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課程名稱 |
自動控制
Automatic Control |
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開課學期 |
111-1 |
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授課對象 |
機械工程學系 |
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授課教師 |
黃漢邦 |
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課號 |
ME3007 |
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課程識別碼 |
502 45100 |
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班次 |
02 |
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學分 |
3.0 |
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全/半年 |
半年 |
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必/選修 |
必修 |
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上課時間 |
星期二3,4(10:20~12:10)星期五2(9:10~10:00) |
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上課地點 |
新304工綜215 |
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備註 |
限本系所學生(含輔系、雙修生)
總人數上限：55人 |
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課程簡介影片 |
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核心能力關聯 |
核心能力與課程規劃關聯圖 |
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課程大綱
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為確保您我的權利,請尊重智慧財產權及不得非法影印
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課程概述 |
Course Description: Introduction to feedback principles, control systems design, and system stability. Modeling of physical systems in engineering and other fields; transform methods; controller design using Nyquist, Bode, and root locus methods; compensation; computer-aided analysis and design. |
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課程目標 |
Course Objectives: The primary goal of this introductory course is to help students become knowledgeable designers of control systems.
Understand advantages and disadvantages, terminology, and configurations of feedback control systems.
Learn the methods of classifying, measuring, and analyzing the stability and performance properties of feedback control systems.
Learn various classical frequency domain and time domain techniques for designing compensators in order to improve performance in feedback systems. |
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課程要求 |
Prerequisite: Engineering mathematics, complex variables, Laplace transform, linear algebra
Homework Duedate: Homework is assigned and due every week. Quiz and experiments are occassionally assigned. Scores will be deducted for late homework. Please concentrate on your time management skills and attempt to meet all deadlines. This habit will serve you well later when you enter the business environment.
Missed Exam: NO make-up exams will be given without the permission of the instructor. Only unusual and extenuating circumstances warrant a make-up exam. |
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預期每週課後學習時數 |
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Office Hours |
每週五 13:30~15:30
每週二 13:30~15:30
每週二 13:30~15:30
每週一 13:30~15:30 備註： 編號 1、2 為老師的Office hours，有問題請在此時段詢問老師，或是額外寄信與老師預約。
編號 3、4 為TA hours，請先寄信通知助教，以有事先預約者優先，切勿未寄信確認便逕自來訪。
黃老師辦公室(工綜737)電話 : (02)3366-2700
黃老師Email : hanpang@ntu.edu.tw
機器人實驗室(工綜B08)電話 : (02)3366-4478
TA陳品存 Email : jay880325@gmail.com
TA吳政彥 Email : r10522801@ntu.edu.tw |
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指定閱讀 |
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參考書目 |
References:
1. R.C. Dorf, R.H. Bishop, Modern Control Systems, 12th Edition, Upper Saddle River, NJ: Prentice- Hall, 2011.
2. G.F. Franklin, J.D. Powell, A. Emami-Naeini, Feedback Control of Dynamic Systems, 7th Edition, New York: Addison-Wesley, 2015.
3. K. Ogata, Modern Control Engineering, 5th Edition, Upper Saddle River, NJ: Prentice- Hall, 2010.
4. N.S. Nise, Control Systems Engineering, 7th Edition, New York: John Wiley & Sons, 2015.
5. W. J. Palm III, Modeling, Analysis, and Control of Dynamic Systems, 3rd Edition, New York: McGraw-Hill, 2014.
6. M. Gopal, Control Systems: Principles and Design, 4th Edition, New York: McGraw-Hill, 2014. |
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評量方式
(僅供參考) |
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No. |
項目 |
百分比 |
說明 |
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1. |
1st Exam |
25% |
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2. |
2nd Exam |
25% |
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3. |
3rd Exam |
25% |
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4. |
Homework/Quiz/Experiment |
25% |
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針對學生困難提供學生調整方式 |
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上課形式 |
以錄影輔助 |
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作業繳交方式 |
學生與授課老師協議改以其他形式呈現 |
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考試形式 |
延後期末考試日期(時間) |
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其他 |
由師生雙方議定 |
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週次 |
日期 |
單元主題 |
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第1週 |
9/6、9/9 |
9/6 What is control system? Review of complex variables, Laplace transform and Norm
9/9 Flexible Holiday (不上課) |
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第2週 |
9/13、9/16 |
9/13 Transfer function, Block diagram, and Signal Flow graph
9/16 Matlab review |
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第3週 |
9/20、9/23 |
9/20 Modeling of physical systems
9/23 Modeling of physical systems |
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第4週 |
9/27、9/30 |
9/27 Modeling of physical systems
9/30 Modeling of physical systems |
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第5週 |
10/4、10/7 |
10/4 PID control
10/7 Stability (Routh-Hurwitz Criterion) |
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第6週 |
10/11、10/14 |
10/11 Motor control and experiments
10/14 State-variable approach |
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第7週 |
10/18、10/21 |
10/18 1st Exam
10/21 State-variable approach |
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第8週 |
10/25、10/28 |
10/25 State-variable approach and design
10/28 State-variable approach and design |
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第9週 |
11/1、11/4 |
11/1 Time-domain analysis
11/4 Time-domain analysis |
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第10週 |
11/8、11/11 |
11/8 Root loci
11/11 Root loci |
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第11週 |
11/15、11/18 |
11/15 School’s Anniversary Celebration (不上課)
11/18 Time-domain design |
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第12週 |
11/22、11/25 |
11/22 2nd Exam
11/25 Frequency-domain analysis -- Nyquist Plot, Bode Plot, Magnitude-phase plot, Nichols Chart |
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第13週 |
11/29、12/2 |
11/29 Frequency-domain analysis -- Nyquist Plot, Bode Plot, Magnitude-phase plot, Nichols Chart
12/2 School Sports Day (不上課) |
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第14週 |
12/6、12/9 |
12/6 Frequency-domain design-- phase lead, phase lag, lead-lag compensator
12/9 Frequency-domain design-- phase lead, phase lag, lead-lag compensator |
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第15週 |
12/13、12/16 |
12/13 Frequency-domain design-- phase lead, phase lag, lead-lag compensator
12/16 Frequency-domain design-- phase lead, phase lag, lead-lag compensator |
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第16週 |
12/20 |
12/20 3rd Exam |
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