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課程名稱 |
自動控制
Automatic Control |
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開課學期 |
107-1 |
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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 |
工綜B01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：65人 |
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Ceiba 課程網頁 |
http://ceiba.ntu.edu.tw/1071ME3007_02 |
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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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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.
1. Introduction
• Review of Complex variable and Laplace transform
• What is control system? Control concept, Types of control, Effects
Regulation and tracking problem; terminology
• Overall scope of control system • Background • courses
• Linearization
2. Transfer fCN, Block diagram, and Signal Flow graph
• Impulse response & transfer fCN • Block diagram
• Signal flow graph, state diagram
3. Modeling of physical systems
• Electrical Network • Mechanical Network
• Electromechanical Network • Sensors, motors
• System with transportation Lags • Modeling of feedback Network
4. State-variable approach
• State eq. & output eq. • State transition matrix
• Phase-variable canonical characteristic eq. eigenvalues, state eq. & Transfer fCN.
• Diagonalization – Jordan canonical form
• Decomposition • Controllability, observability, minimality
5. Time-domain analysis
• Types & steady-state error
• Transient response • Stability • Routh-Hurwitz criterion
6. Root Loci
• Single parameter • Multiple parameters • With time delay
7. Time-domain design
• PID • Phase-lead, phase-lag
8. Frequency-domain analysis
• Nyquist plot (Direct & Inverse polar plot)
• Bode plot • Gain & phase margin
• Frequency domain characteristics
• Nichols chart
9. Frequency-domain design
• Phase-Lead, Phase-Lag, Lead-Lag
10. State Space Design
• State feedback • Pole-placement
• Output feedback
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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 |
每週二 14:00~16:00
每週一 13:30~15:30 備註： Or by appointment |
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指定閱讀 |
Farid Golnaraghi, Benjamin C. Kuo, Automatic Control Systems, 10th Edition, New York: John Wiley & Sons, 2017. |
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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. W. J. Palm III, Modeling, Analysis, and Control of Dynamic Systems, 3rd Edition, New York: McGraw-Hill, 2014.
5. N.S. Nise, Control Systems Engineering, 6th Edition, New York: John Wiley & Sons, 2011.
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. |
Homework/Quiz/Experiment |
20% |
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2. |
1st Exam |
20% |
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3. |
2nd Exam |
20% |
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4. |
3rd Exam |
20% |
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5. |
4th Exam |
20% |
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週次 |
日期 |
單元主題 |
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第1週 |
9/11,9/14 |
What is control system?
Review of complex variables、Laplace transform and Norm
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第2週 |
9/18,9/21 |
Transfer fCN, Block diagram, and Signal Flow graph |
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第3週 |
9/25,9/28 |
Transfer fCN, Block diagram, and Signal Flow graph |
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第4週 |
10/02,10/05 |
Modeling of physical systems |
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第5週 |
10/09,10/12 |
Modeling of physical systems
Stability (Routh-Hurwitz Criterion)
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第6週 |
10/16,10/19 |
1st Exam
State-variable approach
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第7週 |
10/23,10/26 |
State-variable approach |
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第8週 |
10/30,11/02 |
State-variable approach |
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第9週 |
11/06,11/09 |
Time-domain analysis |
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第10週 |
11/13,11/16 |
2nd Exam
Root loci
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第11週 |
11/20,11/23 |
Root Loci
Time-domain design, PID control
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第12週 |
11/27,11/30 |
Frequency-domain analysis -- Nyquist Plot, Bode Plot |
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第13週 |
12/04,12/07 |
Frequency-domain analysis --Bode Plot, Magnitude-phase plot, Nichols Chart |
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第14週 |
12/11,12/14 |
3rd Exam
Frequency-domain design-- phase lead, phase lag, lead-lag compensator |
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第15週 |
12/18,12/21 |
Frequency-domain design-- phase lead, phase lag, lead-lag compensator |
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第16週 |
12/25,12/28 |
State space design |
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第17週 |
1/01,1/04 |
放假
State space design |
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第18週 |
1/8 |
4th Exam |
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