机械工程控制基础-Matlab编程实验报告

机械工程控制根底Matlab编程实验报告学院:机电学院班级:机械096班姓名:杜静学号:2009071297实验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实验三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)结论numG=32denG=2451numstep=32denstep=24510Transferfunction:3s+2-------------------------2s^4+4s^3+5s^2+sTransferfunction:3s+2-----------------------2s^3+4s^2+5s+1DC_gain=2实验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')结论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实验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,'-.')结论mag=2.3783phase=-92.7263实验6.伯德图、尼柯尔斯图和奈奎斯特图对如下传递函数绘制其伯德图、尼柯尔斯图和奈奎斯特图源程序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伯德图尼柯尔斯图奈奎斯特图实验7.转角频率和渐近线计算转角频率，并使用MATLAB画出例6伯德图的幅频特性渐近线。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])结论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伯德图的幅频特性渐近线实验8.穿越频率、裕量和稳定性图2系统反应的方框图使用margin函数求图2中反应系统的增益裕量，相角裕量及相应的穿越频率，其中与实验6相同，。利用裕量确定此反应系统的稳定性。利用实验6中的尼柯尔斯图和奈奎斯特图并通过计算闭环系统的极点来检验你的答案。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)结论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实验9实验10lfg_CL=0.9960lfg_CL_dB=-0.0347M_pw=5.3719i=15wp=1.4514实验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