Introduction to Control System Performance Measurements

Preface


1. Introductory


1.1. Introduction


1.2. Linear Systems


1.3. The Mathematical Model


1.4. The System Transfer Function


1.5. Feedback Control Systems


1.6. Block Diagrams


1.7. Some Performance Criteria

Reference


2. Transducers


2.1. Requirements


2.2. Electrical Displacement Transducers


2.3. Potentiometer Devices


2.4. Linearity Error


2.5. Inductive Devices


2.6. A.C. Angular Pick-Offs


2.7. Rectilinear A.C. Pick-Offs


2.8. Capacitance Pick-Offs


2.9. Electrical Transducers for Measuring Angular Velocity


2.10. D.C. Tachometers


2.11. A.C. Induction Tachometer (Drag Cup Generator)


2.12. Acceleration Transducers (Accelerometers) (Vibration Transducers)


2.13. Pressure Transducers


2.14. Pneumatic Signal Transducers (Mechanical Displacement to Pressure)


2.15. Electrical to Pneumatic Pressure Transducer


2.16. D.C. Torque Motors

References


3. Excitation


3.1. Requirements


3.2. Aperiodic Waveform Generation


3.3. Use of Operational Amplifiers


3.4. Low-Frequency Sinusoidal Waveform Generators


3.5. Diode Function Generator Method


3.6. Double Integrator Methods


3.7. Controlled Phase-Shift Oscillator


3.8. Electromechanical Sine-Wave Generators


3.9. Digital Incremental Oscillator

References


4. Recording and Display


4.1. Requirements


4.2. Chart Pen Recorders


4.3. Optical Galvanometer Recorders


4.4. Cathode-Ray Oscilloscopes (CRO)

Reference


5. Interpretation of Trace Recordings


5.7. The Time-Base


5.2. Amplitude Scale


5.3. Phase Measurement from Trace Recordings


5.4. CRO Display Phase-Measuring Methods


5.5. Transient Methods


5.6. Phase-Plane Display


5.7. A Sum-and-Difference Graticule Method

References


6. Transfer Function Analyzers


6.1. Introduction


6.2. Reference and Quadrature Components


6.3. The Filtering Method


6.4. The Finite Integration Method


6.5. Sine-Cosine Potentiometer Method


6.6. Display Methods


6.7. The Application of Analogue Computer Methods


6.8. Parameter Evaluation with Computers

References


7. Interpretation of Harmonic Response Diagrams


7.1. The Value of Graphical Frequency Response Data


7.2. Use of Log-Modulus/Phase (Bode) Diagrams


7.3. The Asymptote Method


7.4. Use of Constant-Phase Amplitude-Ratio Loci (Nichols Chart)


7.5. Parametric Formulae for the Evaluation of Nichols Plots

References


8. Statistical Methods


8.1. Non-Deterministic Signals


8.2. The Notion of Probability


8.3. Stochastic Processes


8.4. Graphical Evaluation of the Auto-Correlation Function


8.5. Automatic Auto-Correlation


8.6. Harmonic Representation


8.7. Measurement of Power Spectrum


8.8. Relationship Between Power Spectra and Correlation Functions


8.9. Use of Random Signals to Measure System Performance


8.10. Generation of Random Functions


8.11. Digital Pseudo-Random Waveform Generator

References


9. Adaptive Techniques


9.1. The Process of Adaptation


9.2. Optimization


9.3. Invariant Self-Adaptive Systems


9.4. Self-Optimizing Systems


9.5. Use of Networks Based on Orthogonal Functions


9.6. Some Model Adjustment Strategies


9.7. Method of Steepest Descent


9.8. Approximate Steepest Descent Methods


9.9. Two-Error Computation Methods


9.10. Sensitivity Coefficients


9.11. Measurements on Human Operators

References

Appendix 1. Power and Voltage Ratios Expressed as Decibels

Appendix 2. Cartesian to Polar Conversion Aids

Appendix 3. Units Conversion Tables

Index