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本文论证了约在两千年以前我们祖先所发明和使用的指南车,是一个按扰动调节原理工作的开环自动调节系统。北宋时代(九百年以前)的苏颂和韩公廉,在他们创造发明的水运仪象台里,使用了一个天衡装置,它是一个按被调量的偏差进行调节的自动调节器。文中探讨了这两个系统的结构图和传递函数。此外,本文还介绍了铜壶滴漏装置和水运仪象台枢轮转速恒定系统,它们都是参数恒定系统,能够自动补偿其些外界扰动作用对于被调量的影响。本大最后分析研究了我国古代各种类型的自动装置,认为可以将它们划分为自动检测与自动传送、开环自动控制、开环或闭环自动调节、开环程序控制、参数恒定系统和模拟研究等六类,从而论断:与其他国家相比,我国古代在自动学方面的成就是非常突出的。
This article demonstrates a guide car invented and used by our ancestors about two thousand years ago. It is an open-loop automatic regulation system that works according to the principles of disturbance regulation. Su Song and Han Myung-liang in the Northern Song Dynasty (nine hundred years ago) used a balance device in their invention of the watercraft, which is an automatic regulator that adjusts to the deviation of the amount being regulated. The paper explores the structure and transfer functions of these two systems. In addition, this paper also introduced the copper kettle drip device and the hydrostatic instrument platform pivot speed constant system, they are constant parameters of the system, which can automatically compensate for some of the external disturbance effects on the amount of being adjusted. In the end, the university analyzed and studied various types of automatic devices in ancient China, and considered them to be divided into automatic detection and automatic transmission, open-loop automatic control, open-loop or closed-loop automatic adjustment, open-loop program control, parametric constant system and simulation And other six categories, to conclude: Compared with other countries, China’s ancient achievements in automation is very prominent.