自控作業(yè)陳炯

1、實驗一典型環(huán)節(jié)的階躍響應10ScopeStepGain七1/sGain12ain2張1/sIntegratorScope14曰Scope2Add10Gain30.01du/dtIntegratorlGain4DerivativeGain5Scope3Add5Gain61/sIntegrator2Scope4Gain70.5du/dt亠Gain8Add10.2s+1Derivative1Scope5TransferFen2圖1比例環(huán)節(jié)圖2積分環(huán)節(jié)：歸圧援3EA9M悴圖3一階復合積分環(huán)節(jié)事口戶田爐托woea-4圖5二階振蕩環(huán)節(jié)圖6慣性環(huán)節(jié)wn=10;kosi=00.250.50.712;%阻尼比分

2、別為0,0.25,0.5,0.7,1,2num=wnA2;figure(1)holdonfori=1:5%求阻尼比分別為0,0.25,0.5,0.7,1,2時的單位階躍響應den=1,2*kosi(i)*wn,wn人2;t=0:0.01:4;step(num,den,t)endholdofftitle(stepresponse)%標題為stepresponTime(seconds)w=2:2:12;%以2為最小值，12為最大值，步長為2kosi=0.707;figure(1)holdonforwn=w%分別求wn為2,4,6,8,10,12時的單位階躍響應num=wnA2;den=1,2*ko

3、si*wn,wn人2;t=0:0.01:4;step(num,den,t)endholdofftitle(stepresponse)%標題為stepresponse實驗二線性系統(tǒng)的根軌跡法Ks22s*Ks4s24s16、實驗內容1典型二階開環(huán)傳遞函數為Gk(S)試繪制系統(tǒng)的開環(huán)零極點圖及閉環(huán)系統(tǒng)的根軌跡2單位負反饋系統(tǒng)開環(huán)傳遞函數為GK(s)試繪制系統(tǒng)的開環(huán)零極點圖及閉環(huán)的根軌跡3單位負反饋系統(tǒng)開環(huán)傳遞函數為*Ks6s(s8)s12(s24s8)試繪制系統(tǒng)的閉環(huán)系統(tǒng)的根軌跡，并用rlocfind()函數尋找系統(tǒng)臨界穩(wěn)定時的增益值clearnum=1;den=12;%系統(tǒng)開環(huán)零極點圖%系統(tǒng)根軌跡

4、圖sys=tf(num,den);subplot(2,1,1),pzmap(sys)subplot(2,1,2),rlocus(sys)RealAxisclearnum=14;den=1416;%系統(tǒng)開環(huán)零極點圖%系統(tǒng)根軌跡圖sys=tf(num,den);subplot(2,1,1),pzmap(sys)subplot(2,1,2),rlocus(sys)Pole-ZeroMap4RealAxisRootLocus5clearnum=16;den=conv(10,conv(18,conv(112,148);sys=tf(num,den);subplot(2,1,1),pzmap(sys)%系

5、統(tǒng)開環(huán)零極點圖subplot(2,1,2),rlocus(sys)%系統(tǒng)根軌跡圖k,poles=rlocfind(sys)%選取極點顯示增益Pole-ZeroMapRealAxisRootLocusSelectapointinthegraphicswindowselected_point=-0.0143+2.7317ik=467.7765poles=-11.2501-8.9730-3.89610.0596+2.6707i0.0596-2.6707i實驗三典型環(huán)節(jié)和系統(tǒng)頻率特性實驗實驗內容:試繪制以下傳遞函數的bode圖和nyquist圖RealAxis10.1s1110.1s10.2s1110

6、K0.1s1s(1) Gs(2) Gs(3) Gsclearnum=1;den=0.11;figure(1);bode(num,den);figure(2)nyquist(num,den);%bode圖%nyquist圖%(elBodeDiagramo-45-9010-1103-1Frequency(rad/sec)rL,FLL.JL*L.-frti.ITbt二rrrrt-f.-fT-0.8-0.6-0.4-0.200.20.40.60.81NyquistDiagramoO0O3O0OJ心gggclearnum=100;den=230100;figure(1);bode(num,den);fi

7、gure(2)%bode圖%nyquist圖nyquist(num,den);BodeDiagram0-20-40-60-800rrrFxlaeHTesah-101290-53180di10101010310Frequency(rad/sec)RHiAvranMaay0.80.60.4NyquistDiagram-RealAxis4-0clearnum=1;den=0.110;figure(1);bode(num,den);margin(num,den)gridonfigure(2)nyquist(num,den);nc,dc=cloop(num,den,-1)figure(3)bode(nc,dc)m,p,w=bode(nc,dc);mr=max(m)wr=spline(m,w,mr)%bode圖%nyquist圖%閉環(huán)系統(tǒng)，-1表示單位負反饋Gm=InfdB(atIBodeDiagramnfrad/sec),Pm=84.3deg(at0.995rad/sec)-180-1010110Frequency(rad/sec)2101053lasnresah310NyquistDlagramRealAxi