現(xiàn)代機(jī)械控制工程實(shí)驗(yàn)報(bào)告

1、華東理工大學(xué)現(xiàn)代機(jī)械控制工程仿真實(shí)驗(yàn)實(shí)驗(yàn)報(bào)告學(xué)院_班級(jí)_姓名_學(xué)號(hào)_2010年12月現(xiàn)代機(jī)械控制工程仿真實(shí)驗(yàn)實(shí)驗(yàn)一1.比例環(huán)節(jié)：G(s)=k k=12 num=12; num=12; den=1; den=1; t=0:0.1:10; t=0:0.1:10; y=impluse(num,den,t); y=step(num,den,t); plot(t,y); plot(t,y); grid on grid on積分環(huán)節(jié)：G(s)=1/s num=1; num=1;den=1,0; den=1,0;t=0:0.1:10; t=0:0.1:10;y=impluse(num,den,t); y=s

2、tep(num,den,t);plot(t,y); plot(t,y);grid on grid on微分環(huán)節(jié)：G(s)=s num=1,0;den=1num=1,0; num=1,0;den=1; den=1;t=0:0.1:10; t=0:0.1:10;y=impluse(num,den,t); y=step(num,den,t);plot(t,y); plot(t,y);grid on grid on不存在慣性環(huán)節(jié)： G(s)=1/(Ts+1) T取2num=1; num=1;den=2,1; den=2,1;t=0:0.1:10; t=0:0.1:10;y=impluse(num,de

3、n,t); y=step(num,den,t);plot(t,y); plot(t,y);grid on grid on二階振蕩系統(tǒng)： G(s)=50/(0.05s2+(1+50T)s+50) T取1num=50; num=50;den=0.05,51,50; den=0.05,51,50;t=0:0.1:10; t=0:0.1:10;y=impluse(num,den,t); y=step(num,den,t);plot(t,y); plot(t,y);grid on grid onSimulink練習(xí)：實(shí)驗(yàn)二例1系統(tǒng)模型如下所示，判斷系統(tǒng)的穩(wěn)定性，以及系統(tǒng)是否為最小相位系統(tǒng)。num=3,1

4、6,41,28;den= 1,14,110,528,1494,2117,112;G=tf(num,den);sys=zpk(G);pzmap(sys)clc;clear;close all;num=20;den=1 8 36 40 0;numc,denc=cloop(num,den);t=0:0.1:10;y=step(numc,denc,t);y1,x,t1=step(numc,denc);plot(t,y,'r:',t1,y1);title('the step responce');xlabel('time-sec');disp(穩(wěn)態(tài)值dc為

5、');dc=dcgain(numc,denc)clc;clear;close all;num=20;den=1 8 36 40 0;numc,denc=cloop(num,den);t=0:0.1:10;y=impulse(numc,denc,t);y1,x,t1=impulse(numc,denc);plot(t,y,'r:',t1,y1);title('the impulse responce');xlabel('time-sec');disp(穩(wěn)態(tài)值dc為');dc=dcgain(numc,denc)clc;clear;cl

6、ose all;num=25;den=1 6 25;t=0:0.1:10;y=step(num,den,t);y1,x,t1=step(num,den);plot(t,y,'r:',t1,y1);title('the step responce');xlabel('time-sec');disp(穩(wěn)態(tài)值dc為');dc=dcgain(num,den)clc;clear;close all;num=10 25;den=0.16 1.96 10 25;numc,denc=cloop(num,den);t=0:0.1:10;y=step(num

7、c,denc,t);y1,x,t1=step(numc,denc);plot(t,y,'r:',t1,y1);title('the step responce');xlabel('time-sec');disp(穩(wěn)態(tài)值dc為');dc=dcgain(numc,denc)clearclcclose all%輸入期望的超調(diào)量及峰值時(shí)間pos=40('input please input expect pos(%)=');tp=0.8('please input expect tp=');z=log(100/po

8、s)/sqrt(pi2+(log(100/pos)2);wn=pi/(tp*sqrt(1-z2);num=wn2;den=1 2*z*wn wn2;t=0:0.02:4;y=step(num,den,t);plot(t,y)xlabel('time-sec')ylabel('y(t)')gridd=wn2e=(2*z*wn-1)/dD=16.7331，E=0.0771 clc; clc;clear; clear;close all; close all;num=20; num=20;den=1 8 36 40 0; den=1 8 36 40 0;numc,denc=cloop(num,den); numc,denc=cloop(num,den);nyquist(numc,denc) bode(