Apago PDF Enhancer http://www.com LIBROS UNIVERISTARIOS Y SOLUCIONARIOS DE MUCHOS DE ESTOS LIBROS LOS SOLUCIONARIOS CONTIENEN TODOS LOS EJERCICIOS DEL LIBRO RESUELTOS Y EXPLICADOS DE FORMA CLARA VISITANOS PARA DESARGALOS GRATIS. E1IFC 10/27/2010 17:49:19 Page 1 Antenna Azimuth Position Control System Layout Potentiometer Antenna θ i(t) θ o(t) Desired Azimuth azimuth angle angle input output Differential amplifier and power amplifier Motor Apago PDF Enhancer Potentiometer Schematic +V n-turn potentiometer Fixed Differential Power Motor field –V preamplifier amplifier Ra vi(t) + vp(t) ea(t) K1 vo(t) – K s+a Ja kg-m2 N1 Da N-m s/rad Gear Kb V-s/rad Armature Kt N-m/A N2 JL kg-m2 –V Gear DL N-m-s/rad N3 n-turn potentiometer Gear +V E1OFC 10/27/2010 17:51:36 Page 1 Block Diagram Desired Power Motor azimuth Azimuth Potentiometer Preamplifier amplifier and load Gears angle angle qi(s) Vi(s) + Ve(s) Vp(s) K1 Ea(s) K1 qm(s) qo(s) Kpot K Kg s+a s(s+am) – Potentiometer Kpot Schematic Parameters Parameter Configuration 1 Configuration 2 Configuration 3 V 10 10 10 n 10 1 1 K — — — K1 100 150 100 a 100 150 100 Ra 8 5 5 Ja 0.05 Apago PDF Enhancer 0.5 1 1 N1 25 50 50 N2 250 250 250 N3 250 250 250 JL 1 5 5 DL 1 3 3 Block Diagram Parameters Parameter Configuration 1 Configuration 2 Configuration 3 Kpot 0.1 Note: reader may fill in Configuration 2 and Configuration 3 columns after completing the antenna control Case Study challenge problems in Chapters 2 and 10, respectively. E1IBC 10/27/2010 18:4:22 Page 1 Unmanned Free-Swimming Submersible Vehicle Pitch Control System Commanded Pitch elevator Elevator Elevator Vehicle command Pitch gain deflection actuator deflection dynamics Pitch θc(s) + + δec(s) 2 δe(s) –0.0169) – – Pitch rate sensor –K2s Apago PDF Enhancer Heading Control System Commanded Heading Heading Heading rudder Rudder Rudder Vehicle (yaw) command gain deflection actuator deflection dynamics rate Heading ψc(s) + + δrc(s) 2 δr(s) –0.193) s – – Yaw rate sensor –K2s E1FFIRS 11/04/2010 13:38:31 Page 3 CONTROL SYSTEMS ENGINEERING Sixth Edition Norman S. Nise California State Polytechnic University, Pomona Apago PDF Enhancer John Wiley & Sons, Inc. E1FFIRS 11/04/2010 13:38:32 Page 4 To my wife, Ellen; sons, Benjamin and Alan; and daughter, Sharon, and their families. 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Requests to the Publisher for permission should be addressed to the Permissions Department, John Wiley & Sons, Inc., 111 River Street, Hoboken, NJ 07030-5774, (201) 748-6011, fax (201) 748-6008. Evaluation copies are provided to qualified academics and professionals for review purposes only, for use in their courses during the next academic year. These copies are licensed and may not be sold or transferred to a third party. Upon completion of the review period, please return the evaluation copy to Wiley. Return instructions and a free of charge return shipping label are available at www.com/go/returnlabel. Outside of the United States, please contact your local representative. ISBN 13 978-0470-54756-4 ISBN 13 978-0470-91769-5 Printed in the United States of America. 10 9 8 7 6 5 4 3 2 1 E1FTOC 10/27/2010 16:47:4 Page 5 Contents PREFACE, ix Problems, 98 Cyber Exploration Laboratory, 112 1.2 A History of Control Systems, 4 3. MODELING IN THE TIME 1.3 System Configurations, 7 DOMAIN, 117 1.4 Analysis and Design Objectives, 10 3.1 Introduction, 118 Case Study, 12 3.5 The Design Process, 15 3.3 The General State-Space 1.6 Computer-Aided Design, 20 Representation, 123 1.7 The Control Systems Engineer, 21 3.4 Applying the State-Space Summary, 23 Representation, 124 Review Questions, 23 3.5 Converting a Transfer Function Problems, 24 to State Space, 132 Cyber Exploration Laboratory, 30 3.6 Converting from State Space to a Bibliography, 31 Apago PDF Enhancer Transfer Function, 139 2. MODELING IN THE FREQUENCY 3.7 Linearization, 141 DOMAIN, 33 Case Studies, 144 Summary, 148 2.1 Introduction, 34 Review Questions, 149 2.2 Laplace Transform Review, 35 Problems, 149 2.3 The Transfer Function, 44 Cyber Exploration Laboratory, 157 2.4 Electrical Network Transfer Functions, 47 Bibliography, 159 2.5 Translational Mechanical System Transfer Functions, 61 2.6 Rotational Mechanical System 4. TIME RESPONSE, 161 Transfer Functions, 69 4.7 Transfer Functions for Systems 4.2 Poles, Zeros, and System Response, 162 with Gears, 74 4.3 First-Order Systems, 166 2.4 Second-Order Systems: Introduction, 168 Transfer Functions, 79 4.5 The General Second-Order System, 173 2.9 Electric Circuit Analogs, 84 4.6 Underdamped Second-Order Systems, 177 2.7 System Response with 2.11 Linearization, 89 Additional Poles, 186 Case Studies, 94 4.8 System Response With Zeros, 191 Summary, 97 4.9 Effects of Nonlinearities Upon Review Questions, 97 Time Response, 196 v E1FTOC 10/27/2010 16:47:4 Page 6 vi Contents 4.10 Laplace Transform Solution Cyber Exploration Laboratory, 335 of State Equations, 199 Bibliography, 336 4.11 Time Domain Solution of State Equations, 203 7. STEADY-STATE ERRORS, 339 Case Studies, 207 Summary, 213 7.1 Introduction, 340 Review Questions, 214 7.2 Steady-State Error for Unity Problems, 215 Feedback Systems, 343 Cyber Exploration Laboratory, 228 7.3 Static Error Constants Bibliography, 232 and System Type, 349 7.4 Steady-State Error Specifications, 353 5.5 Steady-State Error for Disturbances, 356 MULTIPLE SUBSYSTEMS, 235 7.6 Steady-State Error for Nonunity Feedback Systems, 358 5.8 Steady-State Error for Systems in 5.3 Analysis and Design of State Space, 364 Feedback Systems, 245 Case Studies, 368 5.4 Signal-Flow Graphs, 248 Summary, 371 5.5 Mason’s Rule, 251 Review Questions, 372 5.6 Signal-Flow Graphs of Problems, 373 State Equations, 254 Cyber Exploration Laboratory, 384 5.7 Alternative Representations in State Space, 256 Apago PDF Enhancer Bibliography, 386 5.8 Similarity Transformations, 266 Case Studies, 272 8. ROOT LOCUS TECHNIQUES, 387 Summary, 278 8.1 Introduction, 388 Review Questions, 279 8.2 Defining the Root Locus, 392 Problems, 280 8.3 Properties of the Root Locus, 394 Cyber Exploration Laboratory, 297 8.4 Sketching the Root Locus, 397 Bibliography, 299 8.5 Refining the Sketch, 402 8.7 Transient Response Design 6.1 Introduction, 302 via Gain Adjustment, 415 6.2 Routh-Hurwitz Criterion, 305 8.8 Generalized Root Locus, 419 6.3 Routh-Hurwitz Criterion: 8.9 Root Locus for Positive-Feedback Special Cases, 308 Systems, 421 6.4 Routh-Hurwitz Criterion: 8.10 Pole Sensitivity, 424 Additional Examples, 314 Case Studies, 426 6.5 Stability in State Space, 320 Summary, 431 Case Studies, 323 Review Questions, 432 Summary, 325 Problems, 432 Review Questions, 325 Cyber Exploration Laboratory, 450 Problems, 326 Bibliography, 452 E1FTOC 10/27/2010 16:47:4 Page 7 Contents vii 9. DESIGN VIA ROOT LOCUS, 455 Review Questions, 609 Problems, 610 9.1 Introduction, 456 Cyber Exploration Laboratory, 621 9.2 Improving Steady-State Error via Bibliography, 623 Cascade Compensation, 459 9.3 Improving Transient Response via Cascade Compensation, 469 11. DESIGN VIA FREQUENCY 9.4 Improving Steady-State Error and RESPONSE, 625 Transient Response, 482 11.2 Transient Response via 9.6 Physical Realization of Compensation, 503 Gain Adjustment, 627 Case Studies, 508 11.3 Lag Compensation, 630 Summary, 513 11.4 Lead Compensation, 635 Review Questions, 514 11.5 Lag-Lead Compensation, 641 Problems, 515 Case Studies, 650 Cyber Exploration Laboratory, 530 Summary, 652 Bibliography, 531 Review Questions, 653 Problems, 653 10. FREQUENCY RESPONSE Cyber Exploration Laboratory, 660 TECHNIQUES, 533 Bibliography, 661 10. DESIGN VIA STATE SPACE, 663 Bode Plots, 540 Apago PDF Enhancer 10.3 Introduction to the Nyquist Criterion, 559 12.4 Sketching the Nyquist Diagram, 564 12.5 Stability via the Nyquist Diagram, 569 12.6 Gain Margin and Phase Margin 12.4 Alternative Approaches to via the Nyquist Diagram, 574 Controller Design, 676 10.7 Stability, Gain Margin, and Phase Margin 12.5 Observer Design, 682 via Bode Plots, 576 12.8 Relation Between Closed-Loop Transient 12.7 Alternative Approaches to and Closed-Loop Frequency Observer Design, 693 Responses, 580 12.8 Steady-State Error Design Via 10.9 Relation Between Closed- and Open-Loop Integral Control, 700 Frequency Responses, 583 Case Study, 704 10.10 Relation Between Closed-Loop Transient Summary, 709 and Open-Loop Frequency Responses, 589 Review Questions, 710 10.11 Steady-State Error Characteristics Problems, 711 from Frequency Response, 593 Cyber Exploration Laboratory, 719 10.12 Systems with Time Delay, 597 Bibliography, 721 10.13 Obtaining Transfer Functions 13. DIGITAL CONTROL SYSTEMS, 723 Experimentally, 602 Case Study, 606 13.2 Modeling the Digital Computer, 727 E1FTOC 10/27/2010 16:47:5 Page 8 viii Contents 13.3 The z-Transform, 730 Summary, 885 13.4 Transfer Functions, 735 Bibliography, 886 13.5 Block Diagram Reduction, 739 13.7 Steady-State Errors, 749 Answers to Selected Problems, 897 13.8 Transient Response on the z-Plane, 753 13.9 Gain Design on the z-Plane, 755 Credits, 903 13.10 Cascade Compensation via Index, 907 the s-Plane, 758 13.11 Implementing the Digital Appendix E MATLAB’s GUI Tools Tutorial Compensator, 762 (Online) Case Studies, 765 Summary, 769 Appendix F MATLAB’s Symbolic Review Questions, 770 Math Toolbox Tutorial (Online) Problems, 771 Appendix G Matrices, Determinants, Cyber Exploration Laboratory, 778 and Systems of Equations Bibliography, 780 (Online) Appendix A List of Symbols, 783 Appendix H Control System Computational Aids (Online) Appendix B MATLAB Tutorial, 787 Appendix I Derivation of a Schematic for a B.1 Introduction, 787 DC Motor (Online) B.2 MATLAB Examples, 788 Apago PDF Enhancer Appendix J Derivation of the Time Domain B.3 Command Summary, 833 Solution of State Equations Bibliography, 835 (Online) Appendix C MATLAB’s Simulink Appendix K Solution of State Equations for Tutorial, 836 t0 6¼ 0 (Online) C.1 Introduction, 836 Appendix L Derivation of Similarity C.2 Using Simulink, 836 Transformations (Online) C.3 Examples, 841 Appendix M Root Locus Rules: Derivations Summary, 855 (Online) Bibliography, 856 Control Systems Engineering Toolbox Appendix D LabVIEW Tutorial, 857 (Online) D.1 Introduction, 857 Cyber Exploration Laboratory Experiments D.2 Control Systems Analysis, Design, Covers Sheets (Online) and Simulation, 858 D.3 Using LabVIEW, 859 Lecture Graphics (Online) D.4 Analysis and Design Examples, 862 Solutions to Skill-Assessment Exercises D.5 Simulation Examples, 876 (Online) Online location is www.
