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第68行： − + − − 同样 “ 反馈控制系统是一种系统，通过比较这些变量的功能并将该差异用作控制手段，趋于保持一个系统变量与另一个系统变量之间的规定关系。” [14] − − − The definition of a closed loop control system according to the British Standard Institution is "a control system possessing monitoring feedback, the deviation signal formed as a result of this feedback being used to control the action of a final control element in such a way as to tend to reduce the deviation to zero." <ref>{{cite book|title= The Origins of Feedback Control|last=Mayr|first= Otto| author-link= Otto Mayr |year= 1970 − − The definition of a closed loop control system according to the British Standard Institution is "a control system possessing monitoring feedback, the deviation signal formed as a result of this feedback being used to control the action of a final control element in such a way as to tend to reduce the deviation to zero." <ref>{{cite book|title= The Origins of Feedback Control|last=Mayr|first= Otto| author-link= Otto Mayr |year= 1970 − − 根据英国标准制度，闭环控制系统的定义是“一个具有监控反馈的控制系统，这种反馈产生的偏差信号被用来控制最终控制元件的动作，从而使偏差趋于零。”反馈控制的起源 | 去年5月 | 第一任 Otto | 作者链接 Otto Mayr | 1970年 − − |publisher =The Colonial Press, Inc.|location= Clinton, MA USA|isbn= |pages=}}</ref>+ − − | 出版商 The Colonial Press，inc. | location Clinton，MA USA | isbn | pages } / ref − − − − − − Likewise; "A ''Feedback Control System'' is a system which tends to maintain a prescribed relationship of one system variable to another by comparing functions of these variables and using the difference as a means of control."<ref>{{cite book|title= The Origins of Feedback Control|last=Mayr|first= Otto| author-link= Otto Mayr |year= 1969|publisher =The Colonial Press, Inc.|location= Clinton, MA USA|isbn= |pages=}}</ref> − − Likewise; "A Feedback Control System is a system which tends to maintain a prescribed relationship of one system variable to another by comparing functions of these variables and using the difference as a means of control." − − 同样，“反馈控制系统是一个倾向于通过比较一个系统变量的功能和使用差异作为一种控制手段来维持一个系统变量与另一个系统变量的规定关系的系统。” − − − − − − ===Other examples=== − − ===Other examples=== − − 其他例子 − − An example of a control system is a car's [[cruise control]], which is a device designed to maintain vehicle speed at a constant ''desired'' or ''reference'' speed provided by the driver. The ''controller'' is the cruise control, the ''plant'' is the car, and the ''system'' is the car and the cruise control. The system output is the car's speed, and the control itself is the engine's [[throttle]] position which determines how much power the engine delivers. − − An example of a control system is a car's cruise control, which is a device designed to maintain vehicle speed at a constant desired or reference speed provided by the driver. The controller is the cruise control, the plant is the car, and the system is the car and the cruise control. The system output is the car's speed, and the control itself is the engine's throttle position which determines how much power the engine delivers. − − 控制系统的一个例子是汽车的巡航控制，巡航控制是一种设计来保持汽车速度在司机提供的恒定期望或参考速度。控制器是巡航控制，被控对象是汽车，系统是汽车和巡航控制。系统输出是汽车的速度，控制本身是发动机的油门位置，这决定了发动机提供多少动力。 − − − − − − A primitive way to implement cruise control is simply to lock the throttle position when the driver engages cruise control. However, if the cruise control is engaged on a stretch of non-flat road, then the car will travel slower going uphill and faster when going downhill. This type of controller is called an ''[[open-loop controller]]'' because there is no [[feedback]]; no measurement of the system output (the car's speed) is used to alter the control (the throttle position.) As a result, the controller cannot compensate for changes acting on the car, like a change in the slope of the road. − − A primitive way to implement cruise control is simply to lock the throttle position when the driver engages cruise control. However, if the cruise control is engaged on a stretch of non-flat road, then the car will travel slower going uphill and faster when going downhill. This type of controller is called an open-loop controller because there is no feedback; no measurement of the system output (the car's speed) is used to alter the control (the throttle position.) As a result, the controller cannot compensate for changes acting on the car, like a change in the slope of the road. − − 实现巡航控制的一个原始方法是在驾驶员启动巡航控制时锁定油门位置。不过，如果巡航控制系统在一段不平坦的道路上启动，车辆上山时行驶速度会较慢，下山时则较快。这种类型的控制器被称为开回路控制器控制器，因为没有反馈; 没有测量系统输出(汽车的速度)来改变控制(油门位置)因此，控制器不能补偿作用在汽车上的变化，比如道路坡度的变化。 − − − − − − In a ''[[closed-loop controller|closed-loop control system]]'', data from a sensor monitoring the car's speed (the system output) enters a controller which continuously compares the quantity representing the speed with the reference quantity representing the desired speed. The difference, called the error, determines the throttle position (the control). The result is to match the car's speed to the reference speed (maintain the desired system output). Now, when the car goes uphill, the difference between the input (the sensed speed) and the reference continuously determines the throttle position. As the sensed speed drops below the reference, the difference increases, the throttle opens, and engine power increases, speeding up the vehicle. In this way, the controller dynamically counteracts changes to the car's speed. The central idea of these control systems is the ''feedback loop'', the controller affects the system output, which in turn is measured and fed back to the controller. − − In a closed-loop control system, data from a sensor monitoring the car's speed (the system output) enters a controller which continuously compares the quantity representing the speed with the reference quantity representing the desired speed. The difference, called the error, determines the throttle position (the control). The result is to match the car's speed to the reference speed (maintain the desired system output). Now, when the car goes uphill, the difference between the input (the sensed speed) and the reference continuously determines the throttle position. As the sensed speed drops below the reference, the difference increases, the throttle opens, and engine power increases, speeding up the vehicle. In this way, the controller dynamically counteracts changes to the car's speed. The central idea of these control systems is the feedback loop, the controller affects the system output, which in turn is measured and fed back to the controller. − − 在闭环控制系统中，来自监测汽车速度(系统输出)的传感器的数据进入控制器，控制器连续比较代表速度的量和代表期望速度的参考量。这个差异，称为错误，决定了节气门的位置(控制)。结果是匹配的汽车的速度参考速度(保持所需的系统输出)。现在，当汽车上坡时，输入(感知速度)和参考速度之间的差异不断地决定油门位置。当感觉到的速度低于参考，差异增加，油门打开，发动机功率增加，加速车辆。这样，控制器动态地抵消汽车速度的变化。这些控制系统的中心思想是反馈回路，控制器影响系统的输出，反过来测量并反馈给控制器。 + + + +
→开环和闭环(反馈)控制
在闭环控制中，来自控制器的控制动作取决于过程变量（PV）值的反馈。在类似于锅炉的情况下，闭环回路将包括一个恒温器，以将建筑物温度与恒温器上设定的温度（设定值-SP）进行比较。这将产生一个控制器输出，通过打开和关闭锅炉来将建筑物维持在所需温度。因此，闭环控制器具有反馈回路，该反馈回路可确保控制器施加合适的控制动作将过程变量操纵为与“参考输入”或“设定点”相同。因此，闭环控制器也称为反馈控制器<ref>"Feedback and control systems" - JJ Di Steffano, AR Stubberud, IJ Williams. Schaums outline series, McGraw-Hill 1967</ref>。
在闭环控制中，来自控制器的控制动作取决于过程变量（PV）值的反馈。在类似于锅炉的情况下，闭环回路将包括一个恒温器，以将建筑物温度与恒温器上设定的温度（设定值-SP）进行比较。这将产生一个控制器输出，通过打开和关闭锅炉来将建筑物维持在所需温度。因此，闭环控制器具有反馈回路，该反馈回路可确保控制器施加合适的控制动作将过程变量操纵为与“参考输入”或“设定点”相同。因此，闭环控制器也称为反馈控制器<ref>"Feedback and control systems" - JJ Di Steffano, AR Stubberud, IJ Williams. Schaums outline series, McGraw-Hill 1967</ref>。
根据英国标准协会，闭环控制系统的定义是“一个具有监视反馈的控制系统，该反馈而形成的偏差信号被用于控制最终控制元件的动作，从而尽可能使偏差减小到零。” [13]
根据英国标准协会，闭环控制系统的定义是“一个具有监视反馈的控制系统，该反馈而形成的偏差信号被用于控制最终控制元件的动作，从而尽可能使偏差减小到零。”<ref>{{cite book|title= The Origins of Feedback Control|last=Mayr|first= Otto| author-link= Otto Mayr |year= 1970
|publisher =The Colonial Press, Inc.|location= Clinton, MA USA|isbn= |pages=}}</ref>
|publisher =The Colonial Press, Inc.|location= Clinton, MA USA|isbn= |pages=}}</ref>
同样 “ 反馈控制系统是一种系统，通过比较这些变量的功能并将该差异用作控制手段，趋于保持一个系统变量与另一个系统变量之间的规定关系。” <ref>{{cite book|title= The Origins of Feedback Control|last=Mayr|first= Otto| author-link= Otto Mayr |year= 1969|publisher =The Colonial Press, Inc.|location= Clinton, MA USA|isbn= |pages=}}</ref>
===其他例子===
控制系统的一个示例是汽车的巡航控制系统，该系统是一种将车速保持在驾驶员提供的期望速度或参考速度的设备。该控制器是巡航控制，被控对象是汽车，而系统是汽车和巡航控制。系统输出是汽车的速度，控制本身是发动机的油门位置，它确定发动机提供多少动力。
实现巡航控制的一个原始方法是在驾驶员启动巡航控制时锁定油门位置。不过，如果巡航控制系统在一段不平坦的道路上启动，车辆上山时行驶速度会较慢，下山时则较快。这种类型的控制器被称为开环控制器，因为没有反馈; 没有测量系统输出(汽车的速度)来改变控制(油门位置)因此，控制器不能补偿作用在汽车上的变化，比如道路坡度的变化。
在闭环控制系统中，来自监测汽车速度(系统输出)的传感器的数据进入控制器，控制器连续比较代表速度的量和代表期望速度的参考量，计算得到的差称为'''误差'''，决定了节气门的位置(控制)。输出结果是匹配的汽车的速度参考速度(保持所需的系统输出)。现在，当汽车上坡时，输入(感知速度)和参考速度之间的差异不断地决定油门位置。当感觉到的速度低于参考，差值增加，油门打开，发动机功率增加，加速车辆。这样，控制器动态地抵消汽车速度的变化。这些控制系统的中心思想是反馈回路，控制器影响系统的输出，反过来测量并反馈给控制器。
==Classical control theory==
==Classical control theory==