Page 392 - Mechanical Engineers' Handbook (Volume 2)

Mechanical Engineers’ Handbook: Instrumentation, Systems, Controls, and MEMS, Volume 2, Third Edition.

Edited by Myer Kutz

Copyright  2006 by John Wiley & Sons, Inc.

CHAPTER 11
BASIC CONTROL SYSTEMS DESIGN
William J. Palm III
Department of Mechanical Engineering
University of Rhode Island
Kingston, Rhode Island
1 INTRODUCTION 383 7.3 The Ziegler–Nichols Rules 412
7.4 Nonlinearities and
2 CONTROL SYSTEM Controller Performance 413
STRUCTURE 386 7.5 Reset Windup 414
2.1 A Standard Diagram 386
2.2 Transfer Functions 388 8 COMPENSATION AND
2.3 System-Type Number and ALTERNATIVE CONTROL
Error Coefficients 388 STRUCTURES 414
8.1 Series Compensation 415
3 TRANSDUCERS AND ERROR 8.2 Feedback Compensation
DETECTORS 389 and Cascade Control 415
3.1 Displacement and Velocity 8.3 Feedforward Compensation 415
Transducers 389 8.4 State-Variable Feedback 417
3.2 Temperature Transducers 391 8.5 Pseudoderivative Feedback 418
3.3 Flow Transducers 391
3.4 Error Detectors 392 9 GRAPHICAL DESIGN
3.5 Dynamic Response of METHODS 418
Sensors 392 9.1 The Nyquist Stability
Theorem 419
4 ACTUATORS 392 9.2 Systems with Dead-Time
4.1 Electromechanical Elements 420
Actuators 392 9.3 Open-Loop Design for
4.2 Hydraulic Actuators 394 PID Control 420
4.3 Pneumatic Actuators 396 9.4 Design with the Root Locus 421
5 CONTROL LAWS 399 10 PRINCIPLES OF DIGITAL
5.1 Proportional Control 399 CONTROL 424
5.2 Integral Control 401 10.1 Digital Controller Structure 425
5.3 Proportional-plus-Integral 10.2 Digital Forms of PID
Control 403 Control 425
5.4 Derivative Control 404
5.5 PID Control 405 11 UNIQUELY DIGITAL
ALGORITHMS 427
6 CONTROLLER HARDWARE 405 11.1 Digital Feedforward
6.1 Feedback Compensation Compensation 427
and Controller Design 405 11.2 Control Design in the
6.2 Electronic Controllers 406 z-Plane 428
6.3 Pneumatic Controllers 407 11.3 Direct Design of Digital
6.4 Hydraulic Controllers 407 Algorithms 432
7 FURTHER CRITERIA FOR 12 HARDWARE AND
GAIN SELECTION 409 SOFTWARE FOR DIGITAL
7.1 Performance Indices 410 CONTROL 433
7.2 Optimal-Control Methods 411

Revised from William J. Palm III, Modeling, Analysis and Control of Dynamic Systems, 2nd ed., Wiley,
2000, by permission of the publisher.

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