數位控制系統

課程目標: 1. 本課程內容為學習數位控制理論與設計方法, 經由應用實例, 建立系統數位控制器設計概念 2. 修課學生能以電腦或微控制器撰寫程式, 實現數位控制器及數位濾波器設計 課程概述如下: 1.類比與數位訊號轉換之數理函數理論發展 2.系統訊號取樣與動態分析 3.動態系統之PID/Lead/Lag/Lead-Lag數位控制器設計與模擬分析軟體使用 4.pole-assignment design and state estimation(系統狀態估測) 4.FIR/IIR 數位濾波器原理,設計與實現 5.Linear Quadratic Optimal Control 6.如何將數位控制器理論設計逐步實現在實際工程系統上 Aim: To provide the students with an understanding of the fundamentals of Digital Control Theory and the theoretical and practical principles for design. To provide guidelines of Digital Controllers and Digital Filters implementation. Intended knowledge outcomes: - Understanding of basic digital control systems and their relationship to continuous systems. - Understanding of controller/filter design methods based on z-plane. Intended skill outcomes: - Transformation from continuous to discrete time domain - Design and implementation of digital controllers (PID,Lead/Lag,Pole-assignment) and digital filters(FIR, IIR)

工程數學 , 自動控制(一) 或 線性控制系統(一) Matlab programming

無備註

Powerpoint 講義配合課本章節進度課堂講課、互動式討論、學生需對課程內容瞭解程度提出簡要說明

學期作業: 課本章節作業選題 考試狀況: 第一次期中考: Chap. 1,2,3、第二次期中考: Chap. 4,5,6,7、期末考(open book):Chap. 8,9,10,12 評量方法: 課後作業及平時學期課中表現20%、第一次期中考20%、第二次期中考35%、期末考25%

• Introduction

  1.Linear Discrete Time Systems 2.The Z-Transform

  講授：

  6

• Signal Sampling and Reconstruction

  1.Star Transform of Ideal Sampler 2.Properties of Star Transform 3.Data Reconstruction: - Zero-Order-Hold/ - First-Order-Hold/ - Interpolation 4.DAC & ADC 5.Sampled-Data Control Systems

  講授：

  6

• Digital Controller Design of Dynamic Systems

  1.Control System Specifications 2.Lag/Lead/PID Digital Controller Design and Implementation 3.Pole-Assignment Design & State Estimation

  講授：

  12

• Signal Dynamic Response and Stability Analysis

  1.Discrete-Time System Stability Analysis (Jury's Stability Test, Root Locus on Z-plane, Bilinear-transform for Routh-Hurwitz Criterion and Bode Diagram) 2.Transport Delay System and the Modified z-transform 3.Discrete State Equation 4.Discrete-Time System Time and Frequency Response 5.Controllability & Observability 6.Discrete State Observers

  講授：

  6

• Digital Filter Structures

  1. Digital Filter Specifications and Structures 2. Window Functions: rectangular/Hamming/Hanning 3. FIR filter Design 4. IIR filter Design ------------------------------- Intended knowledge outcomes: -You should know the difference between FIR and IIR digital filters and their relative advantages and disadvantages. -You should be able to draw the realization (in the form of a signal flow diagram) of an FIR/IIR digital filter in its direct, canonic, series and parallel forms. -You should know how to derive FIR filter coefficients using the Fourier relationship between frequency response and impulse repsonse -You should be able to derive and understand the design of IIR filters using the bilinear z-transform method. You should be able to use this method to design simple IIR filters given in analogue prototype.

  講授：

  12

• Linear Quadratic Optimal Control

  1.The Quadratic Cost Function 2.The Principle Of Optimality 3.Least-Squares Curve Fitting & System Identification

  講授：

  6

• Digital Controller Design and Implementation: Case Study and Design Assignment.

  講授：

  3

Text book: Charles L. Phillips, H. Troy Nagle, “Digital Control System Analysis and Design” Third Edition, Prentice Hall Reference book: -Gene F. Franklin et al, “ Digital Control of Dynamic Systems”, Third edition, -K. Ogata, Discrete-time Control Systems - 2e, Prentice Hall

地點

工程五館 426室

時間

週二 E,F

聯絡方式

EXT:55132 TEL:03 5712121 Email:stonecheng@mail.nctu.edu.tw