自控作业陈炯

1、实验一典型环节的阶跃响应10ScopeStepGain七1/sGain12ain2张1/sIntegratorScope14曰Scope2Add10Gain30.01du/dtIntegratorlGain4DerivativeGain5Scope3Add5Gain61/sIntegrator2Scope4Gain70.5du/dt亠Gain8Add10.2s+1Derivative1Scope5TransferFen2图1比例环节图2积分环节：归圧援3EA9M悴图3一阶复合积分环节事口戶田炉托woea-4图5二阶振荡环节图6惯性环节wn=10;kosi=00.250.50.712;%阻尼比分

2、别为0,0.25,0.5,0.7,1,2num=wnA2;figure(1)holdonfori=1:5%求阻尼比分别为0,0.25,0.5,0.7,1,2时的单位阶跃响应den=1,2*kosi(i)*wn,wn人2;t=0:0.01:4;step(num,den,t)endholdofftitle(stepresponse)%标题为stepresponTime(seconds)w=2:2:12;%以2为最小值，12为最大值，步长为2kosi=0.707;figure(1)holdonforwn=w%分别求wn为2,4,6,8,10,12时的单位阶跃响应num=wnA2;den=1,2*ko

3、si*wn,wn人2;t=0:0.01:4;step(num,den,t)endholdofftitle(stepresponse)%标题为stepresponse实验二线性系统的根轨迹法Ks22s*Ks4s24s16、实验内容1典型二阶开环传递函数为Gk(S)试绘制系统的开环零极点图及闭环系统的根轨迹2单位负反馈系统开环传递函数为GK(s)试绘制系统的开环零极点图及闭环的根轨迹3单位负反馈系统开环传递函数为*Ks6s(s8)s12(s24s8)试绘制系统的闭环系统的根轨迹，并用rlocfind()函数寻找系统临界稳定时的增益值clearnum=1;den=12;%系统开环零极点图%系统根轨迹

4、图sys=tf(num,den);subplot(2,1,1),pzmap(sys)subplot(2,1,2),rlocus(sys)RealAxisclearnum=14;den=1416;%系统开环零极点图%系统根轨迹图sys=tf(num,den);subplot(2,1,1),pzmap(sys)subplot(2,1,2),rlocus(sys)Pole-ZeroMap4RealAxisRootLocus5clearnum=16;den=conv(10,conv(18,conv(112,148);sys=tf(num,den);subplot(2,1,1),pzmap(sys)%系

5、统开环零极点图subplot(2,1,2),rlocus(sys)%系统根轨迹图k,poles=rlocfind(sys)%选取极点显示增益Pole-ZeroMapRealAxisRootLocusSelectapointinthegraphicswindowselected_point=-0.0143+2.7317ik=467.7765poles=-11.2501-8.9730-3.89610.0596+2.6707i0.0596-2.6707i实验三典型环节和系统频率特性实验实验内容:试绘制以下传递函数的bode图和nyquist图RealAxis10.1s1110.1s10.2s1110

6、K0.1s1s(1) Gs(2) Gs(3) Gsclearnum=1;den=0.11;figure(1);bode(num,den);figure(2)nyquist(num,den);%bode图%nyquist图%(elBodeDiagramo-45-9010-1103-1Frequency(rad/sec)rL,FLL.JL*L.-frti.ITbt二rrrrt-f.-fT-0.8-0.6-0.4-0.200.20.40.60.81NyquistDiagramoO0O3O0OJ心gggclearnum=100;den=230100;figure(1);bode(num,den);fi

7、gure(2)%bode图%nyquist图nyquist(num,den);BodeDiagram0-20-40-60-800rrrFxlaeHTesah-101290-53180di10101010310Frequency(rad/sec)RHiAvranMaay0.80.60.4NyquistDiagram-RealAxis4-0clearnum=1;den=0.110;figure(1);bode(num,den);margin(num,den)gridonfigure(2)nyquist(num,den);nc,dc=cloop(num,den,-1)figure(3)bode(nc,dc)m,p,w=bode(nc,dc);mr=max(m)wr=spline(m,w,mr)%bode图%nyquist图%闭环系统，-1表示单位负反馈Gm=InfdB(atIBodeDiagramnfrad/sec),Pm=84.3deg(at0.995rad/sec)-180-1010110Frequency(rad/sec)2101053lasnresah310NyquistDlagramRealAxi