Control system design guide: a practical guide
Gespeichert in:
| 1. Verfasser: | |
|---|---|
| Format: | Buch |
| Sprache: | English |
| Veröffentlicht: |
Amsterdam [u.a.]
Elsevier Acad. Press
2004
|
| Ausgabe: | 3. ed. |
| Schlagworte: | |
| Online-Zugang: | Publisher description Table of contents Inhaltsverzeichnis |
| Beschreibung: | Includes bibliographical references and index |
| Beschreibung: | XXIV, 464 S. Ill., graph. Darst. |
| ISBN: | 0122374614 |
Internformat
MARC
| LEADER | 00000nam a2200000zc 4500 | ||
|---|---|---|---|
| 001 | BV019311069 | ||
| 003 | DE-604 | ||
| 005 | 20081114 | ||
| 007 | t | ||
| 008 | 040602s2004 ne ad|| |||| 00||| eng d | ||
| 020 | |a 0122374614 |9 0-12-237461-4 | ||
| 035 | |a (OCoLC)249456556 | ||
| 035 | |a (DE-599)BVBBV019311069 | ||
| 040 | |a DE-604 |b ger |e aacr | ||
| 041 | 0 | |a eng | |
| 044 | |a ne |c NL | ||
| 049 | |a DE-91G | ||
| 050 | 0 | |a TJ213 | |
| 082 | 0 | |a 629.83 | |
| 084 | |a ZQ 5200 |0 (DE-625)158117: |2 rvk | ||
| 084 | |a MSR 608f |2 stub | ||
| 100 | 1 | |a Ellis, George H. |e Verfasser |4 aut | |
| 245 | 1 | 0 | |a Control system design guide |b a practical guide |c George Ellis |
| 250 | |a 3. ed. | ||
| 264 | 1 | |a Amsterdam [u.a.] |b Elsevier Acad. Press |c 2004 | |
| 300 | |a XXIV, 464 S. |b Ill., graph. Darst. | ||
| 336 | |b txt |2 rdacontent | ||
| 337 | |b n |2 rdamedia | ||
| 338 | |b nc |2 rdacarrier | ||
| 500 | |a Includes bibliographical references and index | ||
| 650 | 4 | |a Entwurf - Regelungssystem | |
| 650 | 0 | 7 | |a Regelungssystem |0 (DE-588)4134712-2 |2 gnd |9 rswk-swf |
| 650 | 0 | 7 | |a Regelungstechnik |0 (DE-588)4076594-5 |2 gnd |9 rswk-swf |
| 650 | 0 | 7 | |a Entwurf |0 (DE-588)4121208-3 |2 gnd |9 rswk-swf |
| 689 | 0 | 0 | |a Regelungssystem |0 (DE-588)4134712-2 |D s |
| 689 | 0 | 1 | |a Entwurf |0 (DE-588)4121208-3 |D s |
| 689 | 0 | |5 DE-604 | |
| 689 | 1 | 0 | |a Regelungstechnik |0 (DE-588)4076594-5 |D s |
| 689 | 1 | |8 1\p |5 DE-604 | |
| 856 | 4 | |u http://www.loc.gov/catdir/description/els041/2003023742.html |3 Publisher description | |
| 856 | 4 | |u http://www.loc.gov/catdir/toc/ecip0410/2003023742.html |3 Table of contents | |
| 856 | 4 | 2 | |m GBV Datenaustausch |q application/pdf |u http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=012778868&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |3 Inhaltsverzeichnis |
| 999 | |a oai:aleph.bib-bvb.de:BVB01-012778868 | ||
| 883 | 1 | |8 1\p |a cgwrk |d 20201028 |q DE-101 |u https://d-nb.info/provenance/plan#cgwrk | |
Datensatz im Suchindex
| _version_ | 1804132723971850240 |
|---|---|
| adam_text | CONTROL SYSTEM DESIGN GUIDE A PRACTICAL GUIDE THIRD EDITION GEORGE ELLIS
DANAHER CORPORATION PRESS AMSTERDAM BOSTON HEIDELBERG LONDON NEW YORK
OXFORD PARIS SAN DIEGO SAN FRANCISCO SINGAPORE SYDNEY TOKYO CONTENTS
PREFACE XXI SECTION I APPLIED PRINCIPLES OF CONTROLS 1 IMPORTANT SAFETY
GUIDELINES FOR READERS 3 CHAPTER 1 CHAPTER 2 INTR 1.1 1.2 1.3 THE 2.1
2.2 2.3 ODUCTION TO CONTROLS VISUAL MODELQ SIMULATION ENVIRONMENT 1.1.1
INSTALLATION OF VISUAL MODELQ 1.1.2 ERRATA THE CONTROL SYSTEM 1.2.1 THE
CONTROLLER 1.2.2 THE MACHINE THE CONTROLS ENGINEER FREQUENCY DOMAIN THE
LAPLACE TRANSFORM TRANSFER FUNCTIONS 2.2.1 WHATLSS? 2.2.1.1 DCGAIN 2.2.2
LINEARITY, TIME INVARIANCE, AND TRANSFER FUNCTIONS EXAMPLES OF TRANSFER
FUNCTIONS 2.3.1 TRANSFER FUNCTIONS OF CONTROLLER ELEMENTS 2.3.1.1
INTEGRATION AND DIFFERENTIATION 2.3.1.2 FILTERS 2.3.1.3 COMPENSATOR S
2.3.1.4 DELAYS 5 6 6 6 7 7 8 8 11 11 12 12 13 13 14 15 15 15 15 15 VIII
* CONTENTS 2.3.2 TRANSFER FUNCTIONS OF POWER CONVERSION 16 2.3.3
TRANSFER FUNCTIONS OF PHYSICAL ELEMENTS 16 2.3.4 TRANSFER FUNCTIONS OF
FEEDBACK 18 2.4 BLOCK DIAGRAMS 18 2.4.1 COMBINING BLOCKS 18 2.4.1.1
SIMPLIFYING A FEEDBACK LOOP 19 2.4.2 MASON S SIGNAL FLOW GRAPHS 20
2.4.2.1 STEP-BY-STEP PROCEDURE 20 2.5 PHASE AND GAIN 22 2.5.1 PHASE AND
GAIN FROM TRANSFER FUNCTIONS 23 2.5.2 BODE PLOTS: PHASE AND GAIN VERSUS
FREQUENCY 24 2.6 MEASURING PERFORMANCE 25 2.6.1 COMMAND RESPONSE 25
2.6.2 STABILITY 27 2.6.3 TIME DOMAIN VERSUS FREQUENCY DOMAIN 28 2.7
QUESTIONS 29 CHAPTER 3 TUNING A CONTROL SYSTEM 31 3.1 CLOSING LOOPS 31
3.1.1 THE SOURCE OF INSTABILITY 32 3.2 A DETAILED REVIEW OF THE MODEL 34
3.2.1 INTEGRATOR 34 3.2.2 POWER CONVERTER 36 3.2.3 PI CONTROL LAW 37
3.2.4 FEEDBACK FILTER 38 3.3 THE OPEN-LOOP METHOD 39 3.4 MARGINS OF
STABILITY 40 3.4.1 QUANTIFYING GM AND PM 40 3.4.2 EXPERIMENT 3A:
UNDERSTANDING THE OPEN-LOOP METHOD 41 3.4.3 OPEN LOOP, CLOSED LOOP, AND
THE STEP RESPONSE 43 3.5 A ZONE-BASED TUNING PROCEDURE 45 3.5.1 ZONE
ONE: PROPORTIONAL 46 3.5.2 ZONE TWO: INTEGRAL 47 3.6 VARIATION IN PLANT
GAIN 48 3.6.1 ACCOMMODATING CHANGING GAIN 50 3.7 MULTIPLE (CASCADED)
LOOPS 50 3.8 SATURATION AND SYNCHRONIZATION 51 3.8.1 AVOID SATURATION
WHEN TUNING 54 3.9 QUESTIONS 54 CHAPTER 4 DELAY IN DIGITAL CONTROLLERS
4.1 HOW SAMPLING WORKS 57 57 CONTENTS ** IX 4.2 SOURCES OF DELAY IN
DIGITAL SYSTEMS 58 4.2.1 SAMPLE-AND-HOLD DELAY 58 4.2.2 CALCULATION
DELAY 60 4.2.3 VELOCITY ESTIMATION DELAY 60 4.2.4 THE SUM OF THE DELAYS
61 4.3 EXPERIMENT 4A: UNDERSTANDING DELAY IN DIGITAL CONTROL 61 4.3.1
TUNING THE CONTROLLER 62 4.4 SELECTING THE SAMPLE TIME 64 4.4.1
AGGRESSIVE ASSUMPTIONS FOR GENERAL SYSTEMS 65 4.4.2 AGGRESSIVE
ASSUMPTIONS FOR POSITION-BASED MOTION SYSTEMS 65 4.4.3 MODERATE AND
CONSERVATIVE ASSUMPTIONS 66 4.5 QUESTIONS 67 CHAPTER 5 THE Z-DOMAIN 69
5.1 INTRODUCTION TO THE Z-DOMAIN 69 5.1.1 DEFINITION OF Z 69 5.1.2
Z-DOMAIN TRANSFER FUNCTIONS 70 5.1.3 BILINEAR TRANSFORM 71 5.2 Z PHASORS
71 5.3 ALIASING 73 5.4 EXPERIMENT 5A: ALIASING 74 5.4.1 BODE PLOTS AND
BLOCK DIAGRAMS IN Z 76 5.4.2 DCGAIN 76 5.5 FROM TRANSFER FUNCTION TO
ALGORITHM 76 5.6 FUNCTIONS FOR DIGITAL SYSTEMS 78 5.6.1 DIGITAL
INTEGRALS AND DERIVATIVES 78 5.6.1.1 SIMPLE INTEGRATION 78 5.6.1.2
ALTERNATIVE METHODS OF INTEGRATION 80 5.6.2 DIGITAL DERIVATIVES 81
5.6.2.1 INVERSE TRAPEZOIDAL DIFFERENTIATION 82 5.6.2.2 EXPERIMENT 5B:
INVERSE TRAPEZOIDAL DIFFERENTIATION 84 5.6.3 SAMPLE-AND-HOLD 85 5.6.4
DAC/ADC: CONVERTING TO AND FROM ANALOG 86 5.7 REDUCING THE CALCULATION
DELAY 87 5.8 SELECTING A PROCESSOR 88 5.8.1 FIXED- AND FLOATING-POINT
MATH 88 5.8.2 OVERRUNNING THE SAMPLE TIME 89 5.8.3 OTHER ALGORITHMS 90
5.8.4 EASE OF PROGRAMMING 90 5.8.5 THE PROCESSOR S FUTURE 90 5.8.6
MAKING THE SELECTION 90 X * CONTENTS 5.9 QUANTIZATION 91 5.9.1 LIMIT
CYCLES AND DITHER 91 5.9.2 OFFSET AND LIMIT CYCLES 93 5.10 QUESTIONS 94
CHAPTER 6 SIX TYPES OF CONTROLLERS 97 6.1 TUNING IN THIS CHAPTER 98 6.2
USING THE PROPORTIONAL GAIN 98 6.2.1 PCONTROL 99 6.2.1.1 HOW TO TUNE A
PROPORTIONAL CONTROLLER 100 6.3 USING THE INTEGRAL GAIN 102 6.3.1 PI
CONTROL 103 6.3.1.1 HOW TO TUNE A PI CONTROLLER 103 6.3.1.2 ANALOG PI
CONTROL 104 6.3.2 PI+CONTROL 107 6.3.2.1 COMPARING PI+AND PDFF 108
6.3.2.2 HOW TO TUNE A PI+ CONTROLLER 108 6.4 USING THE DIFFERENTIAL GAIN
111 6.4.1 PID CONTROL 112 6.4.1.1 HOW TO TUNE A PID CONTROLLER 112
6.4.1.2 NOISE AND THE DIFFERENTIAL GAIN 115 6.4.1.3 THE ZIEGLER-NICHOLS
METHOD 115 6.4.1.4 POPULAER TERMINOLOGY FOR PID CONTROL 117 6.4.1.5
ANALOG ALTERNATIVE TO PID: LEAD-LAG 117 6.5 PID+ CONTROL 118 6.5.1 HOW
TO TUNE A PID+CONTROLLER 119 6.6 PD CONTROL 121 6.6.1 HOW TO TUNE A PD
CONTROLLER 121 6.7 CHOOSING THE CONTROLLER 124 6.8 EXPERIMENTS 6A-6F 124
6.9 QUESTIONS 125 CHAPTER 7 DISTURBANCE RESPONSE 127 7.1 DISTURBANCES
128 7.1.1 DISTURBANCE RESPONSE OF A POWER SUPPLY 130 7.2 DISTURBANCE
RESPONSE OF A VELOCITY CONTROLLER 134 7.2.1 TIME DOMAIN 136 7.2.1.1
PROPORTIONAL CONTROLLER 137 7.2.2 FREQUENCY DOMAIN 137 7.3 DISTURBANCE
DECOUPLING 140 7.3.1 APPLICATIONS FOR DISTURBANCE DECOUPLING 141 7.3.1.1
POWER SUPPLIES 141 7.3.1.2 MULTIZONE TEMPERATURE CONTROLLER 142 CONTENTS
*4 XI 7.4 7.3.1.3 WEBHANDLING 7.3.2 EXPERIMENT 7B: DISTURBANCE
DECOUPLING QUESTIONS 143 145 149 8.3 CHAPTER8 FEED-FORWARD 15 1 8.1
PLANT-BASED FEED-FORWARD 151 8.1.1 EXPERIMENT 8A: PLANT-BASED
FEED-FORWARD 152 8.2 FEED-FORWARD AND THE POWER CONVERTER 154 8.2.1
EXPERIMENT 8B: POWER CONVERTER COMPENSATION 156 8.2.2 INCREASING THE
BANDWIDTH VS. FEED-FORWARD COMPENSATION 159 DELAYING THE COMMAND SIGNAL
160 8.3.1 EXPERIMENT 8C: COMMAND-PATH DELAY 161 8.3.2 EXPERIMENT 8D:
POWER CONVERTER COMPENSATION AND COMMAND PATH DELAY 162 8.3.3 TUNING AND
CLAMPING WITH FEED-FORWARD 164 VARIATION IN PLANT AND POWER CONVERTER
OPERATION 165 8.4.1 VARIATION OF THE PLANT GAIN 166 8.4.2 VARIATION OF
THE POWER CONVERTER OPERATION 167 FEED-FORWARD FOR THE
DOUBLE-INTEGRATING PLANT 167 QUESTIONS 168 8.4 8.5 8.6 CHAPTER 9 FILTERS
IN CONTROL SYSTEMS 9.1 FILTERS IN CONTROL SYSTEMS 9.1.1 9.2 FILTERS IN
THE CONTROLLER 9.1.1.1 USING LOW-PASS FILTERS TO REDUCE NOISE AND
RESONANCE 9.1.1.2 USING LOW-PASS FILTERS TO REDUCE ALIASING 9.1.1.3
USING NOTCH FILTERS FOR NOISE AND RESONANCE 9.1.2 FILTERS IN THE POWER
CONVERTER 9.1.3 FILTERS IN THE FEEDBACK FILTER PASSBAND 9.2.1 LOW-PASS
FILTERS 9.2.1.1 FIRST-ORDER LOW-PASS FILTERS SECOND-ORDER LOW-PASS
FILTERS A SIMPLE MODEL FOR A CLOSED LOOP SYSTEM HIGHER-ORDER LOW-PASS
FILTERS BUTTERWORTH LOW-PASS FILTERS 9.2.1.2 9.2.1.3 9.2.1.4 9.2.1.5
9.2.2 NOTCH 9.2.3 EXPERIMENT 9A: ANALOG FILTERS 9.2.4 BI-QUAD FILTERS
9.3 IMPLEMENTATION OF FILTERS 9.3.1 PASSIVE ANALOG FILTERS 9.3.2 ACTIVE
ANALOG FILTERS 171 171 172 172 173 174 175 175 175 176 176 176 178 178
178 180 182 182 183 184 184 CONTENTS 9.3.3 SWITCHED CAPACITOR FILTERS
184 9.3.4 HR DIGITAL FILTERS 185 9.3.4.1 FIRST-ORDER LOW-PASS HR FILTER
185 9.3.4.2 SECOND-ORDER HR FILTER 186 9.3.4.3 EXPERIMENT 9C: DIGITAL
FILTERS 186 9.3.4.4 HIGHER-ORDER DIGITAL FILTERS 187 9.3.5 FIR DIGITAL
FILTERS 187 9.4 QUESTIONS 188 CHAPTER 10 INTRODUCTION TO OBSERVERS IN
CONTROL SYSTEMS 191 10.1 OVERVIEW OF OBSERVERS 191 10.1.1 OBSERVER
TERMINOLOGY 192 10.1.2 BUILDING THE LUENBERGER OBSERVER 193 10.1.2.1 TWO
WAYS TO AVOID G S (S) ^ 1 194 10.1.2.2 SIMULATING THE PLANT AND SENSOR
IN REAL TIME 195 10.1.2.3 ADDING THE OBSERVER COMPENSATOR 196 10.2
EXPERIMENTS 10A-10C: ENHANCING STABILITY WITH AN OBSERVER 196 10.2.1
EXPERIMENT 10D: ELIMINATION OF PHASE LAG 200 10.3 FILTER FORM OF THE
LUENBERGER OBSERVER 201 10.3.1 LOW-PASS AND HIGH-PASS FILTERING 203
10.3.2 BLOCK DIAGRAM OF THE FILTER FORM 204 10.3.3 COMPARING THE LOOP
AND FILTER FORMS 204 10.4 DESIGNING A LUENBERGER OBSERVER 205 10.4.1
DESIGNING THE SENSOR ESTIMATOR 206 10.4.1.1 SENSOR SCALING GAIN 206
10.4.2 SENSOR FILTERING 207 10.4.3 DESIGNING THE PLANT ESTIMATOR 207
10.4.3.1 PLANT SCALING GAIN (K) 208 10.4.3.2 ORDER OF INTEGRATION 209
10.4.3.3 FILTERING EFFECTS 209 10.4.3.4 EXPERIMENT 10E: DETERMINING THE
GAIN EXPERIMENTALLY 209 10.4.4 DESIGNING THE OBSERVER COMPENSATOR 211
10.5 INTRODUCTION TO TUNING AN OBSERVER COMPENSATOR 211 10.5.1 STEP 1:
TEMPORARILY CONFIGURE THE OBSERVER FOR TUNING 213 10.5.2 STEP 2: ADJUST
THE OBSERVER COMPENSATOR FOR STABILITY 214 10.5.2.1 MODIFYING THE
TUNING PROCESS FOR NONCONFIGURABLE OBSERVERS 214 10.5.2.2 TUNING THE
OBSERVER COMPENSATOR ANALYTICALLY 215 10.5.2.3 FREQUENCY RESPONSE OF
EXPERIMENT 10G 215 CONTENTS *4 XIII 10.5.3 STEP 3: RESTORE THE OBSERVER
TO THE NORMAL LUENBERGER CONFIGURATION 217 10.6 QUESTIONS 217 SECTIONLL
MODELING 219 CHAPTER 11 INTRODUCTION TO MODELING 221 11.1 WHAT IS A
MODEL? 221 11.2 FREQUENCY-DOMAIN MODELING 222 11.2.1 HOW THE FREQUENCY
DOMAIN WORKS 222 11.3 TIME-DOMAIN MODELING 224 11.3.1 STATE VARIABLES
224 11.3.1.1 REDUCING MULTIPLE-ORDER EQUATIONS 224 11.3.1.2 MATRIX
EQUATIONS 225 11.3.1.3 TIME-BASED SIMULATION 226 11.3.2 THE MODELING
ENVIRONMENT 226 11.3.2.1 THE DIFFERENTIAL EQUATION SOLVER 226 11.3.2.2
ADVANCED DIFFERENTIAL EQUATION SOLVERS 228 11.3.2.3 SELECTINGAT 228
11.3.3 THE MODEL 229 11.3.3.1 INITIAL CONDITIONS 229 11.3.3.2 WRITING
THE MODELING EQUATIONS 230 11.3.3.3 MODELING AN RC CIRCUIT 230 11.3.3.4
MODELING A TWO-POLE LOW-PASS FILTER 231 11.3.3.5 MODELING AN ANALOG PI
CONTROLLER 232 11.3.3.6 MODELING A DIGITAL PI CONTROLLER 234 11.3.3.7
ADDING CALCULATION DELAY 236 11.3.3.8 ADDING SATURATION 236 11.3.4
FREQUENCY INFORMATION FROM TIME-DOMAIN MODELS * 237 11.4 QUESTIONS 238
CHAPTER 12 NONLINEAR BEHAVIOR AND TIME VARIATION 239 12.1 LTI VERSUS
NON-LTI 239 12.2 NON-LTI BEHAVIOR 240 12.2.1 SLOW VARIATION 240 12.2.2
FAST VARIATION 241 12.3 DEALING WITH NONLINEAR BEHAVIOR 242 12.3.1
MODIFY THE PLANT 242 12.3.2 TUNING FOR WORST CASE 243 12.3.3 GAIN
SCHEDULING 243 12.4 TEN EXAMPLES OF NONLINEAR BEHAVIOR 245 12.4.1 PLANT
SATURATION 245 XIV * CONTENTS 12.4.2 12.4.3 12.4.4 12.4.5 12.4.6 12.4.7
12.4.8 12.4.9 12.4.10 DEADBAND REVERSAL SHIFT VARIATION OF APPARENT
INERTIA FRICTION 12.4.5.1 COMPENSATING FOR FRICTION QUANTIZATION
DETERMINISTIC FEEDBACK ERROR POWER CONVERTER SATURATION PULSE MODULATION
HYSTERESIS CONTROLLERS QUESTIONS 246 248 249 250 253 254 254 255 258 260
12.5 QUESTIONS 261 CHAPTER 13 SEVEN STEPS TO DEVELOPING A MODEL 263 13.1
DETERMINE THE PURPOSE OF THE MODEL 263 13.1.1 TRAINING 264 13.1.2
TROUBLESHOOTING 264 13.1.3 TESTING 264 13.1.4 PREDICTING 265 13.2 MODEL
IN SI UNITS 265 13.3 IDENTIFY THE SYSTEM 266 13.3.1 IDENTIFYING THE
PLANT 266 13.3.2 IDENTIFYING THE POWER CONVERTER 267 13.3.3 IDENTIFYING
THE FEEDBACK 269 13.3.4 IDENTIFYING THE CONTROLLER 269 13.4 BUILD THE
BLOCK DIAGRAM 269 13.5 SELECT FREQUENCY OR TIME DOMAIN 270 13.6 WRITE
THE MODEL EQUATIONS 270 13.7 VERIFY THE MODEL 270 SECTION III MOTION
CONTROL 273 CHAPTER 14 ENCODERS AND RESOLVERS 275 14.1 ACCURACY,
RESOLUTION, AND RESPONSE 277 14.2 ENCODERS 277 14.3 RESOLVERS 278 14.3.1
CONVERTING RESOLVER SIGNALS 278 14.3.2 SOFTWARE RESOLVER-TO-DIGITAL
CONVERTERS 281 14.3.3 RESOLVER ERROR AND MULTISPEED RESOLVERS 282 14.4
POSITION RESOLUTION, VELOCITY ESTIMATION, AND NOISE 283 14.4.1
EXPERIMENT 14A: RESOLUTION NOISE 284 14.4.2 HIGHER GAIN GENERATES MORE
NOISE 285 14.4.3 FILTERING THE NOISE 286 CONTENTS ** XV 14.5
ALTERNATIVES FOR INCREASING RESOLUTION 287 14.5.1 THE IT INTERPOLATION,
OR CLOCK PULSE COUNTING METHOD 287 14.5.2 SINE ENCODERS 288 14.6 CYCLIC
ERROR AND TORQUE/VELOCITY RIPPLE 289 14.6.1 VELOCITY RIPPLE 292 14.6.2
TORQUE RIPPLE 292 14.7 EXPERIMENT 14B: CYCLICAL ERRORS AND TORQUE RIPPLE
294 14.7.1 RELATIONSHIP BETWEEN ERROR MAGNITUDE AND RIPPLE 295 14.7.2
RELATIONSHIP BETWEEN VELOCITY AND RIPPLE 295 14.7.3 RELATIONSHIP BETWEEN
BANDWIDTH AND RIPPLE 296 14.7.4 RELATIONSHIP BETWEEN INERTIA AND RIPPLE
296 14.7.5 EFFECT OF CHANGING THE ERROR HARMONIE 296 14.7.6 EFFECT OF
RAISING RESOLVER SPEED 296 14.7.7 RELATIONSHIP BETWEEN RIPPLE IN THE
ACTUAL AND FEEDBACK VELOCITIES 297 14.8 CHOOSING A FEEDBACK DEVICE 298
14.8.1 SUPPLIERS 299 14.9 QUESTIONS 300 15.2 15.3 15.4 15.5 CHAPTER 15
BASICS OF THE ELECTRIC SERVOMOTOR AND DRIVE 15.1 DEFINITION OF A DRIVE
DEFINITION OF A SERVO SYSTEM BASIC MAGNETICS 15.3.1 ELECTR OMAGNETISM
15.3.2 THE RIGHT-HAND RULE 15.3.3 COMPLETING THE MAGNETIC PATH ELECTRIC
SERVOMOTORS 15.4.1 TORQUE RATINGS 15.4.2 ROTARY AND LINEAR MOTION 15.4.3
LINEAR MOTORS PERMANENT-MAGNET (PM) BRUSH MOTORS 15.5.1 CREATING THE
WINDING FLUX COMMUTATION TORQUE PRODUCTION ELECTRICAL ANGLE VERSUS
MECHANICAL ANGLE K T , THE MOTOR TORQUE CONSTANT MOTOR ELECTRICAL MODEL
CONTROL OF PM BRUSH MOTORS 15.5.7.1 CURRENT CONTROLLER 15.5.7.2 VOLTAGE
MODULATION BRUSH MOTOR STRENGTHS AND WEAKNESSES BRUSHLESS PM MOTORS
15.6.1 WINDINGS OF BRUSHLESS PM MOTORS 15.5.2 15.5.3 15.5.4 15.5.5
15.5.6 15.5.7 15.5.8 15.6 303 304 305 305 307 308 308 310 310 311 312
313 314 314 315 315 316 317 318 319 320 321 322 323 XVI * CONTENTS
15.6.2 SINUSOIDAL COMMUTATION 324 15.6.3 PHASE CONTROL OF BRUSHLESS PM
MOTORS 324 15.6.3.1 MODULATION 326 15.6.3.2 ANGLE ADVANCE 326 15.6.3.3
ANGLE ADVANCE FOR CURRENT-LOOP PHASE LAG 327 15.6.3.4 FIELD WEAKENING
327 15.6.3.5 RELUCTANCE TORQUE 328 15.6.4 DQ CONTROL OF BRUSHLESS PM
MOTORS 330 15.6.4.1 MODULATION IN DQ CONTROL 333 15.6.4.2 FIELD
WEAKENING DQ CONTROL 333 15.6.5 MAGNETIC EQUATIONS FOR DQ 333 15.6.6
COMPARING DQ AND PHASE CONTROL 334 15.7 SIX-STEP CONTROL OF BRUSHLESS PM
MOTOR 335 15.7.1 SENSING POSITION FOR COMMUTATION 336 15.7.2 COMPARISON
OF BRUSH AND BRUSHLESS MOTORS 337 15.8 INDUCTION AND RELUCTANCE MOTORS
337 15.9 QUESTIONS 339 CHAPTER 16 COMPLIANCE AND RESONANCE 341 16.1
EQUATIONS OF RESONANCE 343 16.1.1 RESONANCE WITH LOAD FEEDBACK 344 16.2
TUNED RESONANCE VS. INERTIAL-REDUCTION INSTABILITY 345 16.2.1 TUNED
RESONANCE 345 16.2.2 INERTIAL-REDUCTION INSTABILITY 348 16.2.3
EXPERIMENTS 16A AND 16B 350 16.3 CURING RESONANCE 350 16.3.1 INCREASE
MOTOR INERTIA/LOAD INERTIA RATIO 352 16.3.2 STIFFEN THE TRANSMISSION 354
16.3.3 INCREASE DAMPING 357 16.3.4 FILTERS 358 16.3.4.1 FIRST-ORDER
FILTERS 358 16.3.4.2 SECOND-ORDER FILTERS 360 16.4 QUESTIONS 360 CHAPTER
17 POSITION-CONTROL LOOPS 363 17.1 P/PI POSITION CONTROL 363 17.1.1 P/PI
TRANSFER FUNCTION 365 17.1.2 TUNING THE P/PI LOOP 366 17.1.2.1 TUNING
THE PI VELOCITY LOOP 366 17.1.2.2 TUNING THE P POSITION LOOP 367 17.1.3
FEED-FORWARD IN P/PI LOOPS 368 17.1.4 TUNING P/PI LOOPS WITH VELOCITY
FEED-FORWARD 370 CONTENTS XVII 17.1.5 ACCELERATION FEED-FORWARD IN P/PI
LOOPS 371 17.1.6 TUNING P/PI LOOPS WITH ACC/VEL FEED-FORWARD 372 17.2
PI/P POSITION CONTROL 374 17.2.1 TUNING PI/P LOOPS 374 17.3 PID POSITION
CONTROL 375 17.3.1 TUNING THE PID POSITION CONTROLLER 376 17.3.1.1
SELECTIVE ZEROING OF THE PID INTEGRAL TERM 376 17.3.2 VELOCITY
FEED-FORWARD AND THE PID POSITION CONTROLLER 378 17.3.3 ACCELERATION
FEED-FORWARD AND THE PID POSITION CONTROLLER 379 17.3.4 COMMAND AND
DISTURBANCE RESPONSE FOR PID POSITION LOOPS 379 17.4 COMPARISON OF
POSITION LOOPS 380 17.4.1 POSITIONING, VELOCITY, AND CURRENT DRIVE
CONFIGURATIONS 381 17.4.2 COMPARISON TABLE 383 17.4.3 DUAL-LOOP POSITION
CONTROL 383 17.5 BODE PLOTS FOR POSITIONING SYSTEMS 384 17.5.1 BODE
PLOTS FOR SYSTEMS USING VELOCITY DRIVES 385 17.5.2 BODE PLOTS FOR
SYSTEMS USING CURRENT DRIVES 386 17.6 QUESTIONS 387 CHAPTER 18 USING THE
LUENBERGER OBSERVER IN MOTION CONTROL 389 18.1 APPLICATIONS LIKELY TO
BENEFIT FROM OBSERVERS 389 18.1.1 PERFORMANCE REQUIREMENTS 390 18.1.2
AVAILABLE COMPUTATIONAL RESOURCES 390 18.1.3 CONTROLS EXPERTISE IN THE
USER BASE 390 18.1.4 SENSOR NOISE 390 18.1.5 PHASE LAG IN MOTION-CONTROL
SENSORS 391 18.2 OBSERVING VELOCITY TO REDUCE PHASE LAG 391 18.2.1
ELIMINATE PHASE LAG FROM SIMPLE DIFFERENCES 391 18.2.1.1 FORM OF
OBSERVER 391 18.2.1.2 EXPERIMENT 18A: REMOVAL OF PHASE LAG FROM SIMPLE
DIFFERENCES 392 18.2.1.3 EXPERIMENT 18B: TUNING THE OBSERVER 396 18.2.2
ELIMINATE PHASE LAG FROM CONVERSION 400 18.2.2.1 EXPERIMENT 18C:
VERIFYING THE REDUCTION OF CONVERSION DELAY 401 18.2.2.2 EXPERIMENT 18D:
TUNING THE OBSERVER IN THE R-D-BASED SYSTEM 403 XVIII * CONTENTS 18.3
ACCELERATION FEEDBACK 406 18.3.1 USING OBSERVED ACCELERATION 408 18.3.2
EXPERIMENT 18E: USING OBSERVED ACCELERATION FEEDBACK 408 18.4 QUESTIONS
410 APPENDIX A ACTIVE ANALOG IMPLEMENTATION OF CONTROLLER ELEMENTS 413
INTEGRATOR 413 DIFFERENTIATOR 414 LAG COMPENSATOR 414 LEAD COMPENSATOR
415 LEAD-LAG COMPENSATOR 416 SALLEN-AND-KEY LOW-PASS FILTER 416
ADJUSTABLE NOTCH FILTER 417 APPENDIX B EUROPEAN SYMBOLS FOR BLOCK
DIAGRAMS 419 PART I. LINEAR FUNCTIONS 419 PART IL NONLINEAR FUNCTIONS
420 APPENDIX C THE RUNGE-KUTTA METHOD 423 THE RUNGE-KUTTA ALGORITHM 423
BASIC VERSION OF THE RUNGE-KUTTA ALGORITHM 424 C PROGRAMMING LANGUAGE
VERSION OF THE RUNGE-KUTTA ALGORITHM 426 H-FILE FOR C PROGRAMMING
LANGUAGE VERSION 427 APPENDIX D DEVELOPMENT OF THE BILINEAR
TRANSFORMATION 429 BILINEAR TRANSFORMATION 429 PREWARPING 429 FACTORING
POLYNOMIALS 430 PHASE ADVANCING 431 APPENDIX E THE PARALLEL FORM OF
DIGITAL ALGORITHMS 433 APPENDIX F BASIC MATRIX MATH MATRIX SUMMATION
MATRIX MULTIPLICATION MATRIX SCALING MATRIX INVERSION 437 437 437 438
438 APPENDIX G ANSWERS TO END-OF-CHAPTER QUESTIONS CHAPTER 2 CHAPTER 3
CHAPTER 4 CHAPTER 5 CHAPTER 6 439 439 439 440 440 441 CHAPTER 7 CHAPTER
8 CHAPTER 9 CHAPTER 10 CHAPTER 11 CHAPTER 12 CHAPTER 14 CHAPTER 15
CHAPTER 16 CHAPTER 17 CHAPTER 18 CONTENTS 441 442 442 443 443 445 445
446 447 448 448 451
|
| any_adam_object | 1 |
| author | Ellis, George H. |
| author_facet | Ellis, George H. |
| author_role | aut |
| author_sort | Ellis, George H. |
| author_variant | g h e gh ghe |
| building | Verbundindex |
| bvnumber | BV019311069 |
| callnumber-first | T - Technology |
| callnumber-label | TJ213 |
| callnumber-raw | TJ213 |
| callnumber-search | TJ213 |
| callnumber-sort | TJ 3213 |
| callnumber-subject | TJ - Mechanical Engineering and Machinery |
| classification_rvk | ZQ 5200 |
| classification_tum | MSR 608f |
| ctrlnum | (OCoLC)249456556 (DE-599)BVBBV019311069 |
| dewey-full | 629.83 |
| dewey-hundreds | 600 - Technology (Applied sciences) |
| dewey-ones | 629 - Other branches of engineering |
| dewey-raw | 629.83 |
| dewey-search | 629.83 |
| dewey-sort | 3629.83 |
| dewey-tens | 620 - Engineering and allied operations |
| discipline | Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| edition | 3. ed. |
| format | Book |
| fullrecord | <?xml version="1.0" encoding="UTF-8"?><collection xmlns="http://www.loc.gov/MARC21/slim"><record><leader>01927nam a2200493zc 4500</leader><controlfield tag="001">BV019311069</controlfield><controlfield tag="003">DE-604</controlfield><controlfield tag="005">20081114 </controlfield><controlfield tag="007">t</controlfield><controlfield tag="008">040602s2004 ne ad|| |||| 00||| eng d</controlfield><datafield tag="020" ind1=" " ind2=" "><subfield code="a">0122374614</subfield><subfield code="9">0-12-237461-4</subfield></datafield><datafield tag="035" ind1=" " ind2=" "><subfield code="a">(OCoLC)249456556</subfield></datafield><datafield tag="035" ind1=" " ind2=" "><subfield code="a">(DE-599)BVBBV019311069</subfield></datafield><datafield tag="040" ind1=" " ind2=" "><subfield code="a">DE-604</subfield><subfield code="b">ger</subfield><subfield code="e">aacr</subfield></datafield><datafield tag="041" ind1="0" ind2=" "><subfield code="a">eng</subfield></datafield><datafield tag="044" ind1=" " ind2=" "><subfield code="a">ne</subfield><subfield code="c">NL</subfield></datafield><datafield tag="049" ind1=" " ind2=" "><subfield code="a">DE-91G</subfield></datafield><datafield tag="050" ind1=" " ind2="0"><subfield code="a">TJ213</subfield></datafield><datafield tag="082" ind1="0" ind2=" "><subfield code="a">629.83</subfield></datafield><datafield tag="084" ind1=" " ind2=" "><subfield code="a">ZQ 5200</subfield><subfield code="0">(DE-625)158117:</subfield><subfield code="2">rvk</subfield></datafield><datafield tag="084" ind1=" " ind2=" "><subfield code="a">MSR 608f</subfield><subfield code="2">stub</subfield></datafield><datafield tag="100" ind1="1" ind2=" "><subfield code="a">Ellis, George H.</subfield><subfield code="e">Verfasser</subfield><subfield code="4">aut</subfield></datafield><datafield tag="245" ind1="1" ind2="0"><subfield code="a">Control system design guide</subfield><subfield code="b">a practical guide</subfield><subfield code="c">George Ellis</subfield></datafield><datafield tag="250" ind1=" " ind2=" "><subfield code="a">3. ed.</subfield></datafield><datafield tag="264" ind1=" " ind2="1"><subfield code="a">Amsterdam [u.a.]</subfield><subfield code="b">Elsevier Acad. Press</subfield><subfield code="c">2004</subfield></datafield><datafield tag="300" ind1=" " ind2=" "><subfield code="a">XXIV, 464 S.</subfield><subfield code="b">Ill., graph. Darst.</subfield></datafield><datafield tag="336" ind1=" " ind2=" "><subfield code="b">txt</subfield><subfield code="2">rdacontent</subfield></datafield><datafield tag="337" ind1=" " ind2=" "><subfield code="b">n</subfield><subfield code="2">rdamedia</subfield></datafield><datafield tag="338" ind1=" " ind2=" "><subfield code="b">nc</subfield><subfield code="2">rdacarrier</subfield></datafield><datafield tag="500" ind1=" " ind2=" "><subfield code="a">Includes bibliographical references and index</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Entwurf - Regelungssystem</subfield></datafield><datafield tag="650" ind1="0" ind2="7"><subfield code="a">Regelungssystem</subfield><subfield code="0">(DE-588)4134712-2</subfield><subfield code="2">gnd</subfield><subfield code="9">rswk-swf</subfield></datafield><datafield tag="650" ind1="0" ind2="7"><subfield code="a">Regelungstechnik</subfield><subfield code="0">(DE-588)4076594-5</subfield><subfield code="2">gnd</subfield><subfield code="9">rswk-swf</subfield></datafield><datafield tag="650" ind1="0" ind2="7"><subfield code="a">Entwurf</subfield><subfield code="0">(DE-588)4121208-3</subfield><subfield code="2">gnd</subfield><subfield code="9">rswk-swf</subfield></datafield><datafield tag="689" ind1="0" ind2="0"><subfield code="a">Regelungssystem</subfield><subfield code="0">(DE-588)4134712-2</subfield><subfield code="D">s</subfield></datafield><datafield tag="689" ind1="0" ind2="1"><subfield code="a">Entwurf</subfield><subfield code="0">(DE-588)4121208-3</subfield><subfield code="D">s</subfield></datafield><datafield tag="689" ind1="0" ind2=" "><subfield code="5">DE-604</subfield></datafield><datafield tag="689" ind1="1" ind2="0"><subfield code="a">Regelungstechnik</subfield><subfield code="0">(DE-588)4076594-5</subfield><subfield code="D">s</subfield></datafield><datafield tag="689" ind1="1" ind2=" "><subfield code="8">1\p</subfield><subfield code="5">DE-604</subfield></datafield><datafield tag="856" ind1="4" ind2=" "><subfield code="u">http://www.loc.gov/catdir/description/els041/2003023742.html</subfield><subfield code="3">Publisher description</subfield></datafield><datafield tag="856" ind1="4" ind2=" "><subfield code="u">http://www.loc.gov/catdir/toc/ecip0410/2003023742.html</subfield><subfield code="3">Table of contents</subfield></datafield><datafield tag="856" ind1="4" ind2="2"><subfield code="m">GBV Datenaustausch</subfield><subfield code="q">application/pdf</subfield><subfield code="u">http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=012778868&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA</subfield><subfield code="3">Inhaltsverzeichnis</subfield></datafield><datafield tag="999" ind1=" " ind2=" "><subfield code="a">oai:aleph.bib-bvb.de:BVB01-012778868</subfield></datafield><datafield tag="883" ind1="1" ind2=" "><subfield code="8">1\p</subfield><subfield code="a">cgwrk</subfield><subfield code="d">20201028</subfield><subfield code="q">DE-101</subfield><subfield code="u">https://d-nb.info/provenance/plan#cgwrk</subfield></datafield></record></collection> |
| id | DE-604.BV019311069 |
| illustrated | Illustrated |
| indexdate | 2024-07-09T19:57:22Z |
| institution | BVB |
| isbn | 0122374614 |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-012778868 |
| oclc_num | 249456556 |
| open_access_boolean | |
| owner | DE-91G DE-BY-TUM |
| owner_facet | DE-91G DE-BY-TUM |
| physical | XXIV, 464 S. Ill., graph. Darst. |
| publishDate | 2004 |
| publishDateSearch | 2004 |
| publishDateSort | 2004 |
| publisher | Elsevier Acad. Press |
| record_format | marc |
| spelling | Ellis, George H. Verfasser aut Control system design guide a practical guide George Ellis 3. ed. Amsterdam [u.a.] Elsevier Acad. Press 2004 XXIV, 464 S. Ill., graph. Darst. txt rdacontent n rdamedia nc rdacarrier Includes bibliographical references and index Entwurf - Regelungssystem Regelungssystem (DE-588)4134712-2 gnd rswk-swf Regelungstechnik (DE-588)4076594-5 gnd rswk-swf Entwurf (DE-588)4121208-3 gnd rswk-swf Regelungssystem (DE-588)4134712-2 s Entwurf (DE-588)4121208-3 s DE-604 Regelungstechnik (DE-588)4076594-5 s 1\p DE-604 http://www.loc.gov/catdir/description/els041/2003023742.html Publisher description http://www.loc.gov/catdir/toc/ecip0410/2003023742.html Table of contents GBV Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=012778868&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis 1\p cgwrk 20201028 DE-101 https://d-nb.info/provenance/plan#cgwrk |
| spellingShingle | Ellis, George H. Control system design guide a practical guide Entwurf - Regelungssystem Regelungssystem (DE-588)4134712-2 gnd Regelungstechnik (DE-588)4076594-5 gnd Entwurf (DE-588)4121208-3 gnd |
| subject_GND | (DE-588)4134712-2 (DE-588)4076594-5 (DE-588)4121208-3 |
| title | Control system design guide a practical guide |
| title_auth | Control system design guide a practical guide |
| title_exact_search | Control system design guide a practical guide |
| title_full | Control system design guide a practical guide George Ellis |
| title_fullStr | Control system design guide a practical guide George Ellis |
| title_full_unstemmed | Control system design guide a practical guide George Ellis |
| title_short | Control system design guide |
| title_sort | control system design guide a practical guide |
| title_sub | a practical guide |
| topic | Entwurf - Regelungssystem Regelungssystem (DE-588)4134712-2 gnd Regelungstechnik (DE-588)4076594-5 gnd Entwurf (DE-588)4121208-3 gnd |
| topic_facet | Entwurf - Regelungssystem Regelungssystem Regelungstechnik Entwurf |
| url | http://www.loc.gov/catdir/description/els041/2003023742.html http://www.loc.gov/catdir/toc/ecip0410/2003023742.html http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=012778868&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
| work_keys_str_mv | AT ellisgeorgeh controlsystemdesignguideapracticalguide |