[工学]现代机械控制工程实验报告

1、.华东理工大学现代机械控制工程仿真实验实验报告学院_班级_姓名_学号_2010年12月现代机械控制工程仿真实验实验一1.比例环节：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积分环节：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=

2、step(num,den,t);plot(t,y); plot(t,y);grid on grid on微分环节：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不存在惯性环节： 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,d

3、en,t); y=step(num,den,t);plot(t,y); plot(t,y);grid on grid on二阶振荡系统： 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练习：实验二例1系统模型如下所示，判断系统的稳定性，以及系统是否为最小相位系统。num=3,

4、16,41,28;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(稳态值dc

5、为');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(稳态值dc为');dc=dcgain(numc,denc)clc;clear;c

6、lose 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(稳态值dc为');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(nu

7、mc,denc,t);y1,x,t1=step(numc,denc);plot(t,y,'r:',t1,y1);title('the step responce');xlabel('time-sec');disp(稳态值dc为');dc=dcgain(numc,denc)clearclcclose all%输入期望的超调量及峰值时间pos=40('input please input expect pos(%)=');tp=0.8('please input expect tp=');z=log(100/p

8、os)/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(n