機(jī)械工程控制基礎(chǔ)-Matlab編程實(shí)驗(yàn)報(bào)告

機(jī)械工程控制根底Matlab編程實(shí)驗(yàn)報(bào)告學(xué)院:機(jī)電學(xué)院班級:機(jī)械096班姓名:杜靜學(xué)號:2009071297實(shí)驗(yàn)2numG=[32],denG=[2451]G=tf(numG,denG)[zG,pG,kG]=zpkdata(G,'v')[resG,polG,otherG]=residue(numG,denG)impulse(G)zG=-0.6667pG=-0.8796+1.1414i-0.8796-1.1414i-0.2408kG=1.5000實(shí)驗(yàn)三functiony=f()numG=[32],denG=[2451]numstep=numGdenstep=[denG0]Gstep=tf(numstep,denstep)impulse(Gstep)G=tf(numG,denG)step(G,30)DC_gain=dcgain(G)結(jié)論numG=32denG=2451numstep=32denstep=24510Transferfunction:3s+2-------------------------2s^4+4s^3+5s^2+sTransferfunction:3s+2-----------------------2s^3+4s^2+5s+1DC_gain=2實(shí)驗(yàn)4源程序Gc=tf(80*[13],[115*3])Gp=tf(4,conv([0.51],[21]))H=tf(1,[0.051])T_ref=feedback(Gp*Gc,H)[zT_ref,pT_ref,kT_ref]=zpkdata(T_ref,'v')T_ref_gainDC=dcgain(T_ref)t=[0:0.01:2]Y_ref=Step(T_ref,t)T_dist=feedback(Gp,Gc*H)[zT_dist,pT_dist,kT_dist]=zpkdata(T_dist,'v')T_dist_gainDC=dcgain(T_dist)Y_dist=step(T_dist,t)plot(t,Y_ref,'',t,y_dist,’--’)text(1.0,1.00,'referenceinput')text(1.0,0.22,'disturbanceinput')結(jié)論Transferfunction:16s^2+368s+960-------------------------------------------------0.05s^4+3.375s^3+53.17s^2+435.8s+1005zT_ref=-20-3pT_ref=-49.3658-7.3336+7.9786i-7.3336-7.9786i-3.4670kT_ref=320T_ref_gainDC=0.9552實(shí)驗(yàn)5程序；G=tf([1050],[143])t=[0:0.06:6]';u=2*cos(5*t+30*pi/180);y=lsim(G,u,t);[mag,phase]=bode(G,5)yss=2*mag*cos(5*t+(30+phase)*pi/180);plot(t,u,'-',t,y,'--',t,yss,'-.')結(jié)論mag=2.3783phase=-92.7263實(shí)驗(yàn)6.伯德圖、尼柯爾斯圖和奈奎斯特圖對如下傳遞函數(shù)繪制其伯德圖、尼柯爾斯圖和奈奎斯特圖源程序numG=[1280640]denG=[124.21604.81320.2416]G=tf(numG,denG)w=logspace(-2,3,100)'figure(1);bode(G,w)figure(2);nichols(G,w)axis([-2700-4040])grid;ngridfigure(3);nyquist(G)axisequal伯德圖尼柯爾斯圖奈奎斯特圖實(shí)驗(yàn)7.轉(zhuǎn)角頻率和漸近線計(jì)算轉(zhuǎn)角頻率，并使用MATLAB畫出例6伯德圖的幅頻特性漸近線。源程序numG=[1280640]denG=[124.21604.81320.2416]G=tf(numG,denG)[z,p,k]=zpkdata(G,'v')damp(z),damp(p)abs(z),abs(p)w=logspace(-2,3,100)';[mag,phase]=bode(G,w)mag=reshape(mag,[1001]);semilogx(w,20*log10(mag),'--')holdonlfg=dcgain(G)cf1_dB=20*log10(lfg)plot([0.01;0.1],[cf1_dB;cf1_dB],'-')cf2_dB=cf1_dB-40*log10(0.5/0.1)plot([0.1;0.5],[cf1_dB;cf2_dB],'-')cf3_dB=cf2_dB-20*log10(40/0.5)plot([0.5;40],[cf2_dB;cf3_dB],'-')end_dB=cf3_dB-60*log10(100/40)plot([40;1000],[cf3_dB;end_dB],'-')holdofftext(0.23,25,'-40dB/dec')text(15,-25,'-20dB/dec')text(15,-70,'-60dB/dec')axis([0.011000-10040])結(jié)論z=-0.5000p=-12.0000+38.1576i-12.0000-38.1576i-0.1000+0.0000i-0.1000-0.0000ik=1280EigenvalueDampingFreq.(rad/s)-5.00e-0011.00e+0005.00e-001EigenvalueDampingFreq.(rad/s)-1.20e+001+3.82e+001i3.00e-0014.00e+001-1.20e+001-3.82e+001i3.00e-0014.00e+001-1.00e-001+2.80e-009i1.00e+0001.00e-001-1.00e-001-2.80e-009i1.00e+0001.00e-001例6伯德圖的幅頻特性漸近線實(shí)驗(yàn)8.穿越頻率、裕量和穩(wěn)定性圖2系統(tǒng)反應(yīng)的方框圖使用margin函數(shù)求圖2中反應(yīng)系統(tǒng)的增益裕量，相角裕量及相應(yīng)的穿越頻率，其中與實(shí)驗(yàn)6相同，。利用裕量確定此反應(yīng)系統(tǒng)的穩(wěn)定性。利用實(shí)驗(yàn)6中的尼柯爾斯圖和奈奎斯特圖并通過計(jì)算閉環(huán)系統(tǒng)的極點(diǎn)來檢驗(yàn)?zāi)愕拇鸢?。源程序numG=[1280640]denG=[124.21604.81320.2416]G=tf(numG,denG)H=1GH=G*Hmargin(GH)T=feedback(G,H)poles_T=pole(T)結(jié)論numG=1280640denG=1.0e+003*0.00100.02421.60480.32020.0160Transferfunction:1280s+640----------------------------------------s^4+24.2s^3+1605s^2+320.2s+16H=1Transferfunction:1280s+640----------------------------------------s^4+24.2s^3+1605s^2+320.2s+16Transferfunction:1280s+640----------------------------------------s^4+24.2s^3+1605s^2+1600s+656poles_T=-11.5970+38.0338i-11.5970-38.0338i-0.5030+0.4023i-0.5030-0.4023i實(shí)驗(yàn)9實(shí)驗(yàn)10lfg_CL=0.9960lfg_CL_dB=-0.0347M_pw=5.3719i=15wp=1.4514實(shí)驗(yàn)11atau_sen=0.0500Kproc=4selected_point=0.0438+15.8851ikk=81.3817polesCL=-28.66743.0837+14.7748i3.0837-14.7748iB源程序tauP1=2;tauP2=0.5;tau_sen=0.05Kproc=4denG=conv([tauP11],[tauP21]);Gp=tf(Kproc,denG)H=tf(1,[tau_sen1])t=[0:0.02:10]';forKp=0.7:0.2:1.7;T=feedback(K