Control Systems Engineering Ch.1 Introduction Control Systems Engineering, Fourth Edition by Norman S. Nise Copyright © 2004 by John Wiley & Sons. All rights reserved.

Control Systems Engineering, Fourth Edition by Norman S. Nise Copyright © 2004 by John Wiley & Sons. All rights reserved.

學習成果 Learning Outcomes 學習控制系統的: 定義 and 案例說明 (1.1) 發展沿革 (1.2) 分類 and 組成 (1.3) 分析 and 設計目標(1.4) 設計步驟 (1.5-1.6) Control Systems Engineering, Fourth Edition by Norman S. Nise Copyright © 2004 by John Wiley & Sons. All rights reserved.

Figure 1.1 Simplified description of a control system 控制系統的定義: 找兩個現象間的關係 案例: 牛頓第二定律 F=Ma Figure 1.1 Simplified description of a control system Control Systems Engineering, Fourth Edition by Norman S. Nise Copyright © 2004 by John Wiley & Sons. All rights reserved.

Control Systems Engineering, Fourth Edition by Norman S. Nise Copyright © 2004 by John Wiley & Sons. All rights reserved.

軍艦航向之控制(圖) 船舵與軍艦航向的關係 鋼板厚度之控制 馬達與滾壓棍間隙的關係 控制=找兩個現象間的關係 手推車車速之控制 推力與車速的關係 汽車車速之控制 油門與車速的關係 電梯之控制 (圖) 馬達與電梯位置的關係 馬達與電梯速度的關係 軍艦航向之控制(圖) 船舵與軍艦航向的關係 鋼板厚度之控制 馬達與滾壓棍間隙的關係 Control Systems Engineering, Fourth Edition by Norman S. Nise Copyright © 2004 by John Wiley & Sons. All rights reserved.

Figure 1.3 Elevators Photos courtesy of United Technologies Otis Elevator. a. Early elevators were controlled by hand ropes or an elevator operator. Here, a rope is cut to demonstrate the safety brake, an innovation in early elevators; b. Modern Duo-lift elevators make their way up the Grande Arche in Paris, driven by one motor, with each car counterbalancing the other. Today, elevators are fully automatic, using control systems to regulate position and velocity. Control Systems Engineering, Fourth Edition by Norman S. Nise Copyright © 2004 by John Wiley & Sons. All rights reserved.

Control Systems Engineering, Fourth Edition by Norman S. Nise Copyright © 2004 by John Wiley & Sons. All rights reserved.

Figure1.2 Elevator response 控制系統設計的標的 電梯性能 暫態反應 + 穩態誤差 Figure1.2 Elevator response Control Systems Engineering, Fourth Edition by Norman S. Nise Copyright © 2004 by John Wiley & Sons. All rights reserved.

優勢 Advantages Figure 1.4 Rover was built to work in contaminated areas at Three Mile Island in Middleton, PA, where a nuclear accident occurred in 1979. The remote controlled robot’s long arm can be seen at the front of the vehicle. Control Systems Engineering, Fourth Edition by Norman S. Nise Copyright © 2004 by John Wiley & Sons. All rights reserved.

學習成果 Learning Outcomes 學習控制系統的: 定義 and 案例說明 (1.1) 發展沿革 (1.2) 分類 and 組成 (1.3) 分析 and 設計目標(1.4) 設計步驟 (1.5-1.6) Control Systems Engineering, Fourth Edition by Norman S. Nise Copyright © 2004 by John Wiley & Sons. All rights reserved.

水(液)位控制 Liquid-Level Control 希臘300B.C. 抽水馬捅 2. 蒸氣壓力控制、溫度控制 1681 3. 速度控制 1745 調整葉片迎風面 控制風車轉速 Control Systems Engineering, Fourth Edition by Norman S. Nise Copyright © 2004 by John Wiley & Sons. All rights reserved.

4. 穩定度、穩定度操控 不穩定系統—翻船、翻滾的飛彈；理論始自1868 5. 20世紀的發展 1920 船艦的自動導航系統問世 19世紀後期，船艦穩定度的操控是主流 5. 20世紀的發展 1920 船艦的自動導航系統問世 1950 應用於飛機的操控 20世紀後期: 各式導彈，自動化生產、商業系統 6. 當代的應用 Fig.1.5 Control Systems Engineering, Fourth Edition by Norman S. Nise Copyright © 2004 by John Wiley & Sons. All rights reserved.

Figure 1. 5 a. Video laser disc player; b Figure 1.5 a. Video laser disc player; b. objective lens reading pits on a laser disc; c. optical path for playback showing tracking mirror rotated by a control system to keep the laser beam positioned on the pits. (a) (b) (c) (c) Pioneer Electronics, Inc. Control Systems Engineering, Fourth Edition by Norman S. Nise Copyright © 2004 by John Wiley & Sons. All rights reserved.

學習成果 Learning Outcomes 學習控制系統的: 定義 and 案例說明 (1.1) 發展沿革 (1.2) 分類 and 組成結構 (1.3) 分析 and 設計目標(1.4) 設計步驟 (1.5-1.6) Control Systems Engineering, Fourth Edition by Norman S. Nise Copyright © 2004 by John Wiley & Sons. All rights reserved.

Computer-controlled system: 控制器由電腦取代 Figure 1.6 Block diagrams of control systems: a. open-loop system; b. closed-loop system； open-loop system closed-loop system Computer-controlled system: 控制器由電腦取代 Control Systems Engineering, Fourth Edition by Norman S. Nise Copyright © 2004 by John Wiley & Sons. All rights reserved.

學習成果 Learning Outcomes 學習控制系統的: 定義 and 案例說明 (1.1) 發展沿革 (1.2) 分類 and 組成結構 (1.3) 分析 and 設計目標 (1.4) 設計步驟 (1.5-1.6) Control Systems Engineering, Fourth Edition by Norman S. Nise Copyright © 2004 by John Wiley & Sons. All rights reserved.

Figure 1.7 案例Computer hard disk drive, showing disks and read/write head Courtesy of Quantum Corp. Control Systems Engineering, Fourth Edition by Norman S. Nise Copyright © 2004 by John Wiley & Sons. All rights reserved.

Figure1.5 Elevator input and output 分析、設計目標: 暫態反應 Transient Response 穩態反應 Steady-state response 穩定度 Stability Figure1.5 Elevator input and output Control Systems Engineering, Fourth Edition by Norman S. Nise Copyright © 2004 by John Wiley & Sons. All rights reserved.

Figure 1.8 案例 The search for extraterrestrial life is being carried out with radio antennas like the one pictured here. A radio antenna is an example of a system with position controls. © Peter Menzel. Control Systems Engineering, Fourth Edition by Norman S. Nise Copyright © 2004 by John Wiley & Sons. All rights reserved.

Figure 1.9 Antenna azimuth position control system: a. system concept; b. detailed layout; c. schematic; d. functional block diagram Control Systems Engineering, Fourth Edition by Norman S. Nise Copyright © 2004 by John Wiley & Sons. All rights reserved.

Control Systems Engineering, Fourth Edition by Norman S. Nise Copyright © 2004 by John Wiley & Sons. All rights reserved.

Figure 1.12 Equivalent block diagram for the antenna azimuth position control system Control Systems Engineering, Fourth Edition by Norman S. Nise Copyright © 2004 by John Wiley & Sons. All rights reserved.

暫態反應 控制系統設計的標的 衛星天線性能 Figure 1.10 Response of a position control system showing effect of high and low controller gain on the output response Control Systems Engineering, Fourth Edition by Norman S. Nise Copyright © 2004 by John Wiley & Sons. All rights reserved.

學習成果 Learning Outcomes 學習控制系統的: 定義 and 案例說明 (1.1) 發展沿革 (1.2) 分類 and 組成結構 (1.3) 分析 and 設計目標 (1.4) 設計步驟 (1.5-1.6) Control Systems Engineering, Fourth Edition by Norman S. Nise Copyright © 2004 by John Wiley & Sons. All rights reserved.

Figure 1.11 The control system design process Control Systems Engineering, Fourth Edition by Norman S. Nise Copyright © 2004 by John Wiley & Sons. All rights reserved.

以牛頓第二定律為例: F(t) = M a(t) Taking Laplace: F(t) = M a(t) → F(s) = M a(s) Output/input = M; a/F = M ; F(s) = M a(s) Control Systems Engineering, Fourth Edition by Norman S. Nise Copyright © 2004 by John Wiley & Sons. All rights reserved.

Figure 2.15 a. Mass, spring, and damper system; b. block diagram Control Systems Engineering, Fourth Edition by Norman S. Nise Copyright © 2004 by John Wiley & Sons. All rights reserved.

Table 1.1 Test waveforms used in control systems Control Systems Engineering, Fourth Edition by Norman S. Nise Copyright © 2004 by John Wiley & Sons. All rights reserved.

Figure P1.1 Potentiometer Control Systems Engineering, Fourth Edition by Norman S. Nise Copyright © 2004 by John Wiley & Sons. All rights reserved.

Figure P1.2 Aircraft attitude defined Control Systems Engineering, Fourth Edition by Norman S. Nise Copyright © 2004 by John Wiley & Sons. All rights reserved.

Figure P1.3 Winder © J. Ayers, 1988. Control Systems Engineering, Fourth Edition by Norman S. Nise Copyright © 2004 by John Wiley & Sons. All rights reserved.

Figure P1.4 Control of a nuclear reactor Control Systems Engineering, Fourth Edition by Norman S. Nise Copyright © 2004 by John Wiley & Sons. All rights reserved.

Figure P1.5 Grinder system © 1997, ASME. Control Systems Engineering, Fourth Edition by Norman S. Nise Copyright © 2004 by John Wiley & Sons. All rights reserved.

Figure P1.6 High-speed proportional solenoid valve © 1996, ASME. Control Systems Engineering, Fourth Edition by Norman S. Nise Copyright © 2004 by John Wiley & Sons. All rights reserved.

Figure P1.7 RL network Control Systems Engineering, Fourth Edition by Norman S. Nise Copyright © 2004 by John Wiley & Sons. All rights reserved.

Figure P1.8 RLC network Control Systems Engineering, Fourth Edition by Norman S. Nise Copyright © 2004 by John Wiley & Sons. All rights reserved.

Figure P1.9 High-speed rail system showing pantograph and catenary © 1997, ASME. Control Systems Engineering, Fourth Edition by Norman S. Nise Copyright © 2004 by John Wiley & Sons. All rights reserved.