自動控制理論與應(yīng)用實驗指導(dǎo)

前言
第1章概述
第2章二階系統(tǒng)數(shù)學(xué)建模實驗
2.1便攜式單自由度機械臂的數(shù)學(xué)
建模原理
2.2單自由度機械臂系統(tǒng)數(shù)學(xué)建
模實驗
2.2.1直流電動機的參數(shù)辨識
實驗
2.2.2電動機的階躍響應(yīng)實驗
2.3實驗指導(dǎo)書
2.4實驗報告要求
2.5實驗注意事項
第3章控制系統(tǒng)的根軌跡校正
實驗
3.1被控對象的傳遞函數(shù)與根
軌跡圖分析
3.2根軌跡超前校正系統(tǒng)設(shè)計
與實驗
3.3根軌跡滯后校正系統(tǒng)設(shè)計
與實驗
3.4實驗指導(dǎo)書
3.5實驗報告要求Chapter 4Frequency Compensation
Experiment
4.1Experiment of Series Lead
Compensation
4.2Experiment of Series Lag
Compensation
4.3Requirements of the Experiment
Report
4.4Experiment Notes
4.5Experiment Instruction
Experiment Handout for Automatic Control Theory and Application自動控制理論與應(yīng)用實驗指導(dǎo)CONTENTS目錄 Chapter 5Pole Assignment
Experiment
5.1Pole Assignment Principle
Introduction
5.2Analysis of the POFR-Arm Poles Assiguments to Improve System Performance
5.2.1State Space Model of the
POFR-Arm System
5.2.2Check the Condition of Controllability
and Pole Assignment
5.3Experiment Instruction
5.4Requirements of the Experiment
Report
5.4Experiment Notes
Chapter 6Design Experiment of
PID Controller
6.1Analysis on Mathematical
Model of PID Controller
6.2Design Experiment of PID
Controller
6.2.1Proportional (P) Control
Experiment
6.2.2Proportional Plus Derivative
(PD) Control Experiment
6.2.3Proportional Integral (PI)
Control Experiment
第4章頻率法校正實驗
4.1串聯(lián)超前校正實驗
4.2串聯(lián)滯后校正實驗
4.3實驗指導(dǎo)書
4.4實驗報告要求
4.5實驗注意事項
第5章極點配置實驗
5.1極點配置原理簡介
5.2單自由度機械臂極點配置對
改善控制系統(tǒng)性能的分析
5.2.1單自由度機械臂系統(tǒng)的狀態(tài)
空間模型
5.2.2檢查系統(tǒng)的能控性與極點配
置條件
5.3實驗指導(dǎo)書
5.4實驗報告要求
5.5實驗注意事項
第6章PID控制器設(shè)計實驗
6.1PID控制器的數(shù)學(xué)模型分析
6.2PID控制器設(shè)計實驗
6.2.1比例（P）控制實驗
6.2.2比例微分（PD）控制實驗
6.2.3比例積分（PI）控制
實驗
6.2.4Proportional Integral Differential
(PID) Control Experiment
6.3Experiment Instruction
6.4Requirements for the Experiment
Report
6.5Experiment Notes
Chapter 7The Linear Quadratic
Regulator Optimal Control
Algorithm (LQR) Control
Experiment
7.1The Theoretical Analysis
7.1.1The LQR Optimal Control
Theory
7.1.2LQR Control Algorithm
7.2The Simulation of LQR
Controller
7.2.1Weight Q’s Influence on
the System Responses
7.2.2Eliminate the Steady-State
Error
7.3The Actual Control of LQR
Controller
7.4Experimental Steps
7.5Experiment Instruction
7.6Requirements of the Experiment
Report
Chapter 8Fuzzy Controller Design for Ball-beam System
8.1Introduction of Ball-beam
System
8.1.1Structure of Ball-beam System
8.1.2The Structure of Ball-beam
System
8.2The Modelling of Ball-beam
System
8.2.1The Analysis of Modelling
Methods6.2.4比例積分微分（PID）
控制實驗
6.3實驗指導(dǎo)書
6.4實驗報告要求
6.5實驗注意事項
第7章線性二次型最優(yōu)控制算法(LQR)控制實驗
7.1理論分析
7.1.1線性二次型最優(yōu)控制原理
7.1.2系統(tǒng)LQR控制算法
7.2LQR控制器的仿真
7.2.1權(quán)值Q對系統(tǒng)響應(yīng)的影響
7.2.2消除穩(wěn)態(tài)誤差
7.3LQR控制器的實際控制
7.4實驗步驟
7.5實驗指導(dǎo)書
7.6實驗報告要求
第8章針對球桿系統(tǒng)的模糊
控制器設(shè)計實驗
8.1球桿系統(tǒng)簡介
8.1.1球桿系統(tǒng)組成
8.1.2球桿系統(tǒng)控制結(jié)構(gòu)
8.2球桿系統(tǒng)的數(shù)學(xué)模型建立
8.2.1建模方法的選擇
8.2.2The Parameters of Ball-beam
System
8.2.3Modelling of Ball-beam System
by Lagrange Method
8.2.4Ball-beam System Modelling
Analysis
8.3Fuzzy Controller Design
8.3.1The Component and Principle
of Fuzzy Controller
8.3.2The Design and Experiment of
Fuzzy Controller for Ball-beam
System
8.3.3The Realize of Ball-beam System
Fuzzy Controller
8.3.4Improvement and Simulation of the
Ball－beam Fuzzy Controller
8.4The Physical Control System of
Ball-beam System
8.5summary
Chapter 9BP－PID Controller Design
and Experiment
9.1Neural Network Control
(NNC)
9.1.1The Methodology of NNC
9.1.2The Design of BP-PID
Controller
9.2BP-PID Controller Structure
and Algorithm
9.2.1BP-PID Controller Structure
9.2.2BP-PID Control Algorithm
9.2.3Convergence and Stability Analysis
of BP-PID Controller
9.3BP-PID Controller Design