根轨迹GUI设计

1、精选优质文档-倾情为你奉上自动化2班 袁辉 一 题目用MATLAB创建用户界面，并完成以下功能：1 可产生未综合系统的根轨迹图以及0.707阻尼比线，你可以交互地选择交点的运行点。界面显示运行点的坐标、增益值以及近似为二阶系统估算的超调量、调整时间、峰值时间、阻尼比、无阻尼自然振荡频率以及稳态误差；2 显示未综合系统的阶跃响应；3 输入控制器的参数，绘制综合后系统的根轨迹图以及显示综合的设计点（主导极点），允许不断改变控制器参数，直到所绘制的根轨迹通过设计点。4 对于综合后的系统，显示运行点的坐标、增益，近似为二阶系统估算的超调量、调整时间、峰值时间、阻尼比、无阻尼自然振荡频率以及误差系数。5

2、 显示综合后系统的阶跃响应。备注：1、 各种功能操作可采用工具条形式，但要归类；2、 界面的各个显示区和操作文本框布局要合理；3、 要为后续的分析综合方法留有接口；二运行结果 图一 图二 图三 图四 图五 图六 图七 图八 图九 图十三使用说明1. 输入我们要设计的系统的设计指标和等效开环传递函数，设计指标包括超调量、调整时间和稳态误差系数，误差系数有一下拉框，可选择位置、速度或者加速度误差系数，输入的是误差系数的最小值。而等效开环传递函数是将系统的特征多项式化为1+k*G(s)的形式，G(s)就是等效开环传递函数，而闭环根轨迹是由k变化产生的。 输入时我们只需要输入G(s)，它是s的多项式，

3、如图二所示。2.然后可以按下未综合根轨迹图按钮，会在坐标系1中产生未综合系统的根轨迹，如图三所示。选上0.707阻尼比选项，会在根轨迹图上产生0.707阻尼比线，如图四所示。3.按下未综合根轨迹图按钮后，可在根轨迹图上选择运行点，选择根轨迹上的一个点后，会在左下角显示运行点的坐标、增益值以及把该系统近似为二阶系统估算的超调量、调整时间、峰值时间、阻尼比、无阻尼自然振荡频率以及稳态误差，如图五所示。4.按下未综合阶跃响应，可在坐标系2中显示未综合系统的阶跃响应，如图六所示。5.如果想继续选择运行点，可继续按下未综合根轨迹图按钮，然后选择运行点。按下主导极点配置范围按钮，可在根轨迹图上显示满足设计

4、指标的主导极点的配置范围，如图七所示。可在这个范围中选择主导极点，可通过左下角产生的运行点所对应的系统响应指标与设计指标比较，选择正确的主导极点。6.如果没有满足设计指标的主导极点，那么必须加串联校正装置，我们可输入串联校正装置的传递函数H(s)，它是s的多项式，然后按下综合根轨迹图按钮，可在坐标系1中产生特征多项式为1+kG(s)H(s)的系统的根轨迹图，且根轨迹图上会显示主导极点配置区域，如图八所示。然后可在根轨迹图上选择主导极点，依然是在界面左下角处显示该运行点所对应的系统响应，如图九所示。7.如果没有合适的主导极点，可继续修改串联装置传递函数，直到产生合适的主导极点。8.按下综合后阶跃

5、响应按钮，可在坐标系2中显示综合后系统的阶跃响应，如图十所示。四附录function varargout = genguiji(varargin)gui_Singleton = 1;gui_State = struct('gui_Name', mfilename, . 'gui_Singleton', gui_Singleton, . 'gui_OpeningFcn', genguiji_OpeningFcn, . 'gui_OutputFcn', genguiji_OutputFcn, . 'gui_LayoutFcn&

6、#39;, , . 'gui_Callback', );if nargin && ischar(varargin1) gui_State.gui_Callback = str2func(varargin1);endif nargout varargout1:nargout = gui_mainfcn(gui_State, varargin:);else gui_mainfcn(gui_State, varargin:);endfunction genguiji_OpeningFcn(hObject, eventdata, handles, varargin)ha

7、ndles.output = hObject;guidata(hObject, handles);function varargout = genguiji_OutputFcn(hObject, eventdata, handles) varargout1 = handles.output;function edit1_Callback(hObject, eventdata, handles)function edit1_CreateFcn(hObject, eventdata, handles)if ispc && isequal(get(hObject,'Backg

8、roundColor'), get(0,'defaultUicontrolBackgroundColor') set(hObject,'BackgroundColor','white');endfunction edit2_Callback(hObject, eventdata, handles)function edit2_CreateFcn(hObject, eventdata, handles)if ispc && isequal(get(hObject,'BackgroundColor'), get

9、(0,'defaultUicontrolBackgroundColor') set(hObject,'BackgroundColor','white');endfunction edit3_Callback(hObject, eventdata, handles)function edit3_CreateFcn(hObject, eventdata, handles)if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicont

10、rolBackgroundColor') set(hObject,'BackgroundColor','white');endfunction edit4_Callback(hObject, eventdata, handles)function edit4_CreateFcn(hObject, eventdata, handles)if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor

11、9;) set(hObject,'BackgroundColor','white');endfunction edit5_Callback(hObject, eventdata, handles)function edit5_CreateFcn(hObject, eventdata, handles)if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor') set(hObject,'

12、BackgroundColor','white');endfunction edit6_Callback(hObject, eventdata, handles)function edit6_CreateFcn(hObject, eventdata, handles)if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor') set(hObject,'BackgroundColor',

13、'white');endfunction edit7_Callback(hObject, eventdata, handles)function edit7_CreateFcn(hObject, eventdata, handles)if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor') set(hObject,'BackgroundColor','white');endf

14、unction edit8_Callback(hObject, eventdata, handles)function edit8_CreateFcn(hObject, eventdata, handles)if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor') set(hObject,'BackgroundColor','white');endfunction edit9_Callbac

15、k(hObject, eventdata, handles)function edit9_CreateFcn(hObject, eventdata, handles)if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor') set(hObject,'BackgroundColor','white');endfunction edit10_Callback(hObject, eventdata

16、, handles)function edit10_CreateFcn(hObject, eventdata, handles)if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor') set(hObject,'BackgroundColor','white');endfunction edit11_Callback(hObject, eventdata, handles)function

17、edit11_CreateFcn(hObject, eventdata, handles)if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor') set(hObject,'BackgroundColor','white');endfunction edit12_Callback(hObject, eventdata, handles)function edit12_CreateFcn(hO

18、bject, eventdata, handles)if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor') set(hObject,'BackgroundColor','white');endfunction weiggj_Callback(hObject, eventdata, handles)syms s num den;num=sym(get(handles.fenz,'st

19、ring');den=sym(get(handles.fenmu,'string');num1=sym2poly(num);den1=sym2poly(den);sys=tf(num1,den1);axes(handles.axes1);rlocus(sys);hold on;x=-5:0.1:0;y=-x;if(get(handles.znb,'value') plot(x,y);endhold off;k,poles=rlocfind(sys);kp=real(poles(1);q=imag(poles(1);set(handles.zyzk,

20、9;string',num2str(k);set(handles.zuobiao1,'string',num2str(kp);if(q=0) set(handles.zuobiao2,'string','+'); set(handles.zuobiao3,'string',num2str(q); set(handles.zuobiao4,'string','i');endwn=sqrt(kp2+q2);e=-kp/wn;set(handles.zunibi,'string',

21、num2str(e);set(handles.zdpl,'string',num2str(wn);if e<=0 set(handles.ctl,'string','不稳定'); set(handles.fzsj,'string','不稳定'); set(handles.tzsj,'string','不稳定');end if (0<e)&&(e<1) Dp=exp(-pi*e/sqrt(1-e2)*100; tp=pi/(wn*sqrt(1-e2);

22、 ts=3/(e*wn); set(handles.ctl,'string',num2str(Dp); set(handles.fzsj,'string',num2str(tp); set(handles.tzsj,'string',num2str(ts); end if e>=1 T=-1/min(poles); if T<=0 set(handles.ctl,'string','不稳定'); set(handles.fzsj,'string','不稳定'); set(

23、handles.tzsj,'string','不稳定'); end if T>0 ts=3*T; set(handles.ctl,'string','/'); set(handles.fzsj,'string','/'); set(handles.tzsj,'string',num2str(ts); end end syms s; G1=poly2sym(k*num1,'s'); G2=poly2sym(den1,'s'); Gk=G1/G2;

24、kp=limit(Gk,s,0,'right'); kv=limit(s*Gk,s,0,'right'); ka=limit(s2*Gk,s,0,'right'); if e>0 if kp=inf set(handles.Kp,'string',''); else set(handles.Kp,'string',num2str(double(kp); end if kv=inf set(handles.Kv,'string',''); else set(han

25、dles.Kv,'string',num2str(double(kv); end if ka=inf set(handles.Ka,'string',''); else set(handles.Ka,'string',num2str(double(ka); end else set(handles.Kp,'string','不稳定'); set(handles.Kv,'string','不稳定'); set(handles.Ka,'string',&#

26、39;不稳定'); endfunction yiggj_Callback(hObject, eventdata, handles)syms s;num1=sym(get(handles.fenz,'string');den1=sym(get(handles.fenmu,'string');num2=sym(get(handles.fz,'string');den2=sym(get(handles.fm,'string');num11=sym2poly(num1);num22=sym2poly(num2);den11=sym

27、2poly(den1);den22=sym2poly(den2);num=conv(num11,num22);den=conv(den11,den22);sys=tf(num,den);axes(handles.axes1);rlocus(sys);dp0=str2num(get(handles.DDp,'string');ts1=str2num(get(handles.TTs,'string');dp1=dp0/100;if dp1=0 e1=1; wn1=1/(ts1/4.75); sb1=-wn1;else e1=log(1/dp1)/sqrt(pi2+(

28、log(1/dp1)2); wn1=3/(ts1*e1); sb1=-e1*wn1;endk11=-tan(acos(e1);x1=-5:0.1:0;y1=k11*x1;y2=-y1;p11=-5:0.02:5;axes(handles.axes1);hold on;plot(x1,y1,'b-','linewidth',1);plot(x1,y2,'b-','linewidth',1);plot(sb1,p11,'b-','linewidth',50);hold offk,poles=rlocfi

29、nd(sys);kp=real(poles(1);q=imag(poles(1);set(handles.zyzk,'string',num2str(k);set(handles.zuobiao1,'string',num2str(kp);if(q=0) set(handles.zuobiao2,'string','+'); set(handles.zuobiao3,'string',num2str(q); set(handles.zuobiao4,'string','i');end

30、wn=sqrt(kp2+q2);e=-kp/wn;set(handles.zunibi,'string',num2str(e);set(handles.zdpl,'string',num2str(wn);if e<=0 set(handles.ctl,'string','不稳定'); set(handles.fzsj,'string','不稳定'); set(handles.tzsj,'string','不稳定');end if (0<e)&&am

31、p;(e<1) Dp=exp(-pi*e/sqrt(1-e2)*100; tp=pi/(wn*sqrt(1-e2); ts=3/(e*wn); set(handles.ctl,'string',num2str(Dp); set(handles.fzsj,'string',num2str(tp); set(handles.tzsj,'string',num2str(ts); end if e>=1 T=-1/min(poles); if T<=0 set(handles.ctl,'string','不稳定&

32、#39;); set(handles.fzsj,'string','不稳定'); set(handles.tzsj,'string','不稳定'); end if T>0 ts=3*T; set(handles.ctl,'string','/'); set(handles.fzsj,'string','/'); set(handles.tzsj,'string',num2str(ts); end end syms s; G1=poly2sym(k

33、*num,'s'); G2=poly2sym(den,'s'); Gk=G1/G2; kp=limit(Gk,s,0,'right'); kv=limit(s*Gk,s,0,'right'); ka=limit(s2*Gk,s,0,'right'); if e>0 if kp=inf set(handles.Kp,'string',''); else set(handles.Kp,'string',num2str(double(kp); end if kv=in

34、f set(handles.Kv,'string',''); else set(handles.Kv,'string',num2str(double(kv); end if ka=inf set(handles.Ka,'string',''); else set(handles.Ka,'string',num2str(double(ka); end else set(handles.Kp,'string','不稳定'); set(handles.Kv,'str

35、ing','不稳定'); set(handles.Ka,'string','不稳定'); endfunction wjy_Callback(hObject, eventdata, handles)syms s;num1=sym(get(handles.fenz,'string');den1=sym(get(handles.fenmu,'string');numg=sym2poly(num1);deng=sym2poly(den1);num,den=feedback(numg,deng,1,1,-1); G=

36、tf(num,den); t=0:0.01:10; y=step(G,t); axes(handles.axes2); plot(t,y);% - Executes on button press in yjy.function yjy_Callback(hObject, eventdata, handles)syms s;num1=sym(get(handles.fenz,'string');den1=sym(get(handles.fenmu,'string');num2=sym(get(handles.fz,'string');den2=s

37、ym(get(handles.fm,'string');num11=sym2poly(num1);num22=sym2poly(num2);den11=sym2poly(den1);den22=sym2poly(den2);num=conv(num11,num22);den=conv(den11,den22);numg,deng=feedback(num,den,1,1,-1); G=tf(numg,deng); t=0:0.01:10; y=step(G,t); axes(handles.axes2); plot(t,y);function DDp_Callback(hObj

38、ect, eventdata, handles)num=str2num(get(hobject,'string');if isempty(num)&&num<0 set(hobjct,'string',' ');endguidata (hobject,handles);function DDp_CreateFcn(hObject, eventdata, handles)if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'d

39、efaultUicontrolBackgroundColor') set(hObject,'BackgroundColor','white');endfunction TTs_Callback(hObject, eventdata, handles)num=str2num(get(hobject,'string');if isempty(num)&&num<0 set(hobjct,'string',' ');endguidata (hobject,handles);function

40、TTs_CreateFcn(hObject, eventdata, handles)if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor') set(hObject,'BackgroundColor','white');endfunction edit18_Callback(hObject, eventdata, handles)function edit18_CreateFcn(hObje

41、ct, eventdata, handles)if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor') set(hObject,'BackgroundColor','white');endfunction pushbutton1_Callback(hObject, eventdata, handles)function pushbutton2_Callback(hObject, eventd

42、ata, handles)function pushbutton3_Callback(hObject, eventdata, handles)function znb_Callback(hObject, eventdata, handles)function pushbutton6_Callback(hObject, eventdata, handles)function pushbutton7_Callback(hObject, eventdata, handles)function edit26_Callback(hObject, eventdata, handles)function e

43、dit26_CreateFcn(hObject, eventdata, handles)if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor') set(hObject,'BackgroundColor','white');endfunction fenz_Callback(hObject, eventdata, handles)syms s;num=sym(get(hobject,'

44、;string');if isempty(num) set(hobjct,'string','0');endguidata (hobject,handles);function fenz_CreateFcn(hObject, eventdata, handles)if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor') set(hObject,'BackgroundColor

45、','white');endfunction fenmu_Callback(hObject, eventdata, handles)syms s den;den=sym(get(hobject,'string');if isempty(den) set(hobjct,'string','0');endguidata (hobject,handles);function fenmu_CreateFcn(hObject, eventdata, )if ispc && isequal(get(hObject,&#

46、39;BackgroundColor'), get(0,'defaultUicontrolBackgroundColor') set(hObject,'BackgroundColor','white');endfunction edit25_Callback(hObject, eventdata, handles)function edit25_CreateFcn(hObject, eventdata, handles)if ispc && isequal(get(hObject,'BackgroundColor&

47、#39;), get(0,'defaultUicontrolBackgroundColor') set(hObject,'BackgroundColor','white');endfunction cdhs_Callback(hObject, eventdata, handles)function pushbutton5_Callback(hObject, eventdata, handles)function fz_Callback(hObject, eventdata, handles)syms s;num=sym(get(hobject,'string');if isempty(num) set(hobjct,'string','0');endguidata (hobject,handles);function fz_CreateFcn(hObject, eventdata, handles)if ispc && isequal(get(hObject,'BackgroundColor'), get(