People from almost all cultures throughout history have been making objects from wood. Some of the first wooden objects included weapons and tools. Early cultures also learned to make boats, buildings and tools. Early cultures also learned to make boats, buildings and furniture for home from this material. However, it is not always easy to say which wooden objects existed during a historical period tecause they often did not last as long as objects made from clay or metal.
有史以来的各个文化，人们用木头制作物品。最初的木头制品有武器和工具。早期文化（人们）还学会用这种材料造船，建筑物和家俱。然而，不好说木制品在历史长河中存在的时期，因为它们不像陶制品或金属制品一样能保存很长时间。
Experts say most current woodworking tools were developed by the beginning of the Bronze Age, about five thousand years ago. These tools include the saw, ax, chisel and drill which are used to cut and shape wood in different ways. Also, there are many methods of wood-working and each culture has its own tradition. Artistic wood creations include architectural decoration on uildings, furniture for home or even carved animals. For example, in Thailand, richly-detailed carvings(雕刻) from teak and other hard wood are an important part of ancient palaces and religious buildings.
专家推断现存的木工刀具出现在约5000年前的铜器时代早期。这些锯，斧，凿，钻等工具用不同方式切削木头。而且，还有很多方式的木工刀具，每个文化都有自己的特色。木制艺术制品包括建设上的装饰，家俱或动物雕像。举个例子，在泰国，丰富精致的柚木或其它坚木的雕刻品是古代宫殿和宗教建筑的重要组成部分。
Woodcarvers were a very important group of artists. A person needed many years of training with experts to be a woodcarver. Wood carvings often include plant forms such as the lotus flower as well as figures taken from Hindu and Buddhist religious stories.
木雕是艺术的重要组成部分。人们要经过专家的多年培训才能成为木雕师。木雕通常包括植物形态，如采用印度和佛教故事描述的莲花。
The carvings are very detailed and must be carefully planned. Usually, a carver draws out the patterns and forms on paper. Then the artist cuts holes along the outline of the design. This paper is placed on the piece of wood then covered with chalk dust. The white chalk dust goes through the holes in the paper and marks the wood, so the carver has a visual guide to begin cutting. Finished woodcarvings are often painted, sometimes with gold to reflect the surrounding light. These expertly made golden carvings give an airy lightness to Thai buildings.
雕刻注重细节和慎重布局。通常雕刻师在纸上描画出样式和外形。然后艺术家从沿着设计的轮廓打孔。把这张纸覆盖在一块木头上，把白灰撒上去。白灰通过纸上的孔洞在木头下留下标记。这样雕刻师就可以看着指示开始切削。（制作）成品木雕经常是苦活，有时要加上金片来反射周围光线。通过这些专业加工，金晃晃的雕刻品给泰国建筑空灵的光彩。
Unit 2
The stability of a continuous or discrete-time system is determined by its response to input or disturbance. Intuitively, a stable system is one that remains at rest (or in equilibrium) unless excited by an external source and returns to rest if all excitations are removed. The output will pass through a transient phase and settle down to a steady-state response that will be of the same form as, or bounded by, the input. If we apply the same input to an unstable system, the output will never settle down to a steady-state phase; it will increase in an unbounded manner, usually exponentially or with oscillation of increasing amplitude.
连续或离散系统的稳定性由其对输入或者干扰的响应决定。直观地说，如果一个系统是稳定的，则其停留在稳态（或者平衡点），除非是受到外部激励，且当外部激励去除后，输出又回到稳态点。输出经过瞬态阶段后将回到与输入有相同形式的稳态或者是在输入的附近。如果我们将同样的输入作用于不稳定的系统，其输出将不会回到稳态，而是以无界的方式增长，通常其幅值是指数增长或者振荡增长。
Stability can be precisely defined in terms of the impulse response of a continuous system, Kronrcker delta response of a discrete-time system, as follows: A continuous (discrete-time) system is stable if its impulse response (Kronecker response ) approaches zero as time approaches infinity.
系统的稳定性可以用连续系统的脉冲响应 或者离散系统的Kronrcker Δ 响应 来定义：一个连续（离散）系统是稳定的，如果其脉冲响应 （Kronrcker Δ 响应 ）当时间趋于无穷大时趋于零。
An acceptable system must at minimum satisfy the three basic criteria of stability, accuracy, and a satisfactory transient response. These three criteria are implied in the statement that an acceptable system must have a satisfactory time response to specified inputs and disturbances. So although we work in the Laplace and frequency domains for convenience, we must be able to relate these two domains, at least qualitatively, to the time domain.
一个可接受的系统必须至少满足：稳定性、精度和满意的瞬态响应这三个指标。在陈述：“一个可接受的系统对指定输入和扰动必须有满意的时域响应”已经包含了这三个指标的含义。因此尽管我们为了方便工作在拉氏域或者频率域，我们必须与时间域（至少是定性的）相联系。
With the transfer function in the form of Eq.(2-2A-1), the order of the system in defined as the order of the characteristic function D(s), the highest power of s appearing in D(s) establishes the order of the system.
在传递函数所在的方程(2-2A-1)中，系统的阶次定义为特征函数D(s)的阶次，因此D(s)的最高次幂决定了系统的阶次。
The first term is the forced solution, due to the input, and the second the transient solution, due to the system pole. Fig.2-2A-2 shows this transient as well as c(t). The transient is seen to be a decaying exponential, and the commonly used measured of the speed of decay is the time constant:
The time constant is the time in seconds for the decaying exponential transient to be reduced to e-1=0.368 of its initial value.
Since when t=T, it is seen that the time constant for a simple lag is T seconds. This is, in fact, the reason a simple lag transfer function is often written in this form. The coefficient of s then immediately indicates the speed of decay, and it takes 4T seconds for the transient to decay to 1.8% of its initial value.
第一项为强迫解，对应于输入；第二项为瞬态解，对应于系统的极点。 在图2-2A-2中，该瞬态解为c(t)。瞬态解看上去为指数衰减的，且通常用于衡量衰减速度的是时间常数：
即指数衰减的瞬态解衰减至其初始值的36.8%所需的时间（秒数）。
因为，当t=T, ，对于一阶惯性环节，时间常数是T秒。这也是为什么一阶惯性环节要写成这个形式。S的系数立即给出了衰减的速度。而且，当时间为4T时， 瞬态解衰减至初始值的1.8%。
B：Steady State
A control system is designed to control the dynamic behavior( the time response) of a plant subject to commands or disturbances. The designer should be fully aware, however, of the role of the steady equations and errors in the overall process, as well as their influence on the dynamic behavior of the plant.
控制系统设计就是使装置在有指令信号或者干扰时有满意的行为（时域响应）。设计者必须清楚地知道整个过程的稳态方程和误差，以及他们对装置的动态性能的影响。
An accuracy of a system is a measure of how well it follows commands. It is an important performance criterion; a guidance system that cannot place spacecraft on a suitable trajectory is obviously useless no matter how well-behaved its transient response.
衡量系统的精度之一，就是其如何跟踪给定命令。这是一项重要的性能指标。一个导航系统如果不能将飞行器置于合适的轨迹，那么无论有多好的动态性能，都是没有用。
Actual system are also subjected to undesirable inputs, such as noise in command inputs and disturbances arising from changes in the plant parameters or changes in the environment in which the plant is operating. Noise inputs that enter the system with the command input require filtering techniques to remove or suppress them without affecting the command input itself. We shall limit our discussion to disturbance inputs which enter the system at the plant rather than at the controller.
实际系统总是容易受到不希望的输入干扰，例如， 命令输入中的噪声以及由于参数改变在被控对象中产生的干扰或者被控对象工作环境变化产生的干扰。随着命令输入进入系统的噪声输入需要滤波器进行驱除或者抑制并不对输入信号产生影响。我们将限于讨论通过被控对象进行系统的噪声而不讨论通过控制器进入系统的噪声。
It is often difficult to minimize both components of the error simultaneously. Obviously, it is necessary to have some knowledge as to the nature of probable disturbance inputs. Both error terms of Eq.(2-2B-7) can be set equal to zero by introducing an integrator into the controller. This additional integrator increases the type of the system ( from 1 to 2, for example) , thus eliminating the velocity error, and by being introduced ahead of the point of entry of the disturbance into the system, eliminates the steady-state error resulting from a step in the disturbance input. This additional integrator must be accompanied by at least one zero if the system is to remain stable.
通常同时将误差的两个部分最小化是困难的。很明显，具有适当的干扰输入特性的一些知识是很有必要的。方程2-2B-7的两个误差项都能通过在控制器中加入积分器而消除。这些附加的积分器增加了系统的型（例如，从1型系统变为2型系统），因此可以消除速度误差，并通过在系统扰动进入点之前引入积分环节，可以消除由输入信号中包含的阶跃扰动引起的稳态误差。如果要保持系统稳定该附加的积分器必须相应增加至少一个零点。 The process gas provided by the mixing station will be preheated by using a heat exchanger. The temperature contol of the gas will be done in a closed loop. The preheated H2/N2 is distributed to the different humidifier systems. In the humidifier the process gas will be enriched with the required H2O steam in order to create a stable dew point in the furnace. The dew point will be measured in the humidifier and in the furnace. Both measurements will be used for control in a cascading control circuit as described in the following chapter.
The following schematic shows the control concept of one decarburizing zone in the furnace.
In order to get a very high control quality a cascading control circuit is used, where a main controller uses an actual dew point value of high accuracy and hands over the set point of the consecutive controller as an output.
This controller adjusts a dew point of the process gas measured directly at the outlet of the humidifier.
The main advantage of this concept is that
the consecutive controller is able to control disturbances of humidifying arrangement directly, because the dew point measurement of the humidifier has got a very short response time compared with the quite longer response time of the furnace dew point. This is caused by bigger time delays of the measurement and the delay time of the process gas to come into the furnace.
Analysis station for CO/CO2, H2 and O2ppm monitoring,
extracting method will be multiplexed sampling
An analysis station designed as a complete functional unit will be used for monitoring the composition of the atmosphere in the Furnace.
The analysis station will be a single-cabinet unit complete with analyzers, pumps, solenoid valves and control unit. In normal operation, the sample gas switchover system will switch cyclically between the different sample gases. The system can also be switched to nitrogen for purging or to a calibration gas; this is not part of the normal cycle.
The sample waste gas will be fed from the sampling probe on the furnace (with filter) to the analyser or sample gas treatment system through a sample gas line routed downwards. Sample gas from each sample gas point will be extracted by the main sample gas pump to the analyser station. The sample gas 'in measurement' will be switched to the measurement line from where an additional pump pumps it to the analysers. The sample gas lines will be made from acid-resistant plastic.
The multiplexing analysis system has following probes:
For CO/CO2 the system in an actual mode can be calibrated automatically every day using an in-built comparison probe. The calibration time is triggered using an internal period value, which can be changed manually. During calibration time no measurement values are available.
A particular feature will be to switch from multiplexing measuring mode to single mode, where a certain probe gas inlet can be measured continuously and vice versa.
这一进程所提供的气体，搅拌站在预热时将用换热器。天然气将在一个封闭的循环进行温度对照。预热H2/N2分配给不同的加湿器系统。在加湿器的过程中，天然气将利用富含水蒸汽的需要，在暖气炉中创造一个稳定的露点。在炉中，露点将成为衡量的加湿器。这两种测量将用于控制级联控制电路中所描述的下一章。
下面的示意图显示了控制概念的一个区的脱碳炉。
为了获得非常高的质量控制级联控制电路使用，凡有主控制器采用实际露点值精度高，手中的设置点的连续控制器作为输出。
这种控制器调整1露点的进程直接测量气体的出口加湿器。
它的主要优势是，这一概念
连续控制器能够控制骚乱直接加湿的安排，因为露点测量加湿器得到了很短的响应时间与反应时间而且很长的炉露点。这是造成更多的时间从而延迟测量和延迟气体进入炉的时间进程。
分析站CO/CO2 ， H2和O2ppm监测，
提取方法将采样：
分析站设计作为一个完整的功能单位将用于组成气氛炉中进行监测。
分析站将是一个单一完整的内阁单位与分析仪，水泵，电磁阀和控制单元。在正常操作时，样品气体切换系统将切换周期性不同样本之间的气体。该系统还可以切换到氮清洗或校准气体，这是不正常的周期。
抽样废气将美联储从取样探头的炉（带过滤器）的分析仪或样品气体处理系统通过抽样天然气管线路由向下。样品气体从每个样品天然气将是主要的提取汽油样品的分析仪站。样本气体测量中'将切换到测量线从那里额外泵泵给分析器。抽样天然气管道将来自耐酸塑料。
在复分析系统具有以下探针：
为CO/CO2该系统在实际模式可自动校准，每天使用的是内置的比较调查。校准时间是引发内部期间使用的价值，可手动改变。在校准时没有测量值。
一个特别的功能将被转换复测模式，以单一的模式，在一定的探测气体入口可以连续测量，反之亦然。
这一进程所提供的气体搅拌站将预热用换热器。温度对照的天然气将在一个封闭的循环。预热H2/N2分配给不同的加湿器系统。在加湿器的过程天然气将富含水蒸汽的需要，以创造一个稳定的露点在炉。
露点将成为衡量的加湿器，并在炉。这两种测量将用于控制级联控制电路中所描述的下一章。
下面的示意图显示了控制概念的一个区的脱碳炉。
为了获得非常高的质量控制级联控制电路使用，凡有主控制器采用实际露点值精度高，手中的设置点的连续控制器作为输出。
这种控制器调整1露点的进程直接测量气体的出口加湿器。
的主要优势是，这一概念
连续控制器能够控制骚乱的直接加湿的安排，因为露点测量加湿器得到了很短的响应时间与反应时间很长的炉露点。这是造成更大的时间延迟的测量和延迟时间的进程气体进入炉。
分析站CO/CO2 ， H2和O2ppm监测，
提取方法将复采样
分析站设计作为一个完整的功能单位将用于监测的组成气氛炉。
分析站将是一个单一完整的内阁单位与分析仪，水泵，电磁阀和控制单元。在正常操作时，样品气体切换系统将切换周期性不同样本之间的气体。该系统还可以切换到氮清洗或校准气体，这是不正常的周期。
抽样废气将美联储从取样探头的炉（带过滤器）的分析仪或样品气体处理系统通过抽样天然气管线路由下降。样品气体从每个样品天然气将是主要的提取汽油样品的分析仪站。
样本气体测量中'将切换到测量线从那里额外泵泵给分析器。抽样天然气管道将来自耐酸塑料。
在复分析系统具有以下探针：
为CO/CO2该系统在实际模式可自动校准，每天使用的是内置的比较调查。校准时间是引发内部期间使用的价值，可手动改变。在校准时没有测量值。
一个特别的功能将被转换成复测模式，以单一的模式，在一定的探测气体入口时可以连续测量，反之亦然。
Electrical Automation
In today's ultra-competitive manufacturing environment, companies that do not invest in automation will be left behind. The old focus on using automation simply to increase productivity and reduce costs has shifted to an increased emphasis on flexibility and convertibility in the manufacturing process. Manufacturers are increasingly demanding the ability to easily switch from manufacturing Product A to manufacturing Product B without having to completely rebuild the production lines.
Real Time Systems extensive manufacturing experience across a wide range of industries has positioned us well to help our customers identify opportunities for improvements in all areas of there operations. Many different automation tools exist today to help manufacturers automate and improve their production capabilities. Some of these include:
PLC - Programmable Logic Controller
PAC - Programmable automation controller
HMI - Human Machine Interface
SCADA - Supervisory Control and Data Acquisition
DCS - Distributed Control System
MES - Manufacturing Execution System
APC – Advanced Process Control
BMS - Batch Management System
Robotics
Simulation Software
Some advantages that can be realized by implementing advanced technology are repeatability, tighter quality control, higher efficiency, integration with business systems, increased productivity and reduction of labour. At RTS, we feel that a positive total economic impact must be attained for any automation project that is implemented. Let us help you improve your manufacturing and business systems to achieve the return on investment (ROI) and payback period customers expect today.
电的自动化
在今天的过度的-竞争制造业的环境，不投资在自动化的公司将会被留下。 旧的焦点关于只是使用自动化增加生产力而且减少费用已经在制造业的程序柔性和可改变上移转到增加的强调。 制造业者逐渐地正在要求能力从没有有完全地再建生产线制造对制造业的产品 B 的产品 A 容易地转变。
真正的时间制度横跨一种各类型的工业的广泛的制造业的经验已经非常放置我们在那里的所有区域中为进步帮助我们的客户识别机会操作。 许多不同的自动化工具今天存在帮助制造业者自动化而且改善他们的生产能力。 这些其中的一些包括:
PLC- 可设计的逻辑控制器
政治行动委员会 - 可设计的自动化控制器
HMI- 人类的机器接口
SCADA- 管理的控制和数据获得
直流 - 分配了控制制度
我 - 制造业实行系统
APC 前进的程序控制
BMS- 一届的管理制度
机械手工程
模拟软件
能藉由实现先进的技术被了解的一些利益是重复性, 较紧的质量控制、较高的效率,和商务整合制度、增加的生产力和劳工的减少。 在即时战略类游戏，我们感觉一种积极的完全经济的冲击一定为任何的被实现的自动化计画被达到。 让我们帮助你改善你的制造业和商务制度达成在投资 (ROI) 方面的回返和 payback 时期客户今天期待。
The main advantage of this concept is that
the consecutive controller is able to control disturbances of humidifying arrangement directly, because the dew point measurement of the humidifier has got a very short response time compared with the quite longer response time of the furnace dew point. This is caused by bigger time delays of the measurement and the delay time of the process gas to come into the furnace.
Analysis station for CO/CO2, H2 and O2ppm monitoring,
extracting method will be multiplexed sampling
An analysis station designed as a complete functional unit will be used for monitoring the composition of the atmosphere in the Furnace.
The analysis station will be a single-cabinet unit complete with analyzers, pumps, solenoid valves and control unit. In normal operation, the sample gas switchover system will switch cyclically between the different sample gases. The system can also be switched to nitrogen for purging or to a calibration gas; this is not part of the normal cycle.
The sample waste gas will be fed from the sampling probe on the furnace (with filter) to the analyser or sample gas treatment system through a sample gas line routed downwards. Sample gas from each sample gas point will be extracted by the main sample gas pump to the analyser station. The sample gas 'in measurement' will be switched to the measurement line from where an additional pump pumps it to the analysers. The sample gas lines will be made from acid-resistant plastic.
The multiplexing analysis system has following probes:
For CO/CO2 the system in an actual mode can be calibrated automatically every day using an in-built comparison probe. The calibration time is triggered using an internal period value, which can be changed manually. During calibration time no measurement values are available.
A particular feature will be to switch from multiplexing measuring mode to single mode, where a certain probe gas inlet can be measured continuously and vice versa.
这一进程所提供的气体，搅拌站在预热时将用换热器。天然气将在一个封闭的循环进行温度对照。预热H2/N2分配给不同的加湿器系统。在加湿器的过程中，天然气将利用富含水蒸汽的需要，在暖气炉中创造一个稳定的露点。在炉中，露点将成为衡量的加湿器。这两种测量将用于控制级联控制电路中所描述的下一章。
下面的示意图显示了控制概念的一个区的脱碳炉。
为了获得非常高的质量控制级联控制电路使用，凡有主控制器采用实际露点值精度高，手中的设置点的连续控制器作为输出。
这种控制器调整1露点的进程直接测量气体的出口加湿器。
它的主要优势是，这一概念
连续控制器能够控制骚乱直接加湿的安排，因为露点测量加湿器得到了很短的响应时间与反应时间而且很长的炉露点。这是造成更多的时间从而延迟测量和延迟气体进入炉的时间进程。
分析站CO/CO2 ， H2和O2ppm监测，
提取方法将采样：
分析站设计作为一个完整的功能单位将用于组成气氛炉中进行监测。
分析站将是一个单一完整的内阁单位与分析仪，水泵，电磁阀和控制单元。在正常操作时，样品气体切换系统将切换周期性不同样本之间的气体。该系统还可以切换到氮清洗或校准气体，这是不正常的周期。
抽样废气将美联储从取样探头的炉（带过滤器）的分析仪或样品气体处理系统通过抽样天然气管线路由向下。样品气体从每个样品天然气将是主要的提取汽油样品的分析仪站。样本气体测量中'将切换到测量线从那里额外泵泵给分析器。抽样天然气管道将来自耐酸塑料。
在复分析系统具有以下探针：
为CO/CO2该系统在实际模式可自动校准，每天使用的是内置的比较调查。校准时间是引发内部期间使用的价值，可手动改变。在校准时没有测量值。
一个特别的功能将被转换复测模式，以单一的模式，在一定的探测气体入口可以连续测量，反之亦然。
这一进程所提供的气体搅拌站将预热用换热器。温度对照的天然气将在一个封闭的循环。预热H2/N2分配给不同的加湿器系统。在加湿器的过程天然气将富含水蒸汽的需要，以创造一个稳定的露点在炉。
露点将成为衡量的加湿器，并在炉。这两种测量将用于控制级联控制电路中所描述的下一章。
下面的示意图显示了控制概念的一个区的脱碳炉。
为了获得非常高的质量控制级联控制电路使用，凡有主控制器采用实际露点值精度高，手中的设置点的连续控制器作为输出。
这种控制器调整1露点的进程直接测量气体的出口加湿器。
的主要优势是，这一概念
连续控制器能够控制骚乱的直接加湿的安排，因为露点测量加湿器得到了很短的响应时间与反应时间很长的炉露点。这是造成更大的时间延迟的测量和延迟时间的进程气体进入炉。
分析站CO/CO2 ， H2和O2ppm监测，
提取方法将复采样
分析站设计作为一个完整的功能单位将用于监测的组成气氛炉。
分析站将是一个单一完整的内阁单位与分析仪，水泵，电磁阀和控制单元。在正常操作时，样品气体切换系统将切换周期性不同样本之间的气体。该系统还可以切换到氮清洗或校准气体，这是不正常的周期。
抽样废气将美联储从取样探头的炉（带过滤器）的分析仪或样品气体处理系统通过抽样天然气管线路由下降。样品气体从每个样品天然气将是主要的提取汽油样品的分析仪站。
样本气体测量中'将切换到测量线从那里额外泵泵给分析器。抽样天然气管道将来自耐酸塑料。
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