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5.1. YcToftHHBOCTb CHCTeMaBTOMaraHecKoro ynpaBJieHim. 77

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5.12. HHTerpanbHbie KpHTepHH HccjieAOBaHHa tcanecTBa 102

JlHTepaTypa 104
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CONTENT Introduction 3

Chapter 1 The principles of automatic control and classification of automatic control systems 6

1.1. Basic concepts, terminology and characteristics of automatic control systems (ACS) 6

1.2. The principles of automatic control 11

1.2.1. Principles of construction of ACS 11

1.2.2. Open systems 13

1.2.3. Theprincipleofcompensationfordisturbingaction... 14

1.2.4. The principle of deviation (closed systems) 16

1.2.5. Combined control systems 17

1.2.6. The functional and structural schemes 18

1.3. The classification of ACS 19

1.3.1. Univariate and multivariate systems 19

1.3.2. Stationary and non-stationary systems 20

1.3.3. A system of continuously and discrete action 20

1.3.4. Adaptive and non-adaptive systems 21

1.3.5. Linear and nonlinear systems 21

1.4. Static and astatic A CS 21

Chapter2 Making differential equations of objects automatic control and determination of transfer fimctions 28

2.1. The linearization of units of automatic control systems 28

2.2. The differential equation of a direct current generator.. 30

2.3. The differential equation of the direct current motor... 32

2.4. The equation systems of automatic control 35

2.5. The Laplace transformation............................... 37

2.6. The transfer function 39

Chapter3 The frequency and time characteristics of automatic control systems 41

3.1. Simple impacts 41

3.2. The frequency characteristics oflinear unit 42

3.3. Transition characteristics ofthe unit 45

3.4. The weight function 45

3.5. Determination of the unit stability using the weight function 46

3.6. The properties ofminimum-phase units 48
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Chapter 4 Typical units of automatic control systems and their connection with each other 50

4.1. Simpleunits 50

4.1.1. Proportional u n it 50

4.1.2. Integrating unit 53

4.1.3. Differentiating unit 56

4.2. The units of the first order 59

4.2.1. The inertial unit 59

4.3. The oscillating unit 64

4.4. Connection of linear units 69

4.4.1. Series connection of units 69

4.4.2. According - parallel connection of units 70

4.4.3. Counter - parallel connection of units 71

4.5. The transformation ofblock diagrams 73

4.6. Determination of the transfer functions of closed systems 75

Chapter 5 Stability of automatic control systems and the quality of transients processes 77

5.1. Stability of automatic control systems 77

5.2. Hurwitz stability criterion 78

5.3. Mikhailov stability criterion 80

5.4. Nyquist stability criterion 84

5.5. The general formulation of the Nyquist criterion 88

5.6. Margin ofstability 90

5.7. The concept of a transitional processes 91

5.8. Direct methods of quality research 93

5.9. Indirect methods ofquality research 94

5.10. Frequency criteria ofquality research 95

5.11. Root criteria of quality research 98

5.12. Integral criteria of quality research 102

References 104

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X.G‘.KARIMOVJ M.Q.BOBOJANOV