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1、Fundamentals of Mechanical Control Theory机械控制理论基础（Bilingual Course 双语教学）吴吉平School of Mechanical Engineering机械工程学院Teaching Material: Linear Control System Analysis and Design Fourth Edition教材：线性控制系统分析与设计 第4版References 参考书目1. 杨叔子，机械工程控制基础，第四版，武汉，华中理工大学出版社 2. 绪方盛彦, 现代控制工程, 科学出版社，1978 3. 李友善, 自动控制原理(上册)
2、 , 国防工业出版社 4. 张伯鹏, 控制工程基础, 机械工业出版社 5. 阳含和, 机械控制工程(上册) , 机械工业出版社 6. 姚伯威, 控制工程基础, 电子科技大学出版社 7. 薛定宇, 控制系统计算机辅助设计MATLAB语言及应用, 清华大学出版社 Learning requirement 学习要求1. All exercises and experiment reports must be done in English, and all questions must be answered in English. 所有的作业和实验报告必须用英文完成，所有的问题必须用英文回答。2.
3、 must be present (must not be absent) 上课不能缺席3. taking notes：Dont merely copy the blackboard, trying to write down what you consider is important. 作笔记：不能仅仅抄黑板，而是要记下你认为重要的东西。4. preview 预习5. review 复习6. do exercises and experiments independently 独立完成作业和实验7. summarizing, concluding 总结，概括8. Dont read the
4、 book word by word, the emphases should be put on the understanding the concepts, terminologies as well as their logic relations. 不要一个单词一个单词地读书，应该将重点放在概念、术语以及它们之间的逻辑关系的理解上9. Daring to put forward questions. 勇于提出问题10. If you have any question, please contact me. 如果你有什么问题，请联系我Final examination result
5、考试成绩评定1. Daily behaves: 30%. Including: present, exercises, experiments.平时成绩占30%，包括：到课率，作业，实验2. Final examination: 70%. 考试成绩占70%Well, we will get to business（言归正传）, well begin the first chapter.CHAPTER 1 INTRODUCTION 第一章 绪论1.1 INTRODUCTION 引言1.2 INTRODUCTION TO CONTROL SYSTEMS 控制系统引言1.3 DEFINITIONS
6、定义1.4 HISTORICAL BACKGROUND 历史背景1.5 DIGITAL CONTROL DEVELOPMENT 数字控制的发展1.6 MATHEMATICAL BACKGROUND 数学背景（基础）1.7 GENERAL NATURE OF THE ENGINEERING CONTROL PROBLEM 工程控制问题的一般特点1.8 COMPUTER LITERACY 计算机文化1.9 OUTLINE OF TEXT 全文概括1.1 Introduction 引言With the rapidly development of the modern science and tec
7、hnologies, man created many miracles. One of them is the invention of automatic control equipments. Today, we cant live on without the help of these auto-machines. 随着现代科技的迅速发展，人类创造了很多奇迹。其中之一就是自动控制设备。今天，如果没有这些自动机器的帮助，我们几乎无法生存。Automatic control systems permeate (渗透) life in all advanced societies toda
8、y.现在，自动控制系统技术已经渗透到所有的高级社会生活。produce goods required by an increasing world population制造满足日益增长的人口需求的商品travel to the moon and explore outer space到月球旅行和探索外层空间space vehicles, the space shuttle, space stations飞船、航天飞机、空间站 reconfigurable flight control systems 重组的飞行控制系统1.2 Introduction to control systems 控制
9、系统引言There are many equipments with control systems in our daily lives, such as: 我们的日常生活中有很多带控制系统的设备，例如： Refrigerators冰箱Robots机器人air-conditioner空调auto-washers 全自动洗衣机elevators电梯pilotless aircraft无人驾驶飞机men 人类Example: toaster 例子：烤箱期望的面包黑度设定input: timer 输入：时间output: degree of darkness and crispness 输出：面包
10、的黑度和松脆程度The output quantity has no influence on the input quantity. There is no feedback in this system. 输出量对输入量没有影响，系统中不存在反馈。马达速度电枢电压磁场电流激磁电压源电枢电压源电压选择器直流马达Example: DC shunt motor 例子：直流并励马达input: armature voltage 输入：电枢电压output: speed of the shaft 输出：轴的转速DC: Direct Current 直流AC: Alternating Current
11、交流open-loop control systems: Systems in which the output quantity has no effect upon the input quantity开环控制系统：输出量不影响输入量的系统functional block diagram: 功能框图输出输入参考动态单元参考选择器输入指令command input: desired darkness of the toast or the desired speed of the motor 指令输入：（面包的）期望黑度或者电动机的期望转速reference-selector block:
12、selection of the value of time on the toaster timer or the value of voltage applied to the motor armature 参考选择器框：烤箱上定时器的时间值或电枢两端外加电压值的选择reference input: output of the reference-selector block 参考输入：参考选择器框的输出dynamic unit: the unit which the reference input is applied to 动态单元：参考输入应用的单元desired output: o
13、utput of the dynamic unit 期望输出：动态单元的输出closed-loop control systems: Systems in which the output has a direct effect upon the input quantity闭环控制系统：输出影响到输入的系统。functional block diagram of a single-input single-output (SISO):单输入单输出系统的功能框图：指令输入参考选择器参考输入激励信号前向元件反馈信号反馈元件系统动态部分输出characteristic: the output is
14、 fed back and is compared with the input 特性：输出是反馈并与输入比较comparison unit: performs comparison between the reference input and the feedback signal and results in an actuating signal 比较单元：执行参考输入与反馈信号之间的比较，并产生一个激励信号Example: home heating control system 家用取暖控制系统期望室内温度设定热空气排出口实际室内温度继电器恒温器炉子A bimetallic coil
15、 in the thermostat is affected by both the actual room temperature (output) and the reference-selector setting. 恒温器中的双金属片既受到实际室温（输出），又受到参考选择器设定的室温双重影响。Another example: Refer to Ch. material P1-14 其它的例子：见材料1141.3 Definitions 定义From the preceding discussion the following definitions are evolved, based in part on the standards of the IEEE, and are used in this text. 根据前面的讨论，引伸出了下列使用在本文中的
