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控制理论 Control theory (查看源代码)

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此词条暂由彩云小译翻译，未经人工整理和审校，带来阅读不便，请见谅。{{short description|Branch of engineering and mathematics that deals with the behavior of dynamical systems with inputs, and how their behavior is modified by feedback}}
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{{About|control theory in engineering|control theory in linguistics|control (linguistics)|control theory in psychology and sociology|control theory (sociology)|and|Perceptual control theory}}
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{{Use mdy dates|date=July 2016}}
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'''Control theory''' deals with the control of continuously operating [[dynamical system]]s  in engineered processes and machines. The objective is to develop a control model for controlling such systems using a control action in an optimum manner without ''delay or overshoot'' and ensuring control [[Stability theory|stability]]. Control theory is subfield of [[mathematics]], [[computer science]]<ref>{{Cite web|url=https://portal.dnb.de/opac.htm?method=simpleSearch&cqlMode=true&query=nid=4032317-1|title=Katalog der Deutschen Nationalbibliothek (Authority control)|last=GND|website=portal.dnb.de|url-status=live|archive-url=|archive-date=|access-date=2020-04-26}}</ref> and [[control engineering]].
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Control theory deals with the control of continuously operating dynamical systems  in engineered processes and machines. The objective is to develop a control model for controlling such systems using a control action in an optimum manner without delay or overshoot and ensuring control stability. Control theory is subfield of mathematics, computer science and control engineering.
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'''控制理论 Control theory'''研究工程过程和机器中连续运行的动态系统的控制。目标是建立一个控制模型来控制这样的系统，使用控制行动在一个最佳的方式没有延迟或超调，并确保控制稳定性。控制理论是数学、计算机科学和控制工程的一个分支。
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'''控制理论 Control theory'''研究工程过程和机器中连续运行的动态系统的控制。目的是开发一种控制模型，以最优方式使用控制动作来控制此类系统，而不会出现延迟或超调，并确保其控制的稳定性。因为控制理论非常依赖于相关学科的理论和实际应用，甚至可以将控制理论可以被视为控制工程，计算机工程，数学，控制论和运筹学的分支<ref>{{Cite web|url=https://portal.dnb.de/opac.htm?method=simpleSearch&cqlMode=true&query=nid=4032317-1|title=Katalog der Deutschen Nationalbibliothek (Authority control)|last=GND|website=portal.dnb.de|url-status=live|archive-url=|archive-date=|access-date=2020-04-26}}</ref> 。
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To do this, a controller with the requisite corrective behavior is required. This controller monitors the controlled process variable (PV), and compares it with the reference or set point (SP). The difference between actual and desired value of the process variable, called the error signal, or SP-PV error, is applied as feedback to generate a control action to bring the controlled process variable to the same value as the set point. Other aspects which are also studied are  controllability and observability. This is the basis for the advanced type of automation that revolutionized manufacturing, aircraft, communications and other industries. This is feedback control, which is usually continuous and involves taking measurements using a sensor and making calculated adjustments to keep the measured variable within a set range by means of a "final control element", such as a control valve.
 
To do this, a controller with the requisite corrective behavior is required. This controller monitors the controlled process variable (PV), and compares it with the reference or set point (SP). The difference between actual and desired value of the process variable, called the error signal, or SP-PV error, is applied as feedback to generate a control action to bring the controlled process variable to the same value as the set point. Other aspects which are also studied are  controllability and observability. This is the basis for the advanced type of automation that revolutionized manufacturing, aircraft, communications and other industries. This is feedback control, which is usually continuous and involves taking measurements using a sensor and making calculated adjustments to keep the measured variable within a set range by means of a "final control element", such as a control valve.
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要做到这一点，需要一个具有必要纠正行为的控制器。这个控制器监视受控程序变数，并将其与参考点或设定点进行比较。程序变数的实际值和期望值之间的差，称为误差信号，或者 SP-PV 误差，作为反馈来产生一个控制动作，使被控制的程序变数达到设定值。研究的其他方面还有可控性和可观测性。这是先进的自动化类型的基础，革命性的制造业，飞机，通信和其他行业。这就是反馈控制，它通常是连续的，涉及使用传感器进行测量，并通过控制阀等”最终控制元件”进行计算调整，使测量的变量保持在一定范围内。
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Extensive use is usually made of a diagrammatic style known as the [[block diagram]]. In it the [[transfer function]], also known as the system function or network function, is a mathematical model of the relation between the input and output based on the [[differential equation]]s describing the system.
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Extensive use is usually made of a diagrammatic style known as the block diagram. In it the transfer function, also known as the system function or network function, is a mathematical model of the relation between the input and output based on the differential equations describing the system.
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广泛使用的通常是一种被称为框图的图解风格。其中的传递函数，也称为系统函数或网络函数，是基于描述系统的微分方程的输入输出关系的数学模型。
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Control theory dates from the 19th century, when the theoretical basis for the operation of governors was first described by [[James Clerk Maxwell]].<ref>{{cite journal |first=J. C. |last=Maxwell |authorlink=James Clerk Maxwell |title=On Governors |date=1868 |journal=Proceedings of the Royal Society |volume=100 |issue= |pages= |url=https://upload.wikimedia.org/wikipedia/commons/b/b1/On_Governors.pdf}}</ref>  Control theory was further advanced by [[Edward Routh]] in 1874, [[Jacques Charles François Sturm|Charles Sturm]] and in 1895, [[Adolf Hurwitz]], who all contributed to the establishment of control stability criteria; and from 1922 onwards, the development of [[PID control]] theory by [[Nicolas Minorsky]].<ref>{{cite journal |last=Minorsky |first=Nicolas |authorlink=Nicolas Minorsky |title=Directional stability of automatically steered bodies |journal=Journal of the American Society of Naval Engineers |year=1922 |volume=34 |pages=280–309 |issue=2 |ref=harv  |doi=10.1111/j.1559-3584.1922.tb04958.x}}</ref>
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Control theory dates from the 19th century, when the theoretical basis for the operation of governors was first described by James Clerk Maxwell.  Control theory was further advanced by Edward Routh in 1874, Charles Sturm and in 1895, Adolf Hurwitz, who all contributed to the establishment of control stability criteria; and from 1922 onwards, the development of PID control theory by Nicolas Minorsky.
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控制理论可以追溯到19世纪，当时詹姆斯·克拉克·麦克斯韦首次描述了统治者运作的理论基础。1874年 Edward Routh，Charles Sturm 和1895年 Adolf Hurwitz 进一步提出了控制理论，他们都为建立控制稳定性标准做出了贡献; 从1922年开始，尼古拉斯·米诺尔斯基发展了 PID 控制理论。
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Although a major application of control theory is in control systems engineering, which deals with the design of [[process control]] systems for industry, other applications range far beyond this.  As the general theory of feedback systems, control theory is useful wherever feedback occurs.
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Although a major application of control theory is in control systems engineering, which deals with the design of process control systems for industry, other applications range far beyond this.  As the general theory of feedback systems, control theory is useful wherever feedback occurs.
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虽然控制理论的一个主要应用是在控制系统工程，其中涉及工业过程控制系统的设计，其他应用范围远远超出这一范围。作为反馈系统的一般理论，控制理论在反馈发生的任何地方都是有用的。
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==History==
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==History==
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历史
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[[File:Boulton and Watt centrifugal governor-MJ.jpg|thumb|right|[[Centrifugal governor]] in a [[Boulton & Watt engine]] of 1788]]
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[[Centrifugal governor in a Boulton & Watt engine of 1788]]
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为了做出一个优秀的控制器，需要一个具有必要纠正行为的控制器。这个控制器监视受控程序变数，并将其与参考点或设定点进行比较。程序变数的实际值和期望值之间的差，称为误差信号，或者 SP-PV 误差，作为反馈来产生一个控制动作，使被控制的程序变数达到设定值。研究的其他方面还有可控性和可观测性。这是先进的自动化类型的基础，革命性的制造业，飞机，通信和其他行业。这就是反馈控制，它通常是连续的，涉及使用传感器进行测量，并通过控制阀等”最终控制元件”进行计算调整，使测量的变量保持在一定范围内<ref>Bennett, Stuart (1992). A history of control engineering, 1930-1955. IET. p. 48. {{ISBN|978-0-86341-299-8}}.</ref>。
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[[File:传递函数框图.jpg|right|thumb|400px]]
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一个优秀的控制器应该监视受控过程变量 process variable（PV），并将其与参考值或设定值 set point（SP）进行比较。在控制过程中变量的实际值和期望值之间的差（称为误差信号或SP-PV误差）用作反馈，最终生成控制效果，以使受控过程变量达到与设定点相同的值。在控制中，还引入了可控性和可观性。将控制理论引入制造业，飞机，通信和其他行业的先进自动化行业中，为行业发展产生了深远的影响。含有具有反馈作用的控制器称的系统为反馈控制系统，这种控制系统通过使用传感器进行测量并进行计算调整，以通过诸如控制阀的“最终控制元件”将控制变量保持在设定范围内。
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[1788年在 Boulton & Watt 发动机上的离心式调速器]
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在控制理论的表示中，广泛使用的一种被称为方框图的图解方式，在控制理论中描述系统的微分方程的输入输出关系的数学模型一般称为'''传递函数 transfer function'''，也称为系统函数 system function或网络函数 network function。
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控制理论的研究可以追溯到19世纪，当时James Clerk Maxwell首次描述了统治者运作的理论基础<ref>{{cite journal |first=J. C. |last=Maxwell |authorlink=James Clerk Maxwell |title=On Governors |date=1868 |journal=Proceedings of the Royal Society |volume=100 |issue= |pages= |url=https://upload.wikimedia.org/wikipedia/commons/b/b1/On_Governors.pdf}}</ref>。1874年 Edward Routh，Charles Sturm 和1895年 Adolf Hurwitz 进一步提出了控制理论，他们都为建立控制理论的稳定性标准做出了贡献; 从1922年开始，Nicolas Minorsky发展了[[PID控制]]<ref>{{cite journal |last=Minorsky |first=Nicolas |authorlink=Nicolas Minorsky |title=Directional stability of automatically steered bodies |journal=Journal of the American Society of Naval Engineers |year=1922 |volume=34 |pages=280–309 |issue=2 |ref=harv  |doi=10.1111/j.1559-3584.1922.tb04958.x}}</ref>，PID算法在现代生活中随处可见。
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虽然控制理论的一个主要应用是在控制系统工程，主要涉及工业过程控制系统的设计，但是其应用范围远远超出这一范围。
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==历史==
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[[File:220px-Boulton_and_Watt_centrifugal_governor-MJ.jpg|thumb|right|1788年的Boulton＆Watt发动机中的离心调速器]]
    
Although control systems of various types date back to antiquity, a more formal analysis of the field began with a dynamics analysis of the [[centrifugal governor]], conducted by the physicist [[James Clerk Maxwell]] in 1868, entitled ''On Governors''.<ref name="Maxwell1867">{{cite journal|author=Maxwell, J.C.|year=1868|title=On Governors|journal=Proceedings of the Royal Society of London|volume=16|pages=270–283|doi=10.1098/rspl.1867.0055|jstor=112510|doi-access=free}}<!--| accessdate = 2008-04-14--></ref> A centrifugal governor was already used to regulate the velocity of windmills.<ref>[http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.302.5633&rep=rep1&type=pdf Control Theory: History, Mathematical Achievements and Perspectives | E. Fernandez-Cara1 and E. Zuazua]</ref> Maxwell described and analyzed the phenomenon of [[self-oscillation]], in which lags in the system may lead to overcompensation and unstable behavior. This generated a flurry of interest in the topic, during which Maxwell's classmate, [[Edward John Routh]], abstracted Maxwell's results for the general class of linear systems.<ref name=Routh1975>{{cite book
 
Although control systems of various types date back to antiquity, a more formal analysis of the field began with a dynamics analysis of the [[centrifugal governor]], conducted by the physicist [[James Clerk Maxwell]] in 1868, entitled ''On Governors''.<ref name="Maxwell1867">{{cite journal|author=Maxwell, J.C.|year=1868|title=On Governors|journal=Proceedings of the Royal Society of London|volume=16|pages=270–283|doi=10.1098/rspl.1867.0055|jstor=112510|doi-access=free}}<!--| accessdate = 2008-04-14--></ref> A centrifugal governor was already used to regulate the velocity of windmills.<ref>[http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.302.5633&rep=rep1&type=pdf Control Theory: History, Mathematical Achievements and Perspectives | E. Fernandez-Cara1 and E. Zuazua]</ref> Maxwell described and analyzed the phenomenon of [[self-oscillation]], in which lags in the system may lead to overcompensation and unstable behavior. This generated a flurry of interest in the topic, during which Maxwell's classmate, [[Edward John Routh]], abstracted Maxwell's results for the general class of linear systems.<ref name=Routh1975>{{cite book
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