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 o f 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 C S ............................................... 21
Chapter2
Making differential equations
of objects automatic
control and determination of transfer fimctions.......... 28
2.1.
The linearization o f 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 m otor... 32
2.4.
The equation systems o f 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 im pacts.............................................................. 41
3.2.
The frequency characteristics oflinear u n it................. 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 o f automatic control systems and their
connection with each o th er........................................... 50
4.1.
Simpleunits..................................................................... 50
4.1.1.
Proportional u n it............................................................ 50
4.1.2.
Integrating u n it............................................................... 53
4.1.3.
Differentiating u n it........................................................ 56
4.2.
The units of the first o rd er............................................ 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 o f closed
systems............................................................................ 75
Chapter 5
Stability o f automatic control systems and the quality
of transients processes.................................................... 77
5.1.
Stability o f 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 o f 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 o f quality research................................... 98
5.12.
Integral criteria o f quality research............................... 102
References..................................................................... 104
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