机械控制工程基础实验报告(陈国梁)

1、中北大学机械工程控制基础实验报告班级 09020144X 学号 32 姓名 陈国梁 时间 2011-12-24 实验一：系统时间响应分析实验时间：2011-12-24 实验室名称：数字化实验室 内容：1、 实验结果与相应的MATLAB程序一阶系统单位脉冲和单位阶跃响应clear all;t=0:0.001:0.2;%nG=1;tao=0.2;dG=tao 1;G1=tf(nG,dG);tao=0.3;dG=tao 1;G2=tf(nG,dG);tao=0.4;dG=tao 1;G3=tf(nG,dG)%y1,T=impulse(G1,t);y1a,T=step(G1,t);y2,T=impul

2、se(G2,t);y2a,T=step(G2,t);y3,T=impulse(G3,t);y3a,T=step(G3,t);%subplot(121),plot(T,y1,-,T,y2,-.,T,y3,-)legend(tao=0.2,tao=0.3,tao=0.4)xlabel(t(sec),ylabel(x(t);grid on;subplot(122),plot(T,y1a,-,T,y2a,-.,T,y3a,-)legend(tao=0.2,tao=0.3,tao=0.4)grid on;xlabel(t(sec),ylabel(x(t);二阶系统单位脉冲和单位阶跃响应clear all

3、;t=0:0.01:4;wn=7;nG=wn2;kc=0.3;dG1=1 2*kc*wn wn2;G1=tf(nG,dG1);kc=0.6;dG2=1 2*kc*wn wn2;G2=tf(nG,dG2);kc=0.9;dG3=1 2*kc*wn wn2;G3=tf(nG,dG3);y1,T=impulse(G1,t);y1a,T=step(G1,t);y2,T=impulse(G2,t);y2a,T=step(G2,t);y3,T=impulse(G3,t);y3a,T=step(G3,t);subplot(121),plot(T,y1,-,T,y2,-.,T,y3,-)legend(kc=0

4、.3,kc=0.6,kc=0.9),xlabel(t(sec),ylabel(y(t);grid on;subplot(122),plot(T,y1a,-,T,y2a,-.,T,y3a,-)legend(kc=0.3,kc=0.6,kc=0.9),grid on;xlabel(t(sec),ylabel(y(t);二阶系统正弦响应及响应clear all;t=0:0.01:14;u=sin(0.3*pi*t);wn=7;nG=wn2;kc=0.9;dG=1 2*kc*wn wn2;G=tf(nG,dG);y=lsim(G,u,t);plot(t,u,-.,t,y,-,t,u-y,-,linew

5、idth,1)legend(u(t),y(t),e(t)grid;xlabel(t(sec),ylabel(y(t);close all; % t=0:0.001:4; % yss=1;dta=0.02; % wn=7; nG=wn2; kc=0.3;dG1=1 2*kc*wn wn2;G1=tf(nG,dG1); kc=0.6;dG2=1 2*kc*wn wn2;G2=tf(nG,dG2); kc=0.9;dG3=1 2*kc*wn wn2;G3=tf(nG,dG3); y1=step(G1,t);y2=step(G2,t);y3=step(G3,t); % kc=0.3; % 求上升时间t

6、r r=1;while y1(r)1-dta & y1(s)1+dta;s=s-1;end ts1=(s-1)*0.001; % kc=0.6; r=1;while y2(r)1-dta &y3(s)1+dta;s=s-1;end ts2=(s-1)*0.001; % % kc=0.9; r=1;while y3(r)1-dta & y3(s) clear allk=24;nunG1=4 1;denG1=1;re,im=nyquist(nunG1,denG1);subplot(121),plot(re,im);grid on;subplot(122),w=logspace(-2,3 ,100)

7、;bode(nunG1,denG1,w);grid on;%惯性环节clear allk=24;nunG1=1;denG1=4 1;re,im=nyquist(nunG1,denG1);subplot(121),plot(re,im);grid on;subplot(122),w=logspace(-2,3 ,100);bode(nunG1,denG1,w);grid on;%震荡环节clear allk=24;nunG1=4;denG1=1 2 4;re,im=nyquist(nunG1,denG1);subplot(121),plot(re,im);grid on;subplot(122)

8、,w=logspace(-2,3 ,100);bode(nunG1,denG1,w);grid on;%比例环节clear allk=24;nunG1= 8;denG1=2;re,im=nyquist(nunG1,denG1);subplot(121),plot(re,im);grid on;subplot(122),w=logspace(-2,3 ,100);bode(nunG1,denG1,w);grid on;%积分环节clear allk=24;nunG1=2;denG1=2 0;re,im=nyquist(nunG1,denG1);subplot(121),plot(re,im);g

9、rid on;subplot(122),w=logspace(-2,3 ,100);bode(nunG1,denG1,w);grid on;课后习题奈奎斯图和波德图的绘制程序（1）clear allk=10,nunG1= k ;T=2,denG1= T 1 0;re,im=nyquist(nunG1,denG1);subplot(121),plot(re,im);grid on;subplot(122),w=logspace(-2,3 ,100);bode(nunG1,denG1,w);grid on;（2）clear allK=10;nunG1=K;T1=2，T2=4，denG1=T1*T2

10、 T1+T2 0 0;re,im=nyquist(nunG1,denG1);subplot(121),plot(re,im);grid on;subplot(122),w=logspace(-2,3 ,100);bode(nunG1,denG1,w);grid on;(3)clear allk=10;T1=2,nunG1=k*T1 1;T2=4,denG1= T2 1 0;re,im=nyquist(nunG1,denG1);subplot(121),plot(re,im);grid on;subplot(122),w=logspace(-2,3 ,100);bode(nunG1,denG1,

11、w);grid on;（4）clear allK=10;nunG1=24*0.25 0.5;denG1=0.25 10.1 4 ;re,im=nyquist(nunG1,denG1);subplot(121),plot(re,im);grid on;subplot(122),w=logspace(-2,3 ,100);bode(nunG1,denG1,w);grid on;四个例题系统的贫与性能指标（1）k=10,nunG1= k ;T=2,denG1= T 1 0;w=logspace(-1,3 ,100);Gm,Pm,w=bode(nunG1,denG1,w);Mr,k=max(Gm);M

12、r=20*log10(Mr);Wr=w(k);M0=20*log10(Gm(1);n=1;while 20* log10(Gm(n)=-3;n=n+1;endWb=w(n);M0 Wb Mr Wrans = 39.8297 2.8480 39.8297 0.1000（2）K=10;nunG1=K;T1=2,T2=4,denG1=T1*T2 T1+T2 0 0;w=logspace(-1,3 ,100);Gm,Pm,w=bode(nunG1,denG1,w);Mr,k=max(Gm);Mr=20*log10(Mr);Wr=w(k);M0=20*log10(Gm(1);n=1;while 20*

13、log10(Gm(n)=-3;n=n+1;endWb=w(n);M0 Wb Mr Wrans = 44.3604 1.2328 44.3604 0.1000(3) k=10;T1=2,nunG1=k*T1 1;T2=4,denG1= T2 1 0;w=logspace(-1,3 ,100);Gm,Pm,w=bode(nunG1,denG1,w);Mr,k=max(Gm);Mr=20*log10(Mr);Wr=w(k);M0=20*log10(Gm(1);n=1;while 20* log10(Gm(n)=-3;n=n+1;endWb=w(n);M0 Wb Mr Wrans = 39.5258 7.2208 39.5258 0.1000(4) K=10;nunG1=24*0.25 0.5;denG1=