| 1 |
簡介
Introduction |
| 2 |
頻率回應波德圖之規則
Frequency Response Bode Plot Rules |
| 3 |
頻率回應 (續) 增益值和相位邊限
Frequency Response (cont.) Gain / Phase Margins |
| 4 |
波德圖習題
Bode Plot Exercises |
| 5 |
不穩定開迴路系統之波德圖
Bode Plots for Unstable Open - Loop Systems |
| 6 |
根軌跡複習
Root - Locus Review |
| 7 |
根軌跡範例
Root - Locus Examples |
| 8 |
補償設計原理
Compensation Design Principles |
| 9 |
補償設計原理(續)
Compensation Design Principles (cont.) |
| 10 |
等比控制
Proportional Control |
| 11 |
落後與微積分補償
Lag and PID Compensation |
| 12 |
領先與微積分補償
Lead and PID Compensation |
| 13 |
範例
Examples |
| 14 |
高頻滾動凹凸與系統設施倒置
High Frequency Roll-off Notch and Plant Inversion |
| 15 |
領先/落後補償之設計範例
Design Example Lead-Lag Compensation |
| 16 |
範例 (續)
Examples (cont.) |
| 17 |
更多範例
More Examples |
| 18 |
不穩定系統設施之控制
Control of Unstable Plants |
| 19 |
不穩定系統設施之控制 (續)
Control of Unstable Plants (cont.) |
| 20 |
小考
Quiz |
| 21 |
非線性模型
Models of Nonlinearities |
| 22 |
非線性的一般影響
Common Effects of Nonlinearities |
| 23 |
David Trumper 教授上課
Prof. David Trumper's Lecture |
| 24 |
形容函數與用意之簡介
Describing Functions Introduction and Motivation |
| 25 |
形容函數之分析
Describing Function Analysis |
| 26 |
DF之計算 (DF = 形容函數)
Computing DFs |
| 27 |
DF 分析: 範例一，船用自動駕駛之穩定性
DF Analysis: Example 1, Stability of Boat Autopiloot |
| 28 |
DF 分析: 範例一 (續)
DF Analysis: Example 1 (cont.) |
| 29 |
DF 分析: 限制性循環期
DF Analysis: Limit Cycling |
| 30 |
DF 分析: 共鳴跳躍
DF Analysis: Jump Resonance |
| 31 |
DF-為基礎的補償設計
DF-based Compensation Design |
| 32 |
DF-為基礎的補償設計 (續)
DF-based Compensation Design (cont.) |
| 33 |
相位面分析與用意之簡介
Phase-Plane Analysis Introduction and Motivation |
| 34 |
相位面繪圖法則
Phase Plane Drawing Rules |
| 35 |
相位面範例一 攜帶式公事包
Phase - Plane Example I Carry-on Suitcase |
| 36 |
相位面範例二 衛星系統
Phase - Plane Example II Satellite System |
| 37 |
相位面範例三 衛星系統
Phase - Plane Example III Satellite System |
| 38 |
系統動態之相位面與參數依靠度
Phase - Plane and Parameter Dependence of System Dynamics |
| 39 |
系統動態之相位面與參數依靠度 (續)
Phase - Plane and Parameter Dependence of System Dynamics (cont.) |
|
期末考 (三小時)
Final Exam (3 hours) |
