系統(tǒng)建模與仿真（雙語(yǔ)版）

第1章 MATLAB基礎(chǔ)知識(shí)\t1
1．1 MATLAB入門\t2
1．1．1 輸入矩陣\t2
1．1．2 求和、轉(zhuǎn)置和對(duì)角線\t3
1．1．3 下標(biāo)\t4
1．1．4 冒號(hào)運(yùn)算符\t4
1．1．5 魔方陣函數(shù)\t5
1．2 表達(dá)式\t5
1．2．1 變量\t5
1．2．2 數(shù)字\t5
1．2．3 運(yùn)算符\t5
1．2．4 函數(shù)\t6
1．3 矩陣操作\t7
1．3．1 生成矩陣\t7
1．3．2 M文件\t7
1．3．3 連接\t7
1．3．4 刪除行和列\(zhòng)t8
1．4 命令窗口與常用函數(shù)\t8
1．4．1 格式命令與長(zhǎng)命令行\(zhòng)t8
1．4．2 隱藏輸出\t9
1．4．3 命令行編輯\t9
1．4．4 常用基本函數(shù)\t10
1．4．5 常用進(jìn)階函數(shù)\t11
1．5 繪圖\t13
1．5．1 創(chuàng)建一個(gè)圖\t13
1．5．2 圖形窗口\t14
1．5．3 添加圖形至現(xiàn)有的圖\t15
1．5．4 繪制子圖\t15
1．5．5 隱函數(shù)繪圖\t16
1．5．6 軸的控制\t16
1．5．7 軸標(biāo)記和標(biāo)題\t17
1．5．8 plot3和mesh\t18
1．5．9 圖像\t19
本章小結(jié)\t20
Chapter 1 Basics of MATLAB\t21
1．1 Introduction to MATLAB\t22
1．1．1 Entering Matrices\t22
1．1．2 Sum， Transpose， and Diagonal\t23
1．1．3 Subscripts\t24
1．1．4 The Colon Operator\t24
1．1．5 The Magic Function\t25
1．2 Expressions\t25
1．2．1 Variables\t25
1．2．2 Numbers\t26
1．2．3 Operators\t26
1．2．4 Functions\t26
1．3 Operation with Matrices\t27
1．3．1 Generating Matrices\t27
1．3．2 M-Files\t27
1．3．3 Concatenation\t28
1．3．4 Deleting Rows and Columns\t28
1．4 The Command Window and Commonly Used Functions\t29
1．4．1 The Format Command and Long Command Lines\t29
1．4．2 Suppressing Output\t30
1．4．3 Command Line Editing\t30
1．4．4 Commonly Used Basic Functions\t30
1．4．5 Commonly Used Advanced Functions\t32
1．5 Graphics\t34
1．5．1 Creating a Plot\t34
1．5．2 Figure Windows\t36
1．5．3 Adding Plots to an Existing Graph\t36
1．5．4 Subplots\t36
1．5．5 Ezplot\t37
1．5．6 Axes Control\t38
1．5．7 Axis Labels and Titles\t38
1．5．8 plot3 and mesh\t39
1．5．9 Images\t40
Summary\t41
生詞注解\t41
第2章 MATLAB編程\t43
2．1 流控制\t44
2．1．1 if語(yǔ)句\t44
2．1．2 for和while語(yǔ)句\t44
2．1．3 break語(yǔ)句\t45
2．1．4 switch和case\t46
2．2 腳本\t46
2．3 函數(shù)\t47
2．4 編程實(shí)例\t51
本章小結(jié)\t55
Chapter 2 MATLAB Programming\t56
2．1 Flow Control\t57
2．1．1 if Statements\t57
2．1．2 for and while Statement\t57
2．1．3 break Statements\t58
2．1．4 switch and case\t59
2．2 Scripts\t59
2．3 Functions\t61
2．4 Examples\t65
Summary\t68
生詞注解\t68
第3章 控制系統(tǒng)的傳遞函數(shù)模型\t69
3．1 線性定常系統(tǒng)簡(jiǎn)介\t70
3．2 線性定常系統(tǒng)的傳遞函數(shù)\t70
3．2．1 簡(jiǎn)介\t70
3．2．2 定義\t70
3．2．3 相關(guān)說明\t71
3．3 基于MATLAB的傳遞函數(shù)描述\t72
3．3．1 傳遞函數(shù)的降冪排列標(biāo)準(zhǔn)形式\t72
3．3．2 傳遞函數(shù)的零極點(diǎn)模型\t74
3．3．3 傳遞函數(shù)的部分分式展開\t79
3．4 結(jié)構(gòu)圖的連接與化簡(jiǎn)\t80
3．4．1 相關(guān)函數(shù)\t81
3．4．2 連接與化簡(jiǎn)實(shí)例\t81
3．5 建模與仿真實(shí)例\t83
3．5．1 RLC電路的傳遞函數(shù)建模\t84
3．5．2 RLC電路的仿真分析\t84
3．5．3 機(jī)械位移系統(tǒng)的傳遞函數(shù)建模\t85
3．5．4 機(jī)械位移系統(tǒng)的仿真分析\t86
本章小結(jié)\t87
Chapter 3 Transfer Function Model of Control System\t88
3．1 Introduction to Linear Time-Invariant Systems\t89
3．2 Transfer Function of Linear Time-Invariant Systems\t89
3．2．1 Introduction\t89
3．2．2 Definition\t90
3．2．3 Related Instructions\t90
3．3 Transfer Function Description in MATLAB\t91
3．3．1 Standard Form in Descending Power of Transfer Functions\t92
3．3．2 The Zero-Pole Model of Transfer Function\t94
3．3．3 Partial-Fraction Expansion of Transfer Function\t99
3．4 Connection and Simplification of Structure Diagram\t101
3．4．1 Related Functions\t101
3．4．2 Examples of Connection and Simplification\t102
3．5 Modeling and Simulation Examples\t104
3．5．1 Transfer Function Modeling of an RLC Circuit\t104
3．5．2 Simulation Analysis of an RLC Circuit\t105
3．5．3 Transfer Function Modeling of a Mechanical Displacement System\t106
3．5．4 Simulation Analysis of a Mechanical Displacement System\t107
Summary\t108
生詞注解\t108
第4章 狀態(tài)空間模型\t109
4．1 狀態(tài)空間描述\t110
4．1．1 現(xiàn)代控制理論\t110
4．1．2 現(xiàn)代控制理論與傳統(tǒng)控制理論的比較\t110
4．1．3 狀態(tài)\t110
4．1．4 狀態(tài)變量\t110
4．1．5 狀態(tài)向量\t111
4．1．6 狀態(tài)空間\t111
4．1．7 狀態(tài)空間方程\t111
4．2 MATLAB中的狀態(tài)空間模型\t112
4．2．1 狀態(tài)空間模型相關(guān)的MATLAB函數(shù)\t112
4．2．2 運(yùn)用函數(shù)建立狀態(tài)空間模型\t113
4．3 模型間的轉(zhuǎn)換\t116
4．3．1 實(shí)現(xiàn)模型之間轉(zhuǎn)換的MATLAB函數(shù)\t116
4．3．2 模型之間的轉(zhuǎn)換實(shí)例\t116
4．3．3 狀態(tài)空間模型的化簡(jiǎn)\t120
4．4 RLC電路及機(jī)械位移系統(tǒng)\t125
4．4．1 RLC電路的狀態(tài)空間建模\t125
4．4．2 RLC電路的仿真分析\t126
4．4．3 機(jī)械位移系統(tǒng)的狀態(tài)空間建模\t127
4．4．4 機(jī)械位移系統(tǒng)的仿真分析\t128
本章小結(jié)\t129
Chapter 4 State-Space Modeling\t130
4．1 State-Space Description\t131
4．1．1 Modern Control Theory\t131
4．1．2 Modern Control Theory Versus Conventional Control Theory\t131
4．1．3 State\t131
4．1．4 State Variables\t131
4．1．5 State Vector\t132
4．1．6 State Space\t132
4．1．7 State-Space Equations\t132
4．2 State-Space Model in MATLAB\t133
4．2．1 MATLAB Functions Related to State-Space Model\t133
4．2．2 Create State-Space Model by Using Functions\t134
4．3 Conversions Between Models\t137
4．3．1 Functions Related to Conversions Between Models\t138
4．3．2 Examples of conversion Between Models\t138
4．3．3 Simplification of State-Space Models\t141
4．4 RLC Circuits and Mechanical Displacement Systems\t147
4．4．1 State-Space Modeling of RLC Circuit\t147
4．4．2 Simulation Analysis of an RLC Circuit\t148
4．4．3 State-Space Modeling of Mechanical Displacement Systems\t149
4．4．4 Simulation Analysis A Mechanical Displacement System\t151
Summary\t152
生詞注解\t152
第5章 雙容水箱液位系統(tǒng)建模\t153
5．1 建模方法簡(jiǎn)介\t154
5．2 雙容水箱液位系統(tǒng)\t154
5．3 假設(shè)\t155
5．3．1 壓縮性\t155
5．3．2 粘度\t155
5．3．3 無旋流\t155
5．3．4 穩(wěn)定流動(dòng)\t155
5．4 運(yùn)動(dòng)微分方程\t155
5．5 線性化和傳遞函數(shù)\t157
5．5．1 線性化\t157
5．5．2 傳遞函數(shù)模型\t160
5．6 求解與仿真分析\t161
5．6．1 解析解\t161
5．6．2 仿真分析\t162
本章小結(jié)\t166
Chapter 5 Modeling of a Double-Tank System\t167
5．1 Introduction to Modeling Methods\t168
5．2 A Double Tank System\t168
5．3 Assumptions\t169
5．3．1 Compressibility\t169
5．3．2 Viscosity\t169
5．3．3 Irrotational Flow\t170
5．3．4 Steady Flow\t170
5．4 Differential Equations of Motion\t170
5．5 Linearization and Transfer Functions\t172
5．5．1 Linearization\t172
5．5．2 Transfer Function Model\t175
5．6 Solution and Simulation Analysis\t176
5．6．1 Analytical Solution\t176
5．6．2 Simulation Analysis\t177
Summary\t182
生詞注解\t182
第6章 控制系統(tǒng)的穩(wěn)定性\t183
6．1 穩(wěn)定性的定義和判定\t184
6．1．1 系統(tǒng)穩(wěn)定性\t184
6．1．2 MATLAB中穩(wěn)定判斷的函數(shù)\t185
6．1．3 穩(wěn)定判斷實(shí)例\t185
6．2 勞斯穩(wěn)定判據(jù)\t189
6．3 人控制的自行車\t190
6．3．1 控制要求及參數(shù)分析\t191
6．3．2 穩(wěn)定性分析\t192
6．3．3 擾動(dòng)響應(yīng)分析\t195
6．3．4 速度影響分析\t196
本章小結(jié)\t198
Chapter 6 Stability of Control System\t199
6．1 Definition and Judgment of Stability\t200
6．1．1 Stability of System\t200
6．1．2 Functions for Stability Judgment in MATLAB\t201
6．1．3 Instances of Stability Judgment\t201
6．2 Routh’s Stability Criterion\t206
6．3 Human-Controlled Bicycle\t207
6．3．1 Control Requirements and Parameter Analysis\t208
6．3．2 Stability Analysis\t209
6．3．3 Disturbance Response Analysis\t212
6．3．4 Analysis of Speed Effect\t213
Summary\t215
生詞注解\t215
第7章 系統(tǒng)性能的實(shí)例分析\t216
7．1 典型的輸入信號(hào)與時(shí)域的性能指標(biāo)\t217
7．1．1 典型的輸入信號(hào)\t217
7．1．2 時(shí)域的性能指標(biāo)\t217
7．1．3 仿真分析函數(shù)\t218
7．2 穩(wěn)態(tài)誤差\t219
7．3 飛機(jī)飛行期間的波動(dòng)控制\t220
7．3．1 FV控制系統(tǒng)分析\t220
7．3．2 穩(wěn)態(tài)誤差分析\t222
7．3．3 暫態(tài)響應(yīng)\t223
7．3．4 擾動(dòng)響應(yīng)\t227
本章小結(jié)\t228
Chapter 7 Case Analysis of System Performance\t230
7．1 Typical Input Signals and the Time-Domain Specifications\t231
7．1．1 Typical Input Signals\t231
7．1．2 The Time-Domain Specifications\t231
7．1．3 Simulation Analysis Functions\t233
7．2 Steady-State Error\t233
7．3 Fluctuation Control During Airplane Flight\t234
7．3．1 Analysis of FV Control Systems\t235
7．3．2 Analysis of Steady-State Error\t237
7．3．3 Transient Response\t238
7．3．4 Disturbance Response\t242
Summary\t244
生詞注解\t244
第8章 主導(dǎo)極點(diǎn)法的PID控制器設(shè)計(jì)實(shí)例\t245
8．1　PID控制器的概念\t246
8．2　比例與積分控制的作用\t246
8．2．1　比例控制下的誤差\t247
8．2．2　消除積分控制中的穩(wěn)態(tài)誤差\t249
8．3　比例與微分的控制作用\t250
8．3．1　比例控制的不穩(wěn)定性\t250
8．3．2　比例微分控制的穩(wěn)定性\t252
8．4　PID控制器\t254
8．5　閉環(huán)主導(dǎo)極點(diǎn)\t257
8．5．1　閉環(huán)主導(dǎo)極點(diǎn)概念\t257
8．5．2　閉環(huán)主導(dǎo)極點(diǎn)的設(shè)定\t257
8．6　下棋機(jī)器人\t260
8．6．1　控制器選擇\t261
8．6．2　控制器設(shè)計(jì)\t261
8．6．3　系統(tǒng)仿真\t264
本章小結(jié)\t269
Chapter 8 Example-s of PID Controller Design by Dominant Poles\t270
8．1　Concept of PID Controller\t271
8．2　Proportional and Integral Control Action\t271
8．2．1　Error Under Proportional Control\t272
8．2．2　Eliminating Steady-State Error in Integral Control\t274
8．3　Proportional and Integral Control Action\t275
8．3．1　Instability of Proportional Control\t276
8．3．2　Stability of Proportional and Differential Control\t277
8．4 PID Controller\t280
8．5 Dominant Closed-Loop Poles\t283
8．5．1 Basic Concept\t283
8．5．2 Setting of Dominant Closed-Loop Poles\t284
8．6 Chess Robot\t287
8．6．1 Controller Selection\t288
8．6．2 Controller Design\t288
8．6．3 System Simulation\t292
Summary\t297
生詞注解\t298
第9章 簡(jiǎn)單系統(tǒng)的Simulink建模實(shí)例\t299
9．1 Simulink軟件入門\t300
9．1．1 啟動(dòng)Simulink軟件\t300
9．1．2 Simulink的用戶界面\t300
9．1．3　Simulink模型窗口\t302
9．2　建立簡(jiǎn)單模型\t302
9．2．1　創(chuàng)建一個(gè)新模型\t303
9．2．2　添加模塊到空白模型窗口\t303
9．2．3　在模型窗口中移動(dòng)模塊\t305
9．2．4　連接模型窗口中的模塊\t305
9．2．5　保存模型\t307
9．3　RLC電路模型仿真\t308
本章小結(jié)\t311
Chapter 9　Simulink Modeling Examples for Simple Systems\t312
9．1　Introduction to Simulink Software\t313
9．1．1　Starting Simulink Software\t313
9．1．2　Simulink User Interface\t314
9．1．3　Simulink Model Window\t315
9．2　Creating a Simple Model\t316
9．2．1　Creating a New Model\t316
9．2．2　Adding Blocks to Your Model\t317
9．2．3 Moving Blocks in the Model Window\t318
9．2．4 Connecting Blocks in the Model Window\t319
9．2．5 Saving the Model\t321
9．3 RLC Circuit Model Simulation\t321
Summary\t324
生詞注解\t325
第10章　房屋加熱系統(tǒng)建模實(shí)例\t326
10．1 創(chuàng)建和封裝子系統(tǒng)\t327
10．1．1 創(chuàng)建子系統(tǒng)\t327
10．1．2 封裝Subsystem\t328
10．2 房屋加熱模型剖析\t331
10．2．1 打開演示模型\t331
10．2．2 剖析模型\t331
10．2．3 子系統(tǒng)模型的使用\t332
10．3　房屋熱力系統(tǒng)模型\t334
10．3．1　概述\t334
10．3．2　房屋加熱模型的構(gòu)成\t336
10．3．3　運(yùn)行仿真并觀察結(jié)果\t338
10．3．4　注釋\t339
本章小結(jié)\t339
Chapter 10　Modeling the House Heating System\t340
10．1　Creating and Masking Subsystems\t341
10．1．1　Creating Subsystems\t341
10．1．2 Masking Subsystems\t342
10．2 Anatomy of the House Heating Model\t346
10．2．1 Opening the Demo Model\t346
10．2．2 Anatomy of the Model\t346
10．2．3 Using Subsystems\t347
10．3 Thermal Model of a House\t349
10．3．1 Introduction\t349
10．3．2 The House Heating Model Components\t349
10．3．3 Running the Simulation and Visualizing the Results\t353
10．3．4 Remarks\t353
Summary\t354
生詞注解\t354