《SERVOMECHANISMS》

PART Ⅰ3

CHAPTER 1.Introduction3

1.1The Background of Automatic Control3

1.2 The Functions of a Human Operator4

1.3 Replacing the Human Operator4

1.4 The Behaviour of a Simple Servomechanism6

1.5 The Problem of Sta?ilisation7

1.6 Closed-Loop Systems as Regulators9

1.7 Open-Loop Control Systems10

1.8 Two Important Equations and a Definition13

Notes22

CHAPTER 2.Data Transmission23

2.1Introduction23

2.2 D.C.Systems25

2.3 A.C.Systems30

2.4 Miscellaneous Systems35

2.5 Error Measurement38

Notes43

CHAPTER 3.Data Computation45

3.1Introduction45

3.2 Digital Machines47

3.3 Analogue Computers:Some Non-Mathematical Considerations51

3.4 Mathematical Operations55

3.5 The Solution of Explicit Equations:Function Generation65

3.6 The Solution of Implicit Equations70

3.7 The Solution of Differential Equations73

3.8 Simulators74

Notes76

PART Ⅱ79

CHAPTER 4.Stability and Performance79

4.1Systems with Viscous Damping and Velocity Damping79

4.2 Error-Rate or Derivative Damping83

4.3 Transient Velocity Damping85

4.4 Stabilisation by the Insertion of a Network86

4.5 Integral Control89

4.6 The Classification of Servomechanisms92

4.7 Class O Systems:Regulators96

Notes101

CHAPTER 5.Feedback Amplifiers103

5.1Introduction103

5.2 Negative Feedback Amplifiers105

5.3 The Stability of Feedback Amplifiers117

Notes118

CHAPTER 6.D.C.Machines119

6.1General Principles119

6.2 The D.C.Motor and Load123

6.3 The D.C.Generator128

6.4 Circuit Principles131

6.5 Some Common Machine Combinations136

Notes141

CHAPTER 7.Multistage Rotary Amplifiers142

7.1Introduction142

7.2 The Amplidyne and Metadyne143

7.3 The Magnicon148

7.4 The Rototrol152

7.5 The Magnavolt154

7.6 Summary157

Notes158

CHAPTER 8.Static Amplifiers160

8.1Introduction160

8.2 Single-sided Amplifiers with Feedback161

8.3 Push-pull Amplifiers167

8.4 Direct-Coupled Amplifiers171

8.5 Power Amplifiers174

Notes182

CHAPTER 9.Phase-Sensitive Rectifiers184

9.1Introduction184

9.2 Multiplicative Rectifiers184

9.3 Additive Rectifiers189

9.4 Sampling Rectifiers190

CRAFTER 10.Miscellaneous Drives193

10.1D.C.Motors193

10.2 A.C.Motors197

10.3 Intermittent Drives198

10.4 Clutch Drives200

10.5 Restricted Motion Motors200

Notes204

CHAPTER 11.Hydraulic Systems205

11.1Motors and Pumps205

11.2 Constant-Pressure Systems208

11.3 Analysis of the Hydraulic Drive213

11.4 Pneumatic Systems216

CHAPTER 12.Non-Linearity218

12.1The Meaning of Linearity218

12.2 Large-Signal Non-Linearities220

12.3 Small-Signal Non-Linearities229

Notes233

CHAPTER 13.Setting up the Equations of Motion234

13.1Setting up the System Equations234

13.2 Orderliness and Explicitness are Essential240

13.3 An Examplc240

PART Ⅲ249

Introduction to Part Ⅲ249

CHAPTER 14.Properties of Linear Systems251

14.1Some Theorems of Fundamental Importance251

14.2 The"Classical"Method of Solution of Differential Equations253

14.3 Stability255

14.4 Driving Functions256

14.5 The Superposition Integral257

CHAPTER 15.The Theory of the Complex Variable262

15.1Complex Numbers262

15.2 Functions of the Complex Variable265

15.3 Complex Integration273

Notes278

CHAPTER 16.The Laplace Transform279

16.1Introduction279

16.2 The Fourier-Mellin Theorem280

16.3 Transforms of Some Operations281

16.4 Transforms of Some Simple Time-Functions285

16.5 Inverse Transformation287

16.6 The Use of the Laplace Transform to Solve Differential Equations289

Notes292

CHAPTER 17.The Transient and Steady-State Harmonic Response of Linear Systems294

17.1Transforming the Basic Equation294

17.2 The Impulse Response295

17.3 Stability and Performance302

17.4 The Steady-State Harmonic Response of Linear Systems307

Notes318

CHAPTER 18.The Transient Response of Closed-Loop Systems320

18.1Introduction320

18.2 The Root-Locus Method321

18.3 Interpreting the Root-Locus Diagram328

18.4 Designing a Servomechanism with the Aid of a Root-Locus Diagram330

18.5 An Example332

18.6 Conclusions338

Notes339

CHAPTER 19.The Steady-State Harmonic Response of Closed-Loop Systems340

19.1Determining the Closed-Loop Response from the Open-Loop Response340

19.2 Stability344

19.3 Designing for Adequate Stability350

19.4 Relations between Magnification and Phase-Shift354

19.5 The Ideal Feedback Characteristic361

19.6 An Example364

19.7 Conclusions373

Notes375

Appendix378

Ⅰ.Determination of the Roots of Polynomial Equations378

Ⅱ.The Rules of Complex Algebra380

Ⅲ.Short Table of Transform Pairs382

Ⅳ.Table of Values of Magnification and Phase-Shift383

Problems385

Answers to Problems401

References408

Index413