作业CAD

自动化133 201310401312 赵鹏皓

5.2

num=20;den=conv([1,0],[1,20,18]);

G=tf(num,den)

[Gm,Pm,Wcg,Wcp]=margin(G);

w=0.1:0.1:10000;

[mag,phase]=bode(G,w);magdb=20*log10(mag);

phim1=45,deta=8;

phim=phim1-Pm+deta;

bita=(1-sin(phim*pi/180))/(1+sin(phim*pi/180));

n=find(magdb+10*log10(1/bita)<=0.0001);

wc=n(1);

w1=(wc/10)*sqrt(bita);w2=(wc/10)/sqrt(bita);

numc=[1/w1,1];denc=[1/w2,1];

Gc=tf(numc,denc)

GmdB=20*log10(Gm);

GcG=Gc*G;[Gmc,Pmc,wcgc,wcpc]=margin(GcG);

GmcdB=20*log10(Gmc);

disp('未校正系统的开环系统传递函数和频域响应参数：h,γ,wc') G,[GmdB,Pm,Wcp],

disp('校正装置传递函数和校正后系统开环传递函数')

Gc,GcG,

disp('校正后系统的频域响应参数：h,γ,wc')

[GmcdB,Pmc,wcpc],

disp('校正装置的参数T和β值：T，β')

T=1/w1;[T,bita],

5.3

num=10;den=conv([1,0],conv([1,2],[1,30]));

G=tf(num,den);margin(G);

gamma_cas=50;delta=6;

gamma_cas=30;delta=6;

gamma_1=gamma_cas+delta;

w=0.01:0.01:1000;

[mag,phase]=bode(G,w);

n=find(180+phase-(gamma_1)<=0.1);

wgamma_1=n(1)/100;

[mag,phsae]=bode(G,wgamma_1);

rr=-20*log(mag);beta=10^(rr/20);

w2=wgamma_1/10;w1=beta*w2;

numc=[1/w2,1];denc=[1/w1,1];

Gc=tf(numc,denc)

Gc =

4.274 s + 1

--------------

0.003586 s + 1

GcG=Gc*G

GcG =

42.74 s + 10

------------------------------------------- 0.003586 s^4 + 1.115 s^3 + 32.22 s^2 + 60 s bode(G,GcG),figure(2),margin(GcG),beta

5.7

num=1;den=conv([1,1],conv([1,4],[1,6])); G=tf(num,den);

step(G);k=dcgain(G)

k =0.0417

K=0.0417;T=2.36-0.396;L=0.396;

num=1;den=conv([1,1],conv([1,4],[1,6])); G=tf(num,den);

for Km=0:0.1:10000

Gc=Km;GcG=feedback(Gc*G,1);

[num,den]=tfdata(GcG,'v');

p=roots(den);pr=real(p);prm=max(pr);

pr0=find(prm>=-0.001);n=length(pr0);

if n>=1

break

end;end

step(GcG,0:0.001:3);Km

num=1;den=conv([1,1],conv([1,4],[1,6])); G=tf(num,den);

Km=349.7;Tm=(1.7-0.632);

Kp=0.6*Km;Ti=0.5*Tm;Td=0.125*Tm;

Kp,Ti,Td,s=tf('s');

Kp =209.8200;Ti =0.5340;Td =0.1335;

Gc=Kp*(1+1/(Ti*s)+Td*s);

GcG=feedback(Gc*G,1);step(GcG)

Km=349.7;Tm=(1.7-0.632);

Kp =209.8200;Ti =0.5340;Td =0.1335;

K=0.0417;T=2.36-0.396;L=0.396;

theta=L/T;lambda=Km*K;beta=36/(27+5*lambda);

num=1;den=conv([1,1],conv([1,4],[1,6]));G=tf(num,den);

num1=Kp*[Td,(1-beta)];den1=1;G1=tf(num1,den1);

GC=feedback(G,G1);

num2=Kp*[Ti*beta,1];den2=[Ti,0];G2=tf(num2,den2);

num2=Kp*[Ti*beta,1];den2=[Ti,0];G2=tf(num2,den2);

GG=G2*GC;GCG=feedback(GG,1);

theta,lambda,Kp,Ti,Td,

theta =0.2016;lambda =14.5825;Kp =209.8200;Ti =0.5340;Td =0.1335 step(GCG)