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嵌入式系统的应用控制理论

更新时间:2019-12-14 16:09:58 大小:4M 上传用户:yjmwxwx查看TA发布的资源 浏览次数:2016 下载积分:0分 出售积分赚钱 评价赚积分 ( 如何评价?) 标签:嵌入式系统 收藏 评论(2) 举报

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工程师写的控制理论书,为了学习下PID算法

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Applied Control Theory  
for Embedded Systems  
Applied Control Theory  
for Embedded Systems  
by Tim Wescott  
AMSTERDAM BOSTON HEIDELBERG LONDON  
NEW YORK OXFORD PARIS SAN DIEGO  
SAN FRANCISCO SINGAPORE SYDNEY TOKYO  
Newnes is an imprint of Elsevier  
Newnes is an imprint of Elsevier  
30 Corporate Drive, Suite 400, Burlington, MA 01803, USA  
Linacre House, Jordan Hill, Oxford OX2 8DP, UK  
Copyright © 2006, Elsevier Inc. All rights reserved.  
No part of this publication may be reproduced, stored in a retrieval system, or transmitted  
in any form or by any means, electronic, mechanical, photocopying, recording, or otherwise,  
without the prior written permission of the publisher.  
Permissions may be sought directly from Elsevier’s Science & Technology Rights  
Department in Oxford, UK: phone: (+44) 1865 843830, fax: (+44) 1865 853333,  
e-mail: . You may also complete your request on-line via the  
“Copyright and Permission” and then “Obtaining Permissions.”  
Recognizing the importance of preserving what has been written,  
Elsevier prints its books on acid-free paper whenever possible.  
Library of Congress Cataloging-in-Publication Data  
Wescott, Tim.  
Applied control theory for embedded systems / by Tim Wescott.  
p. cm. -- (Embedded technology series)  
ISBN-13: 978-0-7506-7839-1 (pbk. : alk. paper)  
ISBN-10: 0-7506-7839-9 (pbk. : alk. paper) 1. Embedded computer  
systems--Design and construction. 2. Digital control systems--Design and  
construction. I. Title. II. Series.  
TK7895.E42W47 2006  
629.8’9--dc22  
2006002692  
British Library Cataloguing-in-Publication Data  
A catalogue record for this book is available from the British Library.  
ISBN-13: 978-0-7506-7839-1  
ISBN-10: 0-7506-7839-9  
For information on all Newnes publications  
06 07 08 09 10 10 9 8 7 6 5 4 3 2 1  
Printed in the United States of America  
For all my teachers  
                                   
2.1ꢀ SignalsꢀandꢀSystems  
2.2ꢀꢀ DifferenceꢀEquations  
                                    
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12  
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15  
                                     
                                         
3.1ꢀꢀꢀ Tracking. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43  
                              
                                          
Contents  
Preface ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀix  
What’s on the CD-ROM? ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀxi  
Chapter 1: The Basics ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ 1  
1.1ꢀ ControlꢀSystems ꢀ. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1  
1.2ꢀ AnatomyꢀofꢀaꢀControlꢀSystem. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2  
1.3ꢀ ClosedꢀLoopꢀControlꢀ. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4  
1.4ꢀ Controllersꢀ. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6  
1.5ꢀ AboutꢀThisꢀBook  
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8  
Chapter 2: Z Transforms ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ 11  
2.3ꢀꢀ TheꢀZꢀTransform ꢀ. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18  
2.4ꢀꢀ TheꢀInverseꢀZꢀTransformꢀ. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19  
2.5ꢀꢀ SomeꢀZꢀTransformꢀProperties. . . . . . . . . . . . . . . . . . . . . . . . . . . . 25  
2.6ꢀꢀ TransferꢀFunctions ꢀ. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30  
2.7ꢀꢀ StabilityꢀinꢀtheꢀZꢀDomain. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34  
2.8ꢀꢀ FrequencyꢀResponseꢀ. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37  
2.9ꢀꢀ Conclusionꢀ. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41  
Chapter 3: Performance ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ 43  
3.2ꢀꢀꢀ FrequencyꢀResponseꢀ. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55  
3.3ꢀꢀꢀ DisturbanceꢀRejectionꢀ. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61  
3.4ꢀꢀꢀ Conclusionꢀ. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63  
Chapter 4: Block Diagrams ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ 65  
4.1ꢀꢀꢀTheꢀLanguageꢀofꢀBlocks. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65  
4.2ꢀꢀꢀAnalyzingꢀSystemsꢀwithꢀBlockꢀDiagramsꢀ. . . . . . . . . . . . . . . . . . . . 74  
4.3ꢀꢀꢀConclusion ꢀ. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93  
                                        
8.1ꢀꢀꢀ CharacteristicsꢀofꢀNonlinearꢀSystems  
8.2ꢀꢀꢀ SomeꢀNonlinearitiesꢀ. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187  
8.3ꢀꢀꢀ LinearꢀApproximation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 193  
                                           
. . . . . . . . . . . . . . . . . . . . . . 184  
                                   
                                   
viiiꢀ Contents  
Chapter 5: Analysis ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ 95  
5.1ꢀꢀ RootꢀLocusꢀ. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96  
5.2ꢀꢀ BodeꢀPlots ꢀ. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107  
5.3ꢀꢀ NyquistꢀPlots. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113  
5.4ꢀꢀ Conclusionꢀ. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124  
Chapter 6: Design ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ 125  
6.1ꢀꢀꢀ Controllers,ꢀFiltersꢀandꢀCompensators ꢀ. . . . . . . . . . . . . . . . . . . . 125  
6.2ꢀꢀꢀ CompensationꢀTopologies. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126  
6.3ꢀꢀꢀ TypesꢀofꢀCompensators. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128  
6.4ꢀꢀꢀ DesignꢀFlowꢀ. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147  
6.5ꢀꢀꢀ Conclusionꢀ. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148  
Chapter 7: Sampling Theoryꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ 149  
7.1ꢀꢀꢀ Samplingꢀ. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149  
7.2ꢀꢀꢀ Aliasingꢀ. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151  
7.3ꢀꢀꢀ Reconstruction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153  
7.4ꢀꢀꢀ OrthogonalꢀSignalsꢀandꢀPower. . . . . . . . . . . . . . . . . . . . . . . . . . 156  
7.5ꢀꢀꢀ RandomꢀNoise. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157  
7.6ꢀꢀꢀ NonidealꢀSampling. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159  
7.7ꢀꢀꢀ TheꢀLaplaceꢀTransformꢀ. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170  
7.8ꢀꢀꢀ zꢀDomainꢀModelsꢀ. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175  
7.9ꢀꢀꢀ Conclusionꢀ. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182  
Chapter 8: Nonlinear Systems ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ 183  
8.4ꢀꢀꢀ NonlinearꢀCompensators. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199  
8.5ꢀꢀꢀ Conclusionꢀ. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 223  
                                
                              
Contentsꢀꢀ ix  
Chapter 9: Measuring Frequency Response ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ 225  
9.1ꢀꢀ Overviewꢀ. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 225  
9.2ꢀꢀ MeasuringꢀinꢀIsolation ꢀ. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 226  
9.3ꢀꢀ In-LoopꢀMeasurement. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 229  
9.4ꢀꢀ Real-WorldꢀIssues. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 234  
9.5ꢀꢀ Software. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 238  
9.6ꢀꢀ OtherꢀMethodsꢀ. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 245  
Chapter 10: Software Implicationsꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ 247  
10.1ꢀ DataꢀTypesꢀ. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 247  
10.2ꢀ Quantizationꢀ. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 250  
10.3ꢀ Overflow. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 262  
10.4ꢀ ResourceꢀIssues ꢀ. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 264  
10.5ꢀ ImplementationꢀExamplesꢀ. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 268  
10.6ꢀ Conclusionꢀ. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 292  
Chapter 11: Afterword ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ 293  
11.1ꢀꢀTools ꢀ. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 293  
11.2ꢀꢀBibliography. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 295  
About the Author ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ 297  
Indexꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ ꢀ 299  

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全部评论(2)

  • 2020-02-11 12:48:56NY152

    内容不错,要是中文版就更好了

  • 2019-12-18 13:39:07suxindg

    谢谢分享