1. Automatic Control Theory School of Automation NWPU Teaching Group of Automatic Control Theory

2. Exercises(6) 2 — 11, 12, 13 Automatic Control Theory

3. （ Lecture 6 ） Chapter 2 Mathematical Models of Control Systems §2.1 Introduction §2.2 Time-Domain Mathematical Models of Control Systems §2.3 Complex Domain Mathematical Models of Control Systems §2.4 Block Diagrams of Control Systems §2.5 Signal Flow Graphs of Control Systems §2.6 Transfer Functions of control systems

4. §2.3.2 Transfer Functions for Common Components of Control Systems （ 1 ） Potentiometer （ 2 ） Bridge type error angle detector （ 3 ） Synchro （ 4 ） Tachogenerator （ AC ， DC ） （ 5 ） Armature control DC motor （ 6 ） Two-phase Asynchronous Motor （ 7 ） Gear train Review （ 1 ）

5. §2.3.3 Basic Factors （ 1 ） Gain 比例环节 （ 2 ） Derivative factor 微分环节 （ 3 ） Integral factor 积分环节 （ 4 ） First-order factor 惯性环节 （ 5 ） Quadratic factor 振荡环节 （ 6 ） Reciprocal first-order factor 一阶复合微分 （ 7 ） Reciprocal second-order factor 二阶复合微分 Review （ 2 ）

6. Mathematical model of control system

7. §2.4 Block Diagrams of Control Systems (1) §2.4.1 结构图的组成及绘制 Working Principle Component Block Diagram Differential Equation Block Diagram L -1 G i(s)

8. §2.4 Block Diagrams of Control Systems (2) Feedback: Example 1 X-Y recorder Amplifier: Motor: Reducer: Sheave: : Bridge: Tachometer:

9. : Electromagnetic torque: Armature electromotive-force : : Armature loop: The torque balance: Example 2 Armature-controlled DC motor The block diagram of DC motor §2.4 Block Diagrams of Control Systems (3)

10. §2.4.2 Block diagram transformation Examples §2.4 Block Diagrams of Control Systems (3)

11. Exercises(6) 2 — 11, 12, 13 Automatic Control Theory