西安電子科技大學(xué)自動(dòng)控制上機(jī)報(bào)告

自動(dòng)控制上機(jī)作業(yè)報(bào)告程序clcft=30;M=1;B=5;K=20;%系統(tǒng)參數(shù)tspan=[0,5];%設(shè)置仿真開(kāi)始和結(jié)束時(shí)間x0=[0,0];options=odeset('AbsTol',[1e-6;1e-6]);[T,X]=ode45('xt4odefile',tspan,x0,options);figure(1)subplot(3,1,1),plot(T,X(:,1),'r'),title('位移隨時(shí)間變化曲線'),gridonsubplot(3,1,2),plot(T,X(:,2),'b'),title('速度隨時(shí)間變化曲線'),gridonsubplot(3,1,3),plot(X(:,2),X(:,1),'m'),title('位移隨速度變化曲線'),gridona=1/M*(ft-B*X(:,2)-K*X(:,1));%計(jì)算加速度i=1;while(abs(a(i))>0.0001|(abs(X(i,2))>0.0001))i=i+1;enddisp('系統(tǒng)到達(dá)穩(wěn)態(tài)時(shí)的時(shí)間、速度和加速度及對(duì)應(yīng)的位移分別為：');%顯示計(jì)算結(jié)果result=sprintf('時(shí)間t=%4.2f\n',T(i));disp(result);result=sprintf('速度v=%9.6f\n',X(i,2));disp(result);result=sprintf('加速度a=%9.6f\n',a(i));disp(result);result=sprintf('位移d=%6.4f\n',X(i,1));disp(result)運(yùn)行結(jié)果系統(tǒng)到達(dá)穩(wěn)態(tài)時(shí)的時(shí)間、速度和加速度及對(duì)應(yīng)的位移分別為：時(shí)間t=4.47速度v=-0.000087加速度a=-0.000060位移d=1.5000程序clca=[257];b=[16106];%sys=tf(a,b);[Z,P,K]=tf2zp(a,b);disp('該系統(tǒng)的零點(diǎn)、極點(diǎn)及增益為：')result=sprintf('零點(diǎn)：Z=%4.2f\n',Z);disp(result);result=sprintf('極點(diǎn)：P=%4.2f\n',P);disp(result);result=sprintf('增益：K=%4.2f\n',K);disp(result);[r,p,k]=residue(a,b)運(yùn)行結(jié)果：該系統(tǒng)的零點(diǎn)、極點(diǎn)及增益為：零點(diǎn)：Z=-1.25零點(diǎn)：Z=-1.25極點(diǎn)：P=-3.77極點(diǎn)：P=-1.12極點(diǎn)：P=-1.12增益：K=2.00r=2.2417-0.1208-1.0004i-0.1208+1.0004ip=-3.7693-1.1154+0.5897i-1.1154-0.5897ik=[]程序clca=[6.32231812.811];b=[161.32231812.811];sys=tf(a,b);t=0:.005:35;step(sys)title('系統(tǒng)的單位階躍響應(yīng)')[y,t]=step(a,b,t);r=1;while(y(r)<1.001)r=r+1;end;rise_time=(r-1)*0.005%求系統(tǒng)的上升時(shí)間[ymax,tp]=max(y);peak_time=(tp-1)*0.005%求系統(tǒng)的峰值時(shí)間k=dcgain(sys);%求系統(tǒng)穩(wěn)態(tài)值max_overshoot=(ymax-k)/k%求系統(tǒng)的超調(diào)量s=7001;while(y(s)>0.98&y(s)<1.02)s=s-1;endsetting_time=(s-1)*0.005%求系統(tǒng)的調(diào)整時(shí)間運(yùn)行結(jié)果rise_time=0.7050peak_time=34.6100max_overshoot=2.6800e+06setting_time=35程序num=[11];den=[1560];sys1=tf(num,den)subplot(3,1,1)step(sys1)subplot(3,1,2)rlocus(num,den)title('系統(tǒng)的根軌跡曲線')r=rlocus(num,den,20.575)a=[1];b=[10.8989];sys2=tf(a,b)sys=series(sys1,sys2)%系統(tǒng)串聯(lián)subplot(3,1,3)step(sys)運(yùn)行結(jié)果Transferfunction:s+1s^3+5s^2+6sr=Columns1through2-2.0505+4.3225i-2.0505-4.3225iColumn3-0.8989Transferfunction:1s+0.8989Transferfunction:s+1s^4+5.899s^3+10.49s^2+5.393s程序clcnum=[0.01,0.0001,0.01];dun=[0.25,0.01,1,0,0];sys=tf(num,dun)figure(1)bode(sys)figure(2)sys2=feedback(sys,1)%加單位反饋bode(sys2)運(yùn)行結(jié)果系統(tǒng)總的bode圖程序num=[202010];den=conv([110],[011]);sys=tf(num,den);nyquist(sys);運(yùn)行結(jié)果程序num=[2000,2000];den=conv([10.50],[114400]);nichols(num,den)v=[-270-90-4040];axis(v)ngrid運(yùn)行結(jié)果程序num=[020002000];den=conv([10.50],[114400]);h=tf(num,den);[gm,pm,wg,wc]=margin(h);gm,pm,wg,wc運(yùn)行結(jié)果gm=2.7493pm=73.3527wg=19.8244wc=5.3477程序clcnum=[1];den=[0.51.510];sys=tf(num,den)sys2=feedback(sys,1)bode(sys2)[gmpmwgwp]=margin(sys)運(yùn)行結(jié)果Bode圖：gm=3.0000pm=32.6133wg=1.4142wp=0.7494程序clcnum=[123];den=[1331];[A,B,C,D]=tf2ss(num,den)運(yùn)行結(jié)果A=-3-3-1100010B=100C=123D=0程序clcZ=[-1-3];P=[-2-4-6];K=4;[A,B,C,D]=zp2ss(Z,P,K)運(yùn)行結(jié)果A=-2.0000001.0000-10.0000-4.899004.89900B=100C=4.0000-24.0000-17.1464D=0程序clcA=[01;1-2];B=[0;1];C=[13];D=1;[num,den]=ss2tf(A,B,C,D);tf(num,den)[z,p,k]=ss2zp(A,B,C,D);zpk(z,p,k)運(yùn)行結(jié)果ans=s^2+5ss^2+2s-1Continuous-timetransferfunction.ans=s(s+5)(s+2.414)(s-0.4142)Continuous-timezero/pole/gainmodel.程序clcA1=[01;-1-2];B1=[1;0];C1=[13];D1=1;A2=[01;-1-3];B2=[0;1];C2=[14];D2=0;[num1,den1]=ss2tf(A1,B1,C1,D1);sys1=tf(num1,den1)[num2,den2]=ss2tf(A2,B2,C2,D2);sys2=tf(num2,den2)sysc=series(sys1,sys2)sysb=parallel(sys1,sys2)[numc1,denc1]=feedback(num1,den1,num2,den2,-1);sysf=tf(numc1,denc1)[numc2,denc2]=feedback(num1,den1,num2,den2,1);sysf=tf(numc2,denc2)運(yùn)行結(jié)果sys1=s^2+3ss^2+2s+1Continuous-timetransferfunction.sys2=4s+1s^2+3s+1Continuous-timetransferfunction.sysc=4s^3+13s^2+3ss^4+5s^3+8s^2+5s+1Continuous-timetransferfunction.sysb=s^4+10s^3+19s^2+9s+1s^4+5s^3+8s^2+5s+1Continuous-timetransferfunction.sysf=s^4+6s^3+10s^2+3ss^4+9s^3+21s^2+8s+1Continuous-timetransferfunction.sysf=s^4+6s^3+10s^2+3ss^4+s^3-5s^2+2s+1Continuous-timetransferfunction.程序clcA=[0-2;1-3];t=0.2;eAt=expm(A*t)A=[0-2;1-3];B=[2;0];C=[03];D=0;t=0:0.01:0.2;a=size(t);u=zeros(a);x0=[1;1];lsim(A,B,C,D,u,t,x0)title('系統(tǒng)的響應(yīng)')運(yùn)行結(jié)果eAt=0.9671-0.29680.14840.5219程序clcA=[-31;1-3];B=[11;11];C=[11;1-1];D=[00;00];N=size(A);n=N(1);[num,den]=ss2tf(A,B,C,D,2);disp('可控矩陣:')S=ctrb(A,B)%計(jì)算可控矩陣Sf=rank(S)%通過(guò)rank命令求可控性矩陣的秩if(f==n)%判斷系統(tǒng)的能控性disp('系統(tǒng)是可控的')elsedisp('系統(tǒng)是不可控的')enddisp('')disp('可觀測(cè)矩陣:')V=obsv(A,C)%計(jì)算可觀測(cè)性矩陣Vm=rank(V)%求可觀測(cè)性矩陣的秩if(f==n)%判斷系統(tǒng)的能觀測(cè)性disp('系統(tǒng)是可觀測(cè)的')elsedisp('系統(tǒng)是不可觀測(cè)的')end運(yùn)行結(jié)果可控矩陣:S=11-2-211-2-2f=1系統(tǒng)是不可控的可觀測(cè)矩陣:V=111-1-2-2-44m=2系統(tǒng)是不可觀測(cè)的程序clcA=[01;-2-3];B=[0;1];C=[20];D=0;P_S=[-1-2];%系統(tǒng)的配置極點(diǎn)k=acker(A,B,P_S);%計(jì)算系統(tǒng)的反饋增益向量kP_O=[-3-3];%觀測(cè)器的期望配置極點(diǎn)h=(acker(A',C',P_O))';%計(jì)算觀測(cè)器輸出反饋陣A1=[A,-B*k;h*CA-B*k-h*C];B1=[B;B];C1=[C,zeros(1,2)];D1=0;sys=ss(A1,B1,C1,D1)%建立復(fù)合系統(tǒng)動(dòng)態(tài)模型tf(sys)運(yùn)行結(jié)果sys=a=x1x2x3x4x10100x2-2-300x330-31x4-200-3b=u1x10x21x30x41c=x1x2x3x4y12000d=u1y10Continuous-timestate-spacemodel.ans=2s^2+3s+2Continuous-timetransferfunction.下面程序是輸入為正弦信號(hào)，采樣信號(hào)是1ms，控制器出的曲線以及誤差曲線程序ts=0.001;sys=tf([400],[1,50,0]);dsys=c2d(sys,ts,'z');[num,den]=tfdata(dsys,'v');u_1=0.0;u_2=0.0;y_1=0.0;y_2=0.0;x=[0,0,0]';error_1=0;error_2=0;fork=1:1:1000time(k)=k*ts;kp=8;ki=0.1;kd=10;%SineSignalrin(k)=0.5*sin(2*pi*k*ts);du(k)=kp*x(1)+kd*x(2)+ki*x(3);%PIDControlleru(k)=u_1+du(k);%Restrictingtheoutputofcontroller%Linearmodelyout(k)=-den(2)*y_1-den(3)*y_2+num(2)*u_1+num(3)*u_2;error(k)=rin(k)-yout(k);%Returnofparametersu_2=u_1;u_1=u(k);y_2=y_1;y_1=yout(k);x(1)=error(k)-error_1;%CalculatingPx(2)=error(k)-2*error_1+error_2;%CalculatingDx(3)=error(k);%CalculatingIerror_2=error_1;error_1=error(k);endfigure(1);plot(time,rin,'b',time,yout,'r'),gridongtext('rin\rightarrow')gtext('\leftarrowyout')title('系統(tǒng)輸出曲線')xlabel('time(s)'),ylabel('rin,yout');figure(2);plot(time,error,'r'),gridontitle('誤差曲線')xlabel('time(s)');ylabel('error');運(yùn)行結(jié)果程序clearall;closeall;ts=20;%delayplantsys=tf([1],[60,1],'inputdelay',80);dsys=c2d(sys,ts,'z');[num,den]=tfdata(dsys,'v');u_1=0;u_2=0;u_3=0;u_4=0;u_5=0;y_1=0;y_2=0;y_3=0;error_1=0;ei=0;fork=1:1:200time(k)=k*ts;rin(k)=40;kp=0.80;ki=0.005;kd=3.0;%Delay?plant?yout(k)=-den(2)*y_1+num(2)*u_5;%I?separation?error(k)=rin(k)-yout(k);M=2;ifM==1%Using?integration?separation????ifabs(error(k))>=30&abs(error(k))<=40beta=0.3;elseifabs(error(k))>=20&abs(error(k))<=30beta=0.6;elseifabs(error(k))>=10&abs(error(k))<=20beta=0.9;elsebeta=1.0;endelseifM==2beta=1.0;endei=ei+error(k)*ts;u(k)=kp*error(k)+kd*(error(k)-error_1)/ts+beta*ki*ei;ifu(k)>=110u(k)=110;endifu(k)<=-110u(k)=-110;endu_5=u_4;u_4=u_3;u_3=u_2;u_2=u_1;u_1=u(k);y_3=y_2;y_2=y_1;y_1=yout(k);error_1=error(k);endfigure(1);plot(time,rin,'b',time,yout,'r');title('不加積分作用效果')xlabel('time(s)');ylabel('rin,yout');figure(2);plot(time,u,'r');xlabel('time(s)');ylabel('u');當(dāng)M=2時(shí)，是不加積分作用的效果，結(jié)果如下：當(dāng)M=1時(shí)，是加積分作用的效果，結(jié)果如下：程序clearallcloseallts=0.001;sys=tf(5.235e005,[1,87.35,1.047e004,0]);dsys=c2d(sys,ts,'z');[num,den]=tfdata(dsys,'v');u_1=0.0;u_2=0.0;u_3=0.0;y_1=0;y_2=0;y_3=0;x=[0,0,0]';error_1=0;um=6;kp=0.85;ki=9.0;kd=0.0;rin=30;fork=1:1:800time(k)=k*ts;u(k)=kp*x(1)+kd*x(2)+ki*x(3);ifu(k)>=umu(k)=um;endifu(k)<=-umu(k)=-um;endyout(k)=-den(2)*y_1-den(3)*y_2-den(4)*y_3+num(2)*u_1+num(3)*u_2+num(4)*u_3;error(k)=rin-yout(k);M=2;ifM==1ifu(k)>=umiferror(k)>0alpha=0;elsealpha=1;endelseifu(k)<=-umiferror(k)>0alpha=1;elsealpha=0;endelsealpha=1;endelseifM==2alpha=1;endu_3=u_2;u_2=u_1;u_1=u(k);y_3=y_2;y_2=y_1;y_1=yout(k);error_1=error(k);x(1)=error(k);x(2)=(error(k)-error_1)/ts;x(3)=x(3)+alpha*error(k)*ts;xi(k)=x(3);endfigure(1);subplot(3,1,1);plot(time,rin,'b',time,yout,'r');xlabel('time(s)');ylabel('Position?tracking');subplot(3,1,2);plot(time,u,'r');xlabel('time(s)');ylabel('Controller?output');subplot(3,1,3);plot(time,xi,'r');xlabel('time(s)');ylabel('Integration');當(dāng)M=2時(shí)，為無(wú)抗積分飽和，結(jié)果如圖：當(dāng)M=1時(shí)，為有抗積分飽和，結(jié)果如下程序clearallcloseallts=0.001;sys=tf(5.235e005,[1,87.35,1.047e004,0]);dsys=c2d(sys,ts,'z');[num,den]=tfdata(dsys,'v');u_1=0;u_2=0;u_3=0;u_4=0;u_5=0;y_1=0;y_2=0;y_3=0;yy_1=0;error_1=0;error_2=0;ei=0;sys1=tf([1],[0.04,1]);%Low?Freq?Signal?Filter?dsys1=c2d(sys1,ts,'tucsin');[num1,den1]=tfdata(dsys1,'v');f_1=0;fork=1:1:2000time(k)=k*ts;rin(k)=1;%Step?Signal%Linear?model?yout(k)=-den(2)*y_1-den(3)*y_2-den(4)*y_3+num(2)*u_1+num(3)*u_2+num(4)*