麻省理工學院「開放式課程網頁」 | 航空太空工程 | 16.06 2003秋季課程：自動控制原理


		課程首頁

		教學大綱

		教學時程


		課堂講稿

		實作課程

		作業

		測驗

		相關資源

		能力評估

		下載課程

教學時程

本頁翻譯進度

燈號說明

審定：蔡明祺(簡介並寄信)
翻譯：吳泉興(簡介並寄信)
編輯：朱學恒(簡介並寄信)

這裡所列的閱讀內容來自這本參考書：
All the readings in this section refer to book mentioned below:

Van de Vegte, John. 《回授控制系統》第三版. Prentice Hall, 1994.
Van de Vegte, John. Feedback Control Systems. 3rd ed. Prentice Hall, 1994.

課	課程單元	閱讀材料	重要日子
單元1 : 控制系統分析 Module 1: Control System Analysis
1	課程簡介 Course Introduction 課程進行方式、學習目標、數學資源、線性代數測驗 Course Administration, Learning Objectives, Math Resources, Linear Algebra Quiz	1.1, 1.2, 1.3
2	控制系統簡介 Introduction to Control Systems 控制系統的基本分類和一些例子(開迴路和閉迴路)，干擾、參數變異、線性化模型與方塊流程圖 First Classification and Examples of Control Systems (Open and Closed Loop), Disturbances, Parameter Variations, Linearized Models and Block Diagrams	1.1, 1.2, 1.3	作業1 發出 Problem Set #1 Out
3	控制系統分析與設計 Control System Analysis and Design 控制系統分析與設計、系統的性能、回授的目的、增益原理、轉移函數、方塊流程圖 Control System Analysis and Design, The Performance of a System, Motivations for Feedback, The Concept of Gain, Transfer Functions, Block Diagrams	1.2, 1.4, 1.7 (到14頁上面), 3.7(參考第2 & 3章), 課堂講稿 1.2, 1.4, 1.7 (to top of page 14), 3.7(Chapters 2 & 3 for reference), lecture notes
4	干擾與靈敏度 Disturbances and Sensitivity 回授系統的性能、回授的目的、對參數變異與模型不確定性的靈敏度、靈敏度函數、干擾的影響 The Performance of Feedback Systems, Motivations for Feedback, Sensitivity to Parameter Variations and Model Uncertainty, Sensitivity Functions, Effects of Disturbances	4.1, 4.2
5	穩態誤差 Steady-State Errors 穩態誤差、積分器的重要性，對於閉迴路系統主要的建構方塊和穩態資訊的傾向 Steady-State Errors, The Importance of Integrators as Fundamental Building Blocks and the Steady-State Disposition of Information in a Closed Loop System	4.3, 課堂講稿 4.3, lecture notes	作業1 到期 Problem Set #1 Due 作業2 發出 Problem Set #2 Out
6	S-平面、極點與零點 S-Plane, Poles and Zeroes 暫態性能與S-平面、極點與零點、殘值的圖形判定 Transient Performance and the S-Plane, Poles and Zeroes, Graphical Determination of Residues	1.7 (從14頁上面), 1.8, 1.9 1.7 (from top of pg. 14), 1.8, 1.9
7	暫態響應和穩定度 Transient Response and Stability 系統穩定度、極點位置與時間響應、一階與二階系統特徵 System Stability, Pole Location and Time Response, First and Second Order System Signatures	4.4
8	主模態 Dominant Modes 主模態的原理、侵入極點、高階系統、殘值大小的重要性與時間常數 Concept of a Dominant Mode, Invading Poles, High-Order Systems, The Importance of Magnitude of Residues and Time Constants of Terms	1.8, 4.4, 課堂講稿 1.8, 4.4, lecture notes	作業2 到期 Problem Set #2 Due 作業3 發出 Problem Set #3 Out
9	暫態響應與性能 Transient Response and Performance 暫態響應性能準則(aka Metrics)、系統零點的來源、回授極點與閉迴路零點 Transient Response Performance Criteria (aka Metrics), Sources of System Zeros, Feedback Poles and Closed Loop Zeros	5.1, 5.2
10	零點的影響 Effects of Zeroes 增加一個零點到相異極點模型的影響、長尾巴 The Effects of Adding a Zero to Various Pole Patterns, The Long Tail	5.3	作業3 到期 Problem Set #3 Due 實驗1 發出 Lab #1 Out
單元 2：狀態空間法 Module 2: State-Space Methods
11	狀態空間 State Space 系統狀態原理、狀態向量定義與LTI系統的狀態空間表示 The Concept of System State, State Vector Definition and State Space Representation of LTI Systems	11.1, 11.2
12	狀態空間模式 State Space Modeling 關於一個n階微分方程式的狀態空間模型、轉移函數的狀態空間模型、論例 State Space Model for an nth Order Differential Equation, State Space Models for Transfer Functions, Examples	11.3
13	再論狀態空間模式與轉移函數矩陣 More State Space Modeling and Transfer Function Matrices 具有零點的轉移函數、對向量/矩陣微分方程式的Laplace 轉換 Transfer Functions with Zeros, Laplace Transforms for Vector/Matrix Differential Equations	11.4	實驗1 到期 Lab #1 Due 作業4 發出 Problem Set #4 Out
14	Quanser 模式與狀態轉移矩陣 Quanser Model and State Transition Matrices Quanser的狀態空間模型、狀態微分方程式的齊次解和狀態轉移矩陣 State Space Model of the Quanser, Homogeneous Solution of State Differential Equations and State Transition Matrices	11.5
15	狀態空間微分方程式的解 Solutions of State Space Differential Equations 狀態空間微分方程式的通解、對常數輸入的Quanser 例子 General Solution of State Space Differential Equations, Quanser Example for Constant Input	課堂講稿 lecture notes
16	可控制性 Controllability 可控制和不可控制系統的一些簡單例子、可控制的主要定義與對單輸入系統的可控制條件 Simple Examples of Controllable and Uncontrollable Systems, Formal Definition of Controllability and Controllability Conditions for Single Input Systems	11.7	作業4 到期 Problem Set #4 Due
17	測驗 1 Quiz 1 課堂 1-15 Lectures 1-15
18	可控制性(續) Controllability Continued 對於多輸入系統的可控制性 Controllability for Systems with Multiple Inputs	課堂講稿 lecture notes	作業5 發出 Problem Set #5 Out
19	狀態空間設計 State Space Design 全狀態回授的極點配置、帶有回授感測器的設計 Pole Assignment with Full State Feedback, Design with Sensor Feedback	12.1, 12.2
單元 3：時域系統設計 Module 3: Time Domain System Design
20	比例控制 Proportional Control 比例控制對一階、二階和三階系統的效應、對一個較好的控制器的案例 Effects of Proportional Control with First, Second and Third Order Systems, The Case for a Better Controller	課堂講稿 lecture notes
21	控制系統設計(時域) Control System Design (Time Domain) 通用系統的時域分析-根軌跡法簡介、角度和大小條件 General System Analysis in the Time Domain - Introduction to the Root Locus Method, Angle and Magnitude Conditions	6.1, 6.2	作業5 到期 Problem Set #5 Due 作業6 發出 Problem Set #6 Out
22	根軌跡法則 Root Locus Rules 根軌跡法則 Root Locus Rules	6.3
23	根軌跡例子Root Locus Examples 根軌跡的一些例子 Root Locus Examples	6.4
24	根軌跡設計 Root Locus Design 根軌跡和系統設計、極零點對消、帶有馬達速度回授的位置伺服、使用根軌跡設計相位領前補償器 Root Loci and System Design, Pole-Zero Cancellation, Motor Position Servo with Velocity Feedback, Phase-Lead Compensator Design Using Root Loci	6.5, 6.6	作業6 到期 Problem Set #6 Due 作業7 發出 Problem Set #7 Out
25	補償器設計 Compensator Design 使用根軌跡設計相位落後補償器、使用根軌跡設計PID控制簡介 Phase Lag Compensator Design Using Root Loci, Introduction to PID Control Using Root Loci	6.7, 6.8
單元 4：頻域系統設計 Module 4: Frequency Domain System Design
26	頻率響應分析 Frequency Response Analysis 弦波輸入的穩態系統響應、二階系統例子 Steady State System Responses to Sinusoidal Inputs, Second Order System Example	7.1, 7.2
27	極座標圖 Polar Plots 一階與二階極座標圖，另例 First and Second Order Polar Plots, Other Examples	課堂講稿 lecture notes	作業7 到期 Problem Set #7 Due 實驗2 發出 Lab #2 Out
28	參數原理和Nyquist 穩定準則 Principle of the Argument and the Nyquist Stability Criterion Nyquist 穩定準則的發展 Development of the Nyquist Stability Criterion	7.3
29	一些Nyquist 範例 Nyquist Examples 範例 Examples	7.4	實驗2到期 Lab #2 Due
30	更多 Nyquist 範例 More Nyquist Examples	課堂講稿 lecture notes
31	測驗 2 Quiz 2 課堂 16-27 Lectures 16-27		作業8 發出 Problem Set #8 Out
32	增益邊限和相位邊限 Gain and Phase Margins 增益邊限和相位邊限準則和一些例子 The Gain and Phase Margin Criteria and Examples	7.6
33	增益-相位平面與Nichols曲線圖 The Gain-Phase Plane and Nichols Charts Nichols曲線圖的使用和一些例子 Use of Nichols Charts and Examples	8.5
34	開迴路與閉迴路行為和二階系統範例 Open and Closed Loop Behavior and the Second Order System Paradigm 基於二階系統範例的頻率響應準則 Frequency Response Criteria Based on Second Order System Paradigm	8.3	作業8 到期 Problem Set #8 Due 作業9 發出 Problem Set #9 Out
35	Bode圖 Bode Diagrams
36	一階與二階系統Bode圖 First and Second Order System Bode Diagrams
37	補償和Bode設計 Compensation and Bode Design		作業9 到期 Problem Set #9 Due
38	更多的Bode 設計 More Bode Design
39	練習課 Train Lecture

l>l>