Control Systems Engineering, 6th Edition

1005 Pages·2010·11.4 MB·English

by  Norman S. Nise

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A A P
ntenna zimuth osition
C S
ontrol ystem
Layout
Potentiometer
Antenna
θi(t)
θo(t)
Desired
Azimuth
azimuth angle angle
input output
Differential amplifier
and power amplifier
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Motor Potentiometer
Schematic
+V
n-turn potentiometer
Fixed
–V Differential Power Motor field
preamplifier amplifier Ra
vi(t) + vp(t) ea(t)
K
vo(t) – K s +1 a
Ja kg-m2 N
1
Da N-m s/rad Gear
Kb V-s/rad Armature
Kt N-m/A N
2 J kg-m2
Gear L
–V
D N-m-s/rad
L
N
n-turn potentiometer 3
Gear
+V
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U F
nmanned ree-Swimming
S V
ubmersible ehicle
PitchControlSystem
Commanded
Pitch elevator Elevator Elevator Vehicle
command Pitch gain deflection actuator deflection dynamics Pitch
θc(s) + + δec(s) 2 δe(s) –0.125(s+0.435) θ(s)
–K
1 s + 2 (s+1.23)(s2+0.226s+0.0169)
– –
Pitch rate
sensor
–Ks
2
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HeadingControlSystem
Commanded Heading
Heading Heading rudder Rudder Rudder Vehicle (yaw)
command gain deflection actuator deflection dynamics rate Heading
ψc(s) + –K1 + δrc(s) s +2 2 δr(s) (s– +0 .11.2259()s( s+ + 0 .04.3179)3) ψ(s) 1s ψ(s)
– –
Yaw
rate
sensor
–K s
2
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CONTROL SYSTEMS ENGINEERING
Sixth Edition
Norman S. Nise
California State Polytechnic University, Pomona
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John Wiley & Sons, Inc.
E1FFIRS 11/04/2010 13:38:32 Page4
To my wife, Ellen; sons, Benjamin and Alan; and daughter, Sharon,
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C
ontents
PREFACE, ix Problems, 98
CyberExplorationLaboratory, 112
1. INTRODUCTION, 1
Bibliography, 115
1.1 Introduction, 2
1.2 AHistoryofControlSystems, 4 3. MODELINGINTHETIME
1.3 SystemConfigurations, 7 DOMAIN, 117
1.4 AnalysisandDesignObjectives, 10
3.1 Introduction, 118
CaseStudy, 12
3.2 SomeObservations, 119
1.5 TheDesignProcess, 15
3.3 TheGeneralState-Space
1.6 Computer-AidedDesign, 20
Representation, 123
1.7 TheControlSystemsEngineer, 21
3.4 ApplyingtheState-Space
Summary, 23
Representation, 124
ReviewQuestions, 23
3.5 ConvertingaTransferFunction
Problems, 24
toStateSpace, 132
CyberExplorationLaboratory, 30
3.6 ConvertingfromStateSpacetoa
Bibliography, 31
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2. MODELINGINTHEFREQUENCY 3.7 Linearization, 141
DOMAIN, 33 CaseStudies, 144
Summary, 148
2.1 Introduction, 34
ReviewQuestions, 149
2.2 LaplaceTransformReview, 35
Problems, 149
2.3 TheTransferFunction, 44
CyberExplorationLaboratory, 157
2.4 ElectricalNetworkTransferFunctions, 47
Bibliography, 159
2.5 TranslationalMechanicalSystem
TransferFunctions, 61
4. TIMERESPONSE, 161
2.6 RotationalMechanicalSystem
TransferFunctions, 69 4.1 Introduction, 162
2.7 TransferFunctionsforSystems 4.2 Poles,Zeros,andSystemResponse, 162
withGears, 74 4.3 First-OrderSystems, 166
2.8 ElectromechanicalSystem 4.4 Second-OrderSystems:Introduction, 168
TransferFunctions, 79 4.5 TheGeneralSecond-OrderSystem, 173
2.9 ElectricCircuitAnalogs, 84 4.6 UnderdampedSecond-OrderSystems, 177
2.10 Nonlinearities, 88 4.7 SystemResponsewith
2.11 Linearization, 89 AdditionalPoles, 186
CaseStudies, 94 4.8 SystemResponseWithZeros, 191
Summary, 97 4.9 EffectsofNonlinearitiesUpon
ReviewQuestions, 97 TimeResponse, 196
v
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vi Contents
4.10 LaplaceTransformSolution CyberExplorationLaboratory, 335
ofStateEquations, 199 Bibliography, 336
4.11 TimeDomainSolutionof
StateEquations, 203 7. STEADY-STATEERRORS, 339
CaseStudies, 207
Summary, 213 7.1 Introduction, 340
ReviewQuestions, 214 7.2 Steady-StateErrorforUnity
Problems, 215 FeedbackSystems, 343
CyberExplorationLaboratory, 228 7.3 StaticErrorConstants
Bibliography, 232 andSystemType, 349
7.4 Steady-StateErrorSpecifications, 353
5. REDUCTIONOF 7.5 Steady-StateErrorforDisturbances, 356
MULTIPLESUBSYSTEMS, 235 7.6 Steady-StateErrorforNonunity
FeedbackSystems, 358
5.1 Introduction, 236
7.7 Sensitivity, 362
5.2 BlockDiagrams, 236
7.8 Steady-StateErrorforSystemsin
5.3 AnalysisandDesignof
StateSpace, 364
FeedbackSystems, 245
CaseStudies, 368
5.4 Signal-FlowGraphs, 248
Summary, 371
5.5 Mason’sRule, 251
ReviewQuestions, 372
5.6 Signal-FlowGraphsof
Problems, 373
StateEquations, 254
CyberExplorationLaboratory, 384
5.7 AlternativeRepresentatiAonpsianSgtaote PDF Enhancer
Bibliography, 386
Space, 256
5.8 SimilarityTransformations, 266
8. ROOTLOCUSTECHNIQUES, 387
CaseStudies, 272
Summary, 278
8.1 Introduction, 388
ReviewQuestions, 279
8.2 DefiningtheRootLocus, 392
Problems, 280
8.3 PropertiesoftheRootLocus, 394
CyberExplorationLaboratory, 297
8.4 SketchingtheRootLocus, 397
Bibliography, 299
8.5 RefiningtheSketch, 402
8.6 AnExample, 411
6. STABILITY, 301
8.7 TransientResponseDesign
6.1 Introduction, 302 viaGainAdjustment, 415
6.2 Routh-HurwitzCriterion, 305 8.8 GeneralizedRootLocus, 419
6.3 Routh-HurwitzCriterion: 8.9 RootLocusforPositive-Feedback
SpecialCases, 308 Systems, 421
6.4 Routh-HurwitzCriterion: 8.10 PoleSensitivity, 424
AdditionalExamples, 314 CaseStudies, 426
6.5 StabilityinStateSpace, 320 Summary, 431
CaseStudies, 323 ReviewQuestions, 432
Summary, 325 Problems, 432
ReviewQuestions, 325 CyberExplorationLaboratory, 450
Problems, 326 Bibliography, 452