差的传函、减小扰动误差方法A、增加扰动作用点之前积分环节数目B、增加扰动作用点之前环节的增益C、采用复合控制技术第四章根轨迹 （6课时）根轨迹方程，根轨迹绘制的基本法则，广义根轨迹，系统性能的分析与估算，基于 根轨迹的控制系统校正方法，MATLAB语言根轨迹分析法。4-1根轨迹方程（相角、幅值条件）4-2根轨迹绘制的基本法则，绘制根轨迹笫五章线性系统的频域分析 （10课时）频率特性，典型环节和开环系统频率特性，奈奎斯特稳定判据，稳定裕度，

6、闭环频 率特性，系统时域指标估算，传递函数的实验确定法，MATLAB语言频域分析法。5-2频率特性1、基本概念系统频率特性与传函间关系2、频率特性表示方法幅相曲线；幅频特性；对数幅频特性曲线；相频特性曲线； 对数相频特性曲线5-3典型环节和开环系统频率特性1、典型环节的幅频、相频特性2、开环对数幅频、幅相曲线绘制 对数幅频特性采用渐近线法3、由幅频曲线或相频曲线确定最小相位系统传递函数的方法5-4奈奎斯特稳定性判据1、奈代判据，实际使用判据，幅相曲线对称性2、对数频率特性稳定性判据I型以上辅助线作法5-5稳定裕度 概念：截止频率；相角交界频率；相角裕度；幅值裕度5-6闭环频率特性（了解）5-7

7、系统时域指标与频域指标关系了解它们之间的联系；第六章线性系统的校正方法 （10课时）系统的设计与校正问题，常用校正装置及其特性，串联校正，反馈校正，复合校正, PID调节器，基于MATLAB语言的校正分析法。6-1校正方法串联，反馈，前馈，复合，原理，特性6-2常用校正装置及其特性（传函，特性，重要公式）1、无源超前2、无源迟后3、无源迟后一超前6-3串联校正1、串联超前方法，实用围2、串联迟后方法，实用围3、串联迟后一超前方法，实用围6-4反馈校正（原理，优点）6-5复合校正A.按扰动补偿（原理，扰动误差传函推导，误差全补偿条件）B.按输入补偿（原理，误差传函推导，误差全补偿条件）6-6 P

8、ID控制原理（P, PD, I, PI, PID的特点）实验安排：实验二直流电机速度控制实验（8课时）1、开环控制、闭环控制系统设计2、控制系统的校正设计3、PID调节器开放性、综合设计实验，要求学生独自完成实验前准备工作（实验目的、原理分析， 实验设计、实验步骤、参数计算等），实际动手实验，实验结果分析等。四、学时分配总学时56学时 讲课48学时 实验8学时 课外学时64学时五、教材与参考资料胡寿松等，自动控制原理，国防工业，第4版，20021自动控制原理，清华大学，吴麒主编；2自动控制原理，中国科学技术大学，庞国仲编；3自动控制原理试题精选与答题技巧，工业大学，王彤主编；4自动控制原理常见

9、题型解析及模拟题，西北工业大学，史忠科，卢京潮编著；5 MATLAB语言工具箱一TOOLBOX实用指南，西北工业大学，施阳俊等编著；6 MATLAB语言一演算纸式的科学工程计算语言，中国科学技术大学，培强主编；7系统分析与仿真一MATLAB语言及应用，国防科技大学，黄文梅勇等编著。六、成绩评定期末成绩80%,平时成绩（作业、平时测验及课堂情况）及综合实验能力20机大纲撰写人：段发阶、吴斌 大纲批准人：段发阶制定日期：2011年6月TJU Syllabus for “Automatic control principle”Code：Category: compu1sory For： junior

10、Prerequisite: complex variables functions, integral transformation, Signals and SystemsCredits： 4Semester Hour： 56 Lecture： 48 Computer Lab： 81. Course nature, teaching goal and missionCourse nature： As professional basic course, one of the key links of professional knowledge chain, automatic contro

11、l theory is one of most important basic courses in majors of instruments and measure & control. These majors mainly study the knowledge of signal sensing (for), signal processing, control and optomechatronics system and so on, and control is an important link in the chain knowledge. Along with t

12、he development of science and technology, automation and intelligent have become important function in instrument, production, system, etc. This requires the students must have knowledge of automatic control aspects. Teaching goal and mission： Cultivate students the basic knowledge of automatic cont

13、rol principle. Learn to master the basic theory and basic method of classical control t and the basic design method of the control system. Learn mainly analysis and design of linear control system of basic theory, the basic method and control system design method. The main contents include： the math

14、emat ical model of control system, the time domain analysis method of the control system, the root locus method of the control system, the method of frequency domain of the control system, the commonly used correction methods of the control system, etc.2. Teaching basic requirementsThe basic require

15、ments are learning the basic theories and methods of classical control, mainly learning the basic theory and basic methods of analysis and design of linear control system. The main contents include： the mathematical model of control system, the time domain analysis method of the control system, the

16、root locus method of the control system, the frequency domain method of the control system, the commonly used correction methods of the control system, etc.3. Content of courses(4 hours)Chapter One, the general concepts of Control systemThe basic principle and means of automatic controlt automatic c

17、ontrol system examples, the classification of the automatic control system, the basic requirements of automatic control system1. Basic concept2. The basic structure of feedback system3. The basic control mode4. Control system classification： open loop, closed loop, composite control Chapter Two, The

18、 mathematical model of the control system (8 hours)The mathematical model of time domain of the control system, Laplace transform, the complex domain mathematical model of the control system, the state space model of the control system, the structure and signal flow graph of the control system2T The

19、 time domain model, differential equation expression method2-2 Complex domain model1. the definition and properties of the transfer function；2. zero and poles expression, the open loop gain, root locus gain, etc. of the transfer function3. the transfer function， s typical link (proportion, inertia,

20、differential and integral, oscillation)；2-3 The structure and signal flow diagram of the control system1. The equivalent transformation and simplification of the structurechart2. Signal flow chart composition and properties3. Properties, term (understand)a. The method of structure chart translate in

21、to signal flow graph b. Mason formulaChapter Three, time domain analysis method of the linear system (10 hours) The performance index of the linear system time response, analysis of time domain of the first-order system, analysis of time domain of the second-order systems, analysis of time domain of

22、 the high order systems, linear system stability analysis, the steady-state error calculation of linear system3-1 The performance standard of time response of the linear system f, /p,小 b%3-2 The first-order system1 s unit step response 3-3 Time domain response of the second order system1. The closed

23、-loop transfer function form of the second order system' s standard mathematical model, expresses as the form of unit feedback system2. Unit step response of the second order system (Key： owe damping case) ，/p , & , b%3. System performance improved of the second order systemA. Proport i on-d

24、 iff erent i a1 control, master principle and characteristicsB. Velocity measurement feedback control, master the calculation of principle, characteristics and performance parameter3-4 Analysis of time domain of the high order system, the concept of the leading close-loop poles3-5 Linear system stab

25、ility analysis3-6 Steady-state error of linear system1. The calculation of error transfer function2. Using final-value theorem for steady-state error3. System type(pattern)4. The steady-state error of typical reference signal input； Error coefficient5. Reduce the steady-state error method： improve p

26、attern, improve the open loop gain, and use composite control6. The transfer function of agitation error, the method of reduce agitation error(1) . Increase integral element number before the agitation application point(2) . Increase integral element gain before the agitation application pointAdopte

27、d complex control technologyChapter Four, Root locus (6 hours)Root locus equation, basic law of root locus rendering, generalized root locus, system performance analysis and estimate, the control system correction methods based on root trajectory, MATLAB language root locus analysis method.4T Root l

28、ocus equation (Angle, amplitude condition)4-2 Basic law of root locus rendering, draw root locusChapter Five, frequency domain analysis of the linear systemFrequency characteristics, typical links and open loop system frequency characteristics, Nyquist stability criterion, the margin of the stable,

29、closed-loop frequency characteristics, the system time domain indexes estimation, the experiment confirm method of the transfer function, the frequency domain method of MATLAB language5-2 Frequency characteristics1. The basic concept, the relationship between frequency characteristics andtransfer fu

30、nction of the system2. The expression method of frequency characteristics, phase curve； Amplitude frequency characteristics； Logarithm amplitude frequency characteristics curve； Phase frequency characteristic curve； Logarithm phase frequency characteristic curve5-3 Typical links and open loop system

31、 frequency characteristics1. Typical link' s amplitude frequency, phase frequency characteristics3. The open loop logarithm amplitude and frequency, amplitude and phase curve drawing, logarithm amplitude frequency characteristics uses the asymptote method2. The minimum phase system transfer func

32、tion method determined by amplitude frequency curve or phase frequency curve5-4Nyquist stability criterion1. Nyquist criterion, actual use criterion, amplitude and phase curve symmetry2. The stability criterion of log frequency characteristics auxiliary line used in type I and above3. 5 The concept

33、of stability margin： cut-off frequency； Phase angle border frequency； the margin of the phase angle； amplitude margin4. 6 Closed-loop frequency characteristics (know)5. 7 the relationship between system time domain index and system frequency domain indexUnderstand the relationship between them6. hap

34、ter Six, Linear system calibration method (10 hours)The system design and correct problem, commonly used correction device and its characteristics, series correction, feedback correction, compound adjustment, PID regulator, the correction analysis method based on MATLAB language.6-1 Correction metho

35、d series, feedback, feedforward, composite, principle, characteristicsfunction, characteristics, important formula)1. Passive ahead2. Passive lag3. Passive lag-ahead6-3 Series correction1. Serial advanced method, practical scope2. Serial lag method, practical scope3. Serial lag-advanced method, prac

36、tical scope 6-4 Feedback correction (principle, advantages) 6-5 Compound correctionA. According to the disturbance compensation (principle, the transfer function derivation of disturbance error, error full compensation conditions)B. According to the input compensation (principle, the transfer functi

37、on derivation of error, error full compensation conditions) 6-6 PID control principle (the characteristics of P, PD, I, PI, PID) Experimental arrangement：Lab 2, DC motor speed control experiment (8 hours)1. Design of open loop control, closed loop control system2. Correction design of control system3. PID regulatorOpen, integrated design experiments, students are required to complete the preparation work alone before (experiment aim, principle analysis, experiment design, experiment steps, parameter calculation, etc.)t practical experiments, the analysis of experimental results, e