Part 1 Electrics and Electronics 3
Chapter 1 Analog Signal Processing 3
Text A Circuit Elements and Interconnection Laws 3
1.1 Generic Circuit Elements 3
1.2 Ideal Circuit Elements 4
1.3 Ideal and Real-World Circuit Elements 6
1.4 Electric Circuits and Interconnection Laws 7
1.5 Power Dissipation in Resistor Circuits 9
Vocabulary 10
Exercises 10
Text B Equivalent Circuits 11
1.6 Series and Parallel Circuits 11
1.7 Equivalent Circuits：Resistors and Sources 16
Vocabulary 19
Exercises 19
Notes on Science Research English 20
Chapter 2 Circuit Analysis 22
Text A Circuit Analysis in Frequency Domain 22
2.1 Time and Frequency Domains 22
2.2 Power in the Frequency Domain 24
2.3 Transfer Functions 25
2.4 Designing Transfer Functions 28
Vocabulary 30
Exercises 30
Text B Node Method and Power Conservation 32
2.5 Formal Circuit Methods：Node Method 32
2.6 Power Conservation in Circuits 35
2.7 Electronics 36
Vocabulary 37
Exercises 37
Notes on Science Research English 38
Chapter 3 Signals and Systems 40
Text A Analog and Discrete-Time Signals 40
3.1 Elemental Signals 40
3.2 Signal Decomposition 43
3.3 Discrete-Time Signals 43
Vocabulary 45
Exercises 46
Text B Simple Systems and Communication Systems 47
3.4 An Introduction to Systems 47
3.5 Simple Systems 48
3.6 Structure of Communication Systems 51
Vocabulary 53
Exercises 53
Notes on Science Research English 54
Chapter 4 Operational Amplifiers and Sampling Theorem 56
Text A Operational Amplifiers 56
4.1 Dependent Sources 56
4.2 Operational Ampliers 58
Vocabulary 62
Exercises 63
Text B The Sampling Theorem 64
4.3 An Introduction to Computer Organization 64
4.4 The Sampling Theorem 66
4.5 Amplitude Quantization 68
Vocabulary 70
Exercises 71
Notes on Science Research English 72
Part 2 Electric Motors and Drives 75
Chapter 5 DC Motor Steady-State and Transient Analysis 75
Text A DC Motor Steady-State Characteristics 75
5.1 No-Load Speed 76
5.2 Performance Calculation - Example 76
5.3 Behaviour When Loaded 78
5.4 Base Speed and Field Weakening 81
5.5 Armature Reaction 83
5.6 Maximum Output Power 84
Vocabulary 85
Exercises 86
Text B DC Motor Transient Behavior 87
5.7 Dynamic Behavior and Time-Constants 88
Vocabulary 90
Exercises 90
Notes on Science Research English 91
Chapter 6 DC Motor Drives 93
Text A Thyristor DC Drivers 93
6.1 Motor Operation with Converter Supply 94
6.2 Motor Current Waveforms 95
6.3 Discontinuous Current 96
6.4 Converter Output Impedance： Overlap 99
6.5 Four-Quadrant Operation and Inversion 100
Vocabulary 101
Exercises 101
Text B Control Arrangements for DC Drives 103
6.6 Current control 104
6.7 Torque control 106
6.8 Speed control 106
6.9 Armature voltage feedback and IR compensation 108
Vocabulary 108
Exercises 109
Notes on Science Research English 110
Chapter 7 Operating Characteristics and Equivalent Circuit of Induction Motors 111
Text A Operating Regions and Control Methods 111
7.1 Run-up and Stable Operating Regions 111
7.2 Speed Control 115
7.3 Power Factor Control 117
Vocabulary 118
Exercises 119
Text B Induction Motor Equivalent Circuit 120
7.4 Development of The Induction Motor Equivalent Circuit 120
7.5 Approximate Equivalent Circuits 122
Vocabulary 125
Exercises 126
Notes on Science Research English 127
Chapter 8 Stepping Motor Characteristics and Drives 128
Text A Motor Characteristics and Ideal Drive 128
8.1 Motor Characteristics 128
8.2 Ideal Constant-Current Drive 133
Vocabulary 136
Exercises 137
Text B Motor Drives Circuits 138
8.3 Constant-Voltage Drive 138
8.4 Current-Forced Drive 139
8.5 Chopper Drive 141
8.6 Resonances and Instability 142
Vocabulary 143
Exercises 144
Notes on Science Research English 145
Part 3 Fundamental of Control Systems 149
Chapter 9 Control Systems Basics 149
Text A Concepts of Control System 149
9.1 Introduction 149
9.2 Feedback Control Systems 150
9.3 Plant Characteristics 151
9.4 Controller Structure and Design Parameters 154
9.5 Block Diagrams 155
9.6 Performance Specifications 157
9.7 System Stability 158
Vocabulary 159
Exercises 160
Text B Practical Aspects of a Control System 161
9.8 Control System Testing 161
9.9 Computer-Aided Control System Design 163
Vocabulary 163
Exercises 163
Notes on Science Research English 165
Chapter 10 Classical Control System Design 166
Text A PID Control 166
10.1 The Structure of a PID Control 166
10.2 Proportional（P） control 168
10.3 Proportional Plus Derivative （PD） Control 169
10.4 Proportional Plus Integral（PI） Control 171
10.5 Put All in One—PID Control 172
10.6 Actuator Saturation in PID Control 173
Vocabulary 174
Exercises 174
Text B Root Locus and Frequency Design Methods 176
10.7 Introduction 176
10.8 Root Locus Design 176
10.9 Bode Design 184
10.10 Summary 187
Vocabulary 187
Exercises 188
Notes on Science Research English 189
Chapter 11 Modern Control System Design 191
Text A Pole Placement Design 191
11.1 Controllability of the plant 191
11.2 Observability of the Plant 193
11.3 Pole Placement Approach 194
11.4 Summary 199
Vocabulary 200
Exercises 200
Text B Optimal control design 201
11.5 Concepts of Optimal Control 201
11.6 Linear Quadratic Regulator （LQR） Design 204
11.7 Kalman state estimation 206
11.8 Combined Observer-Controller 209
11.9 Summary 210
Vocabulary 210
Exercises 211
Notes on Science Research English 212
Chapter 12 MIMO Systems 214
Text A Pole Placement for an Aircraft Glide Slop Control System 214
12.1 Concepts of MIMO Systems 214
12.2 Control Design for an Aircraft Glide Slop System 215
Vocabulary 219
Exercises 220
Text B Optimal Control for an Inverted Pendulum System 221
12.3 Control Design of the Controller 223
12.4 Control Design of the Observer 224
Vocabulary 227
Exercises 228
Notes on Science Research English 229
Part 4 Advanced Control Systems 233
Chapter 13 Adaptive Control and Predictive Control 233
Text A Model-Free Adaptive （MFA） Control 233
13.1 Concept and Significance of Model-Free Adaptive Control 237
13.2 Process Knowledge Issue 237
13.3 Process Identification Issue 238
13.4 Controller Design Issue 238
13.5 Controller Parameter Tuning Issue 239
13.6 System Stability Issue 239
13.7 Single-Loop MFA Control System Structure 240
13.8 Control Objective 240
13.9 MFA Controller Architecture 241
13.10 MFA Control System Requirements 241
13.11 MFA vs P1D Control Comparison 242
13.12 MFA vs Other Control Methods Comparison 242
Vocabulary 243
Exercises 244
Text B Model Predictive Control Design in a Velocity form Model 245
13.13 State space models 245
13.14 Prediction of Future States and Output 247
13.15 State Estimation 249
13.16 Implementation of the MPC Strategy 251
Vocabulary 252
Exercises 252
Notes on Science Research English 254
Chapter 14 Fuzzy Control and ANN Control Systems 256
Text A Fuzzy Logic ＆ Fuzzy Control 256
14.1 Fuzzification and Defuzzification 258
14.2 Building a Fuzzy Controller 262
14.3 Applications in Control Engineering 264
Vocabulary 265
Exercise 265
Text B Artificial Neural Networks for Control 266
14.4 ANN for Intelligent Control 267
14.5 Basic Theory of ANNs 269
14.6 Case study 1：Fault Isolation Mapping 271
14.7 Case study 2： Hopfield Network Optimizing 273
14.8 Summarization 274
Vocabulary 274
Exercise 275
Notes on Science Research English 276
Chapter 15 AI Control for Robots 281
Text A AI Robotics 281
15.1 Overview of AI Control of Robots 281
15.2 Industrial Manipulators 285
15.3 Automatic Guided Vehicles 288
15.4 Space Robotics and the AI Approach 289
15.5 Teleoperation 290
15.6 The Seven Areas of AI 294
Summarization 295
Vocabulary 296
Exercises 297
Text B Three Paradigms of A1 Control for Robots 298
15.7 Robots Primitives 298
15.8 Hierarchical Paradigm 299
15.9 Reactive Paradigm 300
15.10 Hybrid Deliberative/Reactive Paradigm 301
15.11 Architectures 302
Vocabulary 303
Exercises 303
Notes on Science Research English 305
词汇总 311
参考文献 325