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課程名稱 |
數位控制系統
Digital Control System |
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開課學期 |
110-2 |
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授課對象 |
工學院 機械工程學研究所 |
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授課教師 |
楊士進 |
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課號 |
ME5247 |
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課程識別碼 |
522EU5350 |
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班次 |
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學分 |
3.0 |
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全/半年 |
半年 |
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必/選修 |
選修 |
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上課時間 |
星期四2,3,4(9:10~12:10) |
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上課地點 |
工綜B01 |
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備註 |
本課程以英語授課。系控組必修。
限本系所學生(含輔系、雙修生) 且 限學士班三年級以上
總人數上限：80人 |
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Ceiba 課程網頁 |
http://ceiba.ntu.edu.tw/1102ME5247_ |
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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 |
Since almost very engieering branch (control, signal processing, communications, dynamic system analysis, ...)uses computers as their tools to handle the information, knowledge of digital system (or discrete-time system) become foundamental for very engineer. This course will introduce the basic skills required for the analysis and control of such systems. It is a course suitable for students who have taken the Automatic Control course. This course is mainly of undergraduate level, but is also suitable for graduate students who are not familar with digital control. |
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課程目標 |
The main topics of this course are:
1. discrete-time model of sampled system
2. Z-transform
3. discrete-time controller design
4. state-space modeling
5. discrete-time observer design |
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課程要求 |
The main topics of this course are:
1. Z-transform
2. discrete-time model of sampled system
3. sampling theorem
4. state-space control
5. discrete-time controller design |
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預期每週課後學習時數 |
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Office Hours |
每週二 14:00~19:00 備註： TA:
易承霈 r09522808@ntu.edu.tw
陳俊佑 d06522004@ntu.edu.tw (still available after 19:00) |
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指定閱讀 |
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參考書目 |
[1] Digital control of dynamic systems, by Frankin, Powell, and Workman, Addison Wesley, 1998.
<br><br>[2] Computer-controlled systems, theory and design. 3rd Ed., by K.J. Astrom, and B. Wittenmark, Prentice-Hall, 1997.
<br><br>[3] Control system design, by Goodwin, Graebe, Salgado, Prentice-Hall, 2001. |
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評量方式
(僅供參考) |
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週次 |
日期 |
單元主題 |
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Week 1 |
2/17 |
Overview
AC_01: Motor control overview |
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Week 2 |
2/24 |
DC_01: Discrete-time model&sample; ZOH effect |
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Week 3 |
3/03 |
AC_02: Feedforward Chp8
DC_02: Z-transform |
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Week 4 |
3/10 |
DC_03: Inverse Z-transform and look-up table
Project1 Handout |
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Week 5 |
3/17 |
AC_03: Disturbance rejection Chp 7
DC_04_part.1－open-loop discrete-time model development |
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Week 6 |
3/24 |
DC_05:Closed-loop digital controller design
Project1 Hand in |
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Week 7 |
3/31 |
AC_04: Observer in motion control Chp18 |
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Week 8 |
4/07 |
Midterm |
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Week 9 |
4/14 |
AC_05: Observer estimation in motion system
DC_06: Controller design method#1
Continuous-time approximation
Project2 Handout |
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Week 10 |
4/21 |
DC_07: Controller design method#2
Direct Z-domain design with low sampling-rate |
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Week 11 |
4/28 |
DC_08: Project 2 review and motor speed control |
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Week 12 |
5/05 |
DC_09: Closed-loop control limitation and command feedforward |
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Week 13 |
5/12 |
DC_10: Digital implementation of CFF
Project#2 Hand in |
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Week 14 |
5/19 |
AC_06: Digital implementation: disturbance rejection
DC_11: Infeasible signal adjustment for CFF |
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Week 15 |
5/26 |
Final
Project#3 handout |
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Week 17 |
6/09 |
Project#3 Handin |
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