自动控制课程设计

1、自动控制课程设计 校正前的bode图 阶跃响应校正前的零极点图（处于过阻尼状态，无振荡） 根轨迹图（稳定）校正后的bode图（相角裕度比以前大）ka=100;kb=20;kt=0.12;ra=8;la=0.015;j=0.0055;cm=0.38;ce=0.38;f=0.22;i=0.4;tm=ra*j/(ra*f+cm*ce);km=cm/(ra*f+cm*ce);num=ka*km*kb/i;den=tm,ka*km*kt+1,0;s1=tf(num,den)sys=feedback(s1,1)figure(2);margin(s1); grid onfigure(3);step(sys)

2、;grid onfunction Gc=leadc(sope,vars)gama=vars(1);mag,phase,w=bode(sope);mu,pu=bode(sope,w);gam=gama*pi/180;alpha=(1+sin(gam)/(1-sin(gam);adb=20*log10(mu);am=-10*log10(alpha);wc=spline(adb,w,am);T=1/(wc*sqrt(alpha);alphat=alpha*T;Gc=tf(alphat 1,T 1);Ends2=s1*Gc;figure(5);margin(s2);grid onfigure(6);r

3、locus(s2);gridfigure(7);sys2=feedback(s2,1);step(sys2);hold on;grid onstep(sys)Transfer function: 997.7-开环0.0231 s2 + 3.394 s Transfer function:校正前闭环 997.7-0.0231 s2 + 3.394 s + 997.7Transfer function:校正环节2.040.006274 s + 1-0.003076 s + 1Transfer function:拨特校正开换 6.26 s + 997.7-7.107e-005 s3 + 0.0335

4、5 s2 + 3.394 sTransfer function:闭环 6.26 s + 997.7-7.107e-005 s3 + 0.03355 s2 + 9.654 s + 997.7po=0.2;Ts=0.02;p,z=pzmap(s1)zeta=fzero('exp(-pi*x/(1-x2)-0.2',0.5);wn=4/(zeta*Ts);re=-zeta*wnim=(1-zeta2)0.5*wnzc=re;thetap=1.5*pi;theta=zeros(2,1)for i=1:2 theta(i)=atan(im/(re-p(i); if theta(i)<

5、;0 theta(i)=pi+theta(i); end thetap=thetap-theta(i);endthetappc=-im*cos(thetap)+rezcnumc=1 -zc;denc=1 -pc;gc=tf(numc,denc)s3=gc*s1sys3=feedback(s3,1)figure(1);step(sys);hold onstep(sys3);grid onfigure(2);rlocus(sys3);grid onfigure(3);margin(sys3);grid figure(4);margin(sys);grid po=0.20;Ts=0.025;p,z=

6、pzmap(s1) zeta=fzero('exp(-pi*x/(1-x2)-0.2',0.5); wn=4/(zeta*Ts);re=-zeta*wn im=(1-zeta2)0.5*wn zc=re;thetap=1.5*pi;theta=zeros(2,1)for i=1:2 theta(i)=atan(im/(re-p(i); if theta(i)<0 theta(i)=pi+theta(i); end thetap=thetap-theta(i);endthetappc=-im*cos(thetap)+re-50zcnumc=1 -zc;denc=1 -pc;gc=tf(numc,denc)s3=gc*s1sys3=feedback(s3,1)figure(1);step(sys);hold onstep(sys3);grid onfigure(2);rlocus(sys3);grid onfigure(3);margin(s3);grid o