本书围绕机械工程自动控制学科教学主线构建实验教学体系，包括
基本认知实验、系统建模实验、系统分析实验、控制系统设计实验等，
在现有实验设备基础上设计进行工作台位置控制实验、磁悬浮控制实
验、模拟电路控制实验等物理实验的同时，开展计算机虚拟实验。
全书共6 章，主要内容包括自动控制系统认知、自动控制系统的数
学描述、线性系统的时域分析方法、线性系统的频域分析方法、线性系
统的根轨迹分析方法、控制器设计实验等。
样章试读
目录
- 目录
前言
第 1 章自动控制系统认知 ···················· 1
1.1 绪论 ··········································· 1
1.2 简易磁悬浮系统 ························ 2
1.2.1 磁悬浮系统的组成 ·············· 2
1.2.2 磁悬浮系统的工作原理 ········ 2
1.3 直流电动机控制系统················· 3
1.3.1 直流电动机控制系统的组成 ··· 3
1.3.2 直流电动机控制系统的工作
原理 ·································· 4
1.4 工作台位置控制系统················· 4
1.4.1 工作台位置控制系统的组成 ··· 4
1.4.2 工作台位置控制系统的工作
原理 ·································· 5
1.5 三自由度数控平台 ···················· 6
1.5.1 三自由度数控平台的组成 ···· 6
1.5.2 三自由度数控平台的工作
原理 ·································· 6
1.6 球-杆系统 ·································· 8
1.6.1 球-杆系统的组成 ················ 8
1.6.2 球-杆系统的工作原理 ·········· 8
1.7 平面倒立摆系统 ························ 9
1.7.1 平面倒立摆系统的组成 ········ 9
1.7.2 平面倒立摆系统的工作
原理 ································· 10
1.8 虚拟实验基础MATLAB/
Simulink ···································· 10
1.8.1 MATLAB 的操作界面 ········· 10
1.8.2 MATLAB 的帮助界面 ········· 11
1.8.3 MATLAB 定义的常用特殊
变量 ································· 11
1.8.4 MATLAB 操作的注意事项 ··· 12
1.8.5 Simulink 简介 ··················· 12
1.9 思考题 ······································ 14
第2 章自动控制系统的数学描述 ······· 15
2.1 绪论 ·········································· 15
2.2 工作台位置控制系统建模 ······· 15
2.3 球-杆系统建模 ························· 18
2.3.1 控制对象的动力学方程 ······ 18
2.3.2 电气模型 ·························· 19
2.4 简易磁悬浮系统建模 ··············· 20
2.4.1 控制对象的动力学方程 ······ 20
2.4.2 系统的电磁力模型 ············· 21
2.4.3 电磁铁中控制电压和电流的
模型 ································ 22
2.4.4 功率放大器模型 ················ 23
2.4.5 系统平衡的边界条件 ········· 23
2.4.6 系统方程的描述 ················ 23
2.5 虚拟实验/机械工程控制系统的
数学模型 ·································· 24
2.5.1 实验目的 ·························· 24
2.5.2 实验内容 ·························· 24
2.6 思考题 ······································ 26
第3 章线性系统的时域分析方法 ······· 27
3.1 绪论 ·········································· 27
3.2 典型环节的时域响应 ··············· 27
3.2.1 比例环节(P) ······················ 27
3.2.2 积分环节(I) ······················ 31
3.2.3 比例积分环节(PI) ·············· 33
3.2.4 比例微分环节(PD) ············· 35
3.2.5 比例积分微分环节(PID) ····· 38
3.2.6 典型一阶系统(惯性环节) ···· 41
3.2.7 典型二阶系统(振荡环节) ···· 43
3.2.8 典型三阶系统 ···················· 47
3.3 工作台位置控制系统的时域
分析 ··········································· 51
3.3.1 工作台位置控制系统的脉冲
响应 ································· 52
3.3.2 工作台位置控制系统的阶跃
响应 ································· 53
3.3.3 工作台位置控制系统的斜坡
响应 ································· 54
3.4 虚拟实验/机械工程控制系统的
时域分析 ··································· 55
3.4.1 实验目的 ·························· 55
3.4.2 实验内容 ·························· 55
3.5 思考题 ······································ 59
第4 章 线性系统的频域分析方法 ········ 60
4.1 绪论 ·········································· 60
4.2 模拟电路的Bode 图测量实验···· 60
4.3 工作台位置控制系统的正弦
信号响应 ··································· 65
4.4 虚拟实验/机械工程控制系统的
频域分析 ··································· 68
4.4.1 实验目的 ·························· 68
4.4.2 实验内容 ·························· 68
4.5 思考题 ······································ 71
第5 章 线性系统的根轨迹分析方法 ···· 73
5.1 绪论 ·········································· 73
5.2 线性系统的根轨迹分析 ············ 73
5.3 虚拟实验/机械工程控制系统的
根轨迹分析 ······························· 78
5.3.1 实验目的 ·························· 78
5.3.2 实验内容 ·························· 78
5.4 思考题 ······································ 83
第6 章 控制器设计实验 ······················ 84
6.1 绪论 ·········································· 84
6.2 温度闭环控制系统设计实验 ··· 84
6.2.1 模拟PID 温度闭环控制
系统框图 ·························· 84
6.2.2 控制系统的模拟电路图 ······ 86
6.2.3 实验步骤 ·························· 87
6.3 球-杆系统的PID 控制实验······ 90
6.3.1 绪论 ································ 90
6.3.2 球-杆系统的P 控制实验 ····· 95
6.3.3 球-杆系统的PD 控制实验 ··· 96
6.3.4 球-杆系统的PID 控制实验 ··· 97
6.4 球-杆系统的根轨迹控制实验 ···· 98
6.4.1 球-杆系统的根轨迹绘制 ····· 98
6.4.2 根轨迹校正 ······················ 99
6.4.3 根轨迹校正实验 ·············· 102
6.5 工作台位置的PID 控制实验 ···· 103
6.6 虚拟实验/机械工程控制系统的
设计与校正 ···························· 104
6.6.1 实验目的 ························ 104
6.6.2 实验内容 ························ 104
6.7 思考题 ···································· 119
参考文献 ··············································· 120
附录一 ··················································· 121
附录二 ··················································· 122
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