In 1965-66 the authors have given courses for AEG engineers in the area of "Industrial Installations". The purpose of the courses was to enable the parti cipants to carry out calculations on feedback control for drive systems. In 1967 these courses were printed under the title "Calculation of Feedback Control Circuits for Drive Systems". This handbook with the same title arises out of the revision of that publication. The scope was extended by the addition of new sections. Today, many specialized books and publications in the area of control technology are available to the reader. Most of them…mehr
In 1965-66 the authors have given courses for AEG engineers in the area of "Industrial Installations". The purpose of the courses was to enable the parti cipants to carry out calculations on feedback control for drive systems. In 1967 these courses were printed under the title "Calculation of Feedback Control Circuits for Drive Systems". This handbook with the same title arises out of the revision of that publication. The scope was extended by the addition of new sections. Today, many specialized books and publications in the area of control technology are available to the reader. Most of them are characterized by a presentation of the mathematical theory of the fundamental concept and pro cedures involved. However, there are few instruction books containing worked examples on the practical application of those procedures. This book is intended to introduce the reader to the practical calculation of feed back control circuits without too much theory. Electric drives were chosen as the area of application. In an instruction book with examples of application, the problem arises of reducing the theoretical treatment of fundamentals and the mathematical deriva tions without gaps arising and without the necessity for consulting additional works of reference. The chosen way may be briefly explained.Hinweis: Dieser Artikel kann nur an eine deutsche Lieferadresse ausgeliefert werden.
1. Normalization.- 2. Signal Flow Diagram.- 3. Open-Loop Control.- 3.1 Basic Concepts.- 3.2 Example of a Calculation.- 4. Basic Concepts and Definitions of Feedback Control.- 4.1 Basic Principle of a Feedback Control.- 4.2 The Feedback Control System.- 4.3 Control Requirements.- 5. Calculation of Feedback Control in the Steady-State.- 5.1 Amplification.- 5.2 Steady-State Closed-Loop Amplification.- 5.3 Additive and Multiplicative Disturbances.- 5.4 Basis of Calculation.- 5.5 Controllable and Noncontrollable Errors.- 5.6 Example.- 6. Basic Mathematics of Dynamic Control.- 6.1 Differential Equations (DE's).- 6.2 Equations of Irrational Elements.- 6.3 Example.- 7. Unit Step Response.- 7.1 Definition.- 7.2 Unit Step Response of Common Control-Circuit Elements.- 7.3 Significance of the unit Step Response.- 8. Sinusoidal Transfer Function.- 8.1 Transformation of DE's into Transfer-Function Equations.- 8.2 Sinusoidal and Laplace Transfer Functions.- 8.3 Transfer Function and Complex AC Analysis.- 8.4 Transfer Functions of Common Control-Circuit Elements.- 8.5 Example.- 9. System Diagram.- 9.1 Symbolic Representation of Control-System Elements.- 9.2 Example.- 10. Conversion of System Diagrams and Transfer Functions.- 10.1 Conversion Rules for Rational Elements.- 10.2 Conversion Rules for Irrational Elements.- 10.3 Negative and Positive Feedback.- 10.4 Resolution of Control-System Elements into P- and I-Elements.- 10.5 Conversion of a TD2-Element.- 11. Stability.- 11.1 Definition.- 11.2 Stability Analysis of Positive Feedback.- 11.3 Stability Criteria.- 11.4 The Nyquist Criterion.- 12. Use of Bode Diagrams.- 12.1 Bode Diagrams.- 12.2 Bode Diagrams of Common Control-System Elements.- 12.3 Rules for Calculation.- 12.4 Curve-Drawing Instrument.- 12.5 Stability Analysis by BodeDiagram.- 13. Stabilization of Control Systems without an I-Element in the Controlled System.- 13.1 P-Controller.- 13.2 I-Controller.- 13.3 PI-Controller.- 13.4 PD-Controller.- 13.5 PID-Controller.- 14. Stabilization of Control Systems with an I-Element in the Controlled System.- 14.1 P- and PD-Controllers.- 14.2 I-Controller.- 14.3 PI-Controller.- 14.4 PID-Controller.- 15. Closed Control Loops.- 15.1 Calculation.- 15.2 Approximation Procedure.- 15.3 Nichols Chart.- 16. Normalized Bode Diagrams and Step Responses.- 16.1 Sum of Small Time Constants.- 16.2 Systems with an I-Element in the Controlled System.- 16.3 System without an I-Element in the Controlled System.- 16.4 Summary.- 17. Improvement of Dynamic Behaviour by Internal Loops.- 18. Programming Control Systems on the Analog Computer.- 18.1 Computer Elements.- 18.2 Basis of Programming.- 18.3 Example.- 19. Programming Control Systems on the Digital Computer.- 19.1 Basic Principle.- 20. Hints on Calculating Bode Diagrams with the Digital Computer.- 20.1 Determination of Amplitude and Phase Angle.- 20.2 Amplitude and Phase Angle of the Most Important Control System Elements.- 21. Connection of Control Amplifiers.- 21.1 Negative Feedback.- 21.2 Basic Connections.- 21.3 Controller Connections.- 21.4 Special Connections.- 21.5 Control Amplifier Errors.- 22. Static and Dynamic Characteristics of Line-Commutated Rectifiers.- 22.1 Static Characteristic.- 22.2 Internal Resistance.- 22.3 Dynamic Behaviour.- 22.4 Representation in the System Diagram.- 23. System Diagram of the dc Drive.- 23.1 System Diagram for Variable Field Excitation.- 23.2 System Diagram for Constant Field Excitation.- 24. Speed Control of a Converter Drive with Current Feedback.- 24.1 Connection Diagram.- 24.2 System Diagram.- 24.3 Current Control.- 24.4 Speed Control.- 24.5 Making Allowance for the EMF-Loop.- 25. Voltage Control of Converter Drives.- 25.1 Simple Voltage Control.- 25.2 Voltage Control with Current Feedback.- 25.3 Comments on the System Diagram.- 26. Control of Ward-Leonard Drives.- 26.1 Speed Control with Current Feedback.- 26.2 Speed Control with Current Feedback and Exciter-Current Control.- 27. Speed Control by Field Weakening.- 28. Control with an Oscillatory Mechanical System.- 28.1 System Diagram of an Undamped Two-Mass System.- 28.2 System Diagram of a Damped Two-Mass System.- 28.3 Bode Diagram and Dynamic Behaviour.- 28.4 Determination of Characteristic Values.- 28.5 Measures to Improve Dynamic Behaviour.- 29. Superimposed Control Systems.- 29.1 Control of Tension.- 29.2 Control of a Loop.- 29.3 Control by Level Gauge.- 29.4 Positional Control.- 30. Adaptive Controllers in Drive Systems.- 30.1 Speed Control by Motor Field Weakening.- 30.2 Control of Converter Drives with Discontinuous and Continuous Armature Current.- 30.3 Adaptive Speed Controller with Variation of the Run-Up Time Constant.- 31. Digital Control.- 31.1 Digital Feedback Control.- 31.2 The z-Transform.- 31.3 The z-Transform Function of a P-, PI- and PID-Controller.- 31.4 Example of a Digital Control.- References.- Fig. 4 Nichols Chart.- Table 4 The most Important Controller Connections.- Table 5 The most Important Control-System Elements.
1. Normalization.- 2. Signal Flow Diagram.- 3. Open-Loop Control.- 3.1 Basic Concepts.- 3.2 Example of a Calculation.- 4. Basic Concepts and Definitions of Feedback Control.- 4.1 Basic Principle of a Feedback Control.- 4.2 The Feedback Control System.- 4.3 Control Requirements.- 5. Calculation of Feedback Control in the Steady-State.- 5.1 Amplification.- 5.2 Steady-State Closed-Loop Amplification.- 5.3 Additive and Multiplicative Disturbances.- 5.4 Basis of Calculation.- 5.5 Controllable and Noncontrollable Errors.- 5.6 Example.- 6. Basic Mathematics of Dynamic Control.- 6.1 Differential Equations (DE's).- 6.2 Equations of Irrational Elements.- 6.3 Example.- 7. Unit Step Response.- 7.1 Definition.- 7.2 Unit Step Response of Common Control-Circuit Elements.- 7.3 Significance of the unit Step Response.- 8. Sinusoidal Transfer Function.- 8.1 Transformation of DE's into Transfer-Function Equations.- 8.2 Sinusoidal and Laplace Transfer Functions.- 8.3 Transfer Function and Complex AC Analysis.- 8.4 Transfer Functions of Common Control-Circuit Elements.- 8.5 Example.- 9. System Diagram.- 9.1 Symbolic Representation of Control-System Elements.- 9.2 Example.- 10. Conversion of System Diagrams and Transfer Functions.- 10.1 Conversion Rules for Rational Elements.- 10.2 Conversion Rules for Irrational Elements.- 10.3 Negative and Positive Feedback.- 10.4 Resolution of Control-System Elements into P- and I-Elements.- 10.5 Conversion of a TD2-Element.- 11. Stability.- 11.1 Definition.- 11.2 Stability Analysis of Positive Feedback.- 11.3 Stability Criteria.- 11.4 The Nyquist Criterion.- 12. Use of Bode Diagrams.- 12.1 Bode Diagrams.- 12.2 Bode Diagrams of Common Control-System Elements.- 12.3 Rules for Calculation.- 12.4 Curve-Drawing Instrument.- 12.5 Stability Analysis by BodeDiagram.- 13. Stabilization of Control Systems without an I-Element in the Controlled System.- 13.1 P-Controller.- 13.2 I-Controller.- 13.3 PI-Controller.- 13.4 PD-Controller.- 13.5 PID-Controller.- 14. Stabilization of Control Systems with an I-Element in the Controlled System.- 14.1 P- and PD-Controllers.- 14.2 I-Controller.- 14.3 PI-Controller.- 14.4 PID-Controller.- 15. Closed Control Loops.- 15.1 Calculation.- 15.2 Approximation Procedure.- 15.3 Nichols Chart.- 16. Normalized Bode Diagrams and Step Responses.- 16.1 Sum of Small Time Constants.- 16.2 Systems with an I-Element in the Controlled System.- 16.3 System without an I-Element in the Controlled System.- 16.4 Summary.- 17. Improvement of Dynamic Behaviour by Internal Loops.- 18. Programming Control Systems on the Analog Computer.- 18.1 Computer Elements.- 18.2 Basis of Programming.- 18.3 Example.- 19. Programming Control Systems on the Digital Computer.- 19.1 Basic Principle.- 20. Hints on Calculating Bode Diagrams with the Digital Computer.- 20.1 Determination of Amplitude and Phase Angle.- 20.2 Amplitude and Phase Angle of the Most Important Control System Elements.- 21. Connection of Control Amplifiers.- 21.1 Negative Feedback.- 21.2 Basic Connections.- 21.3 Controller Connections.- 21.4 Special Connections.- 21.5 Control Amplifier Errors.- 22. Static and Dynamic Characteristics of Line-Commutated Rectifiers.- 22.1 Static Characteristic.- 22.2 Internal Resistance.- 22.3 Dynamic Behaviour.- 22.4 Representation in the System Diagram.- 23. System Diagram of the dc Drive.- 23.1 System Diagram for Variable Field Excitation.- 23.2 System Diagram for Constant Field Excitation.- 24. Speed Control of a Converter Drive with Current Feedback.- 24.1 Connection Diagram.- 24.2 System Diagram.- 24.3 Current Control.- 24.4 Speed Control.- 24.5 Making Allowance for the EMF-Loop.- 25. Voltage Control of Converter Drives.- 25.1 Simple Voltage Control.- 25.2 Voltage Control with Current Feedback.- 25.3 Comments on the System Diagram.- 26. Control of Ward-Leonard Drives.- 26.1 Speed Control with Current Feedback.- 26.2 Speed Control with Current Feedback and Exciter-Current Control.- 27. Speed Control by Field Weakening.- 28. Control with an Oscillatory Mechanical System.- 28.1 System Diagram of an Undamped Two-Mass System.- 28.2 System Diagram of a Damped Two-Mass System.- 28.3 Bode Diagram and Dynamic Behaviour.- 28.4 Determination of Characteristic Values.- 28.5 Measures to Improve Dynamic Behaviour.- 29. Superimposed Control Systems.- 29.1 Control of Tension.- 29.2 Control of a Loop.- 29.3 Control by Level Gauge.- 29.4 Positional Control.- 30. Adaptive Controllers in Drive Systems.- 30.1 Speed Control by Motor Field Weakening.- 30.2 Control of Converter Drives with Discontinuous and Continuous Armature Current.- 30.3 Adaptive Speed Controller with Variation of the Run-Up Time Constant.- 31. Digital Control.- 31.1 Digital Feedback Control.- 31.2 The z-Transform.- 31.3 The z-Transform Function of a P-, PI- and PID-Controller.- 31.4 Example of a Digital Control.- References.- Fig. 4 Nichols Chart.- Table 4 The most Important Controller Connections.- Table 5 The most Important Control-System Elements.
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