《电力电子电机控制系统仿真技术》洪乃刚第1章

1、B)表1.8 常用的绘图命令02468101214-500050002468101214-10010图1.18 空间螺旋线-1-0.500.51-1-0.500.510102030-4-2024-2-1012-1-0.500.511.5例例1.4 传递函数2264220122412)(234231ssssssssG例例1.5 传递函数5)5)(2(432)(23232sssssssG)()(1)()(sHsGsGsW闭环传递函数0)()(1sHsG例例1.6 已知方程 求方程的解，即方程的根 G=1 10 16 160; roots(G)ans = -10.0000 -0.0000 + 4.0

2、000i -0.0000 - 4.0000i0160161023sss例例1.6 已知方程 ，例例1.7 已知闭环系统的开环传递函数求系统特征方程的根1601610)7)(20()()(23ssssssHsG-40-30-20-100-20-15-10-5051015200.9880.180.380.540.70.80.890.950.988510152025303540450.180.380.540.70.80.890.95Root LocusReal AxisImaginary Axis-40-30-20-100-20-15-10-5051015200.180.380.540.70.80.

3、890.950.9880.180.380.540.70.80.890.950.98851015202530354045System: G1Gain: 19.7Pole: -11 + 16iDamping: 0.566Overshoot (%): 11.6Frequency (rad/sec): 19.4Root LocusReal AxisImaginary Axis 设系统的开环传递函数为)3)(1)(5)(42 . 0(8)(22ssssssssG-1-0.500.5-1.5-1-0.500.511.50 dB-20 dB-10 dB-6 dB-4 dB-2 dB20 dB10 dB6 d

4、B4 dB2 dBNyquist DiagramReal AxisImaginary Axis-270-225-180-135-90-450-20-10010203040 6 dB 3 dB 1 dB 0.5 dB 0.25 dB 0 dB -1 dB -3 dB -6 dB -12 dB -20 dBNichols ChartOpen-Loop Phase (deg)Open-Loop Gain (dB)s=tf(s);G2=(s+8)/(s*(s2+0.2*s+4)*(s+1)*(s+3); nyquist(G2),grid %画奈奎斯特图 nichols(G2),grid %画尼科尔斯图

5、bode(G2),grid %画伯德图-200-1000100Magnitude (dB)10-210-1100101102-450-360-270-180-90Phase (deg)Bode DiagramFrequency (rad/sec)-200-1000100System: G4Frequency (rad/sec): 0.639Magnitude (dB): -0.354Magnitude (dB)Bode DiagramFrequency (rad/sec)10-210-1100101102-450-360-270-180-90System: G4Frequency (rad/s

6、ec): 0.642Phase (deg): -132Phase (deg)图上某点参数) 1()(TSSKsGBode DiagramFrequency (rad/sec)-100-50050Magnitude (dB)System: G1Frequency (rad/sec): 4.87Magnitude (dB): -0.71110-1100101102103-180-135-90Phase (deg)System: G1Frequency (rad/sec): 4.88Phase (deg): -116Step ResponseTime (sec)Amplitude00.20.40.6

7、0.811.200.20.40.60.811.21.4System: G1aTime (sec): 0.588Amplitude: 1.04sec/87. 4radc64116180在截止频率对应的相位裕度。 截止频率 hT2221ThhK采用工程设计方法 式中: h为选择的中频段宽度 5 . 01 . 05 hT121 . 05215212222ThhK121 . 05215212222ThhK G4=12*(0.5*s+1)/(s2*(0.1*s+1)Transfer function: 6 s + 12-0.1 s3 + s2: bode(G4) 画伯德图-150-100-5005010

8、0150Magnitude (dB)System: G4Frequency (rad/sec): 5.48Magnitude (dB): 0.188Bode DiagramFrequency (rad/sec)10-210-1100101102103104-180-150-120Phase (deg)System: G4Frequency (rad/sec): 5.42Phase (deg): -139Step ResponseTime (sec)Amplitude00.511.522.500.511.5System: G4aTime (sec): 0.519Amplitude: 1.38-1

9、00-50050100Magnitude (dB)10-1100101102103-181-180.5-180-179.5-179Phase (deg)Bode DiagramFrequency (rad/sec)Bode DiagramFrequency (rad/sec)-1000100200Magnitude (dB)System: G1Frequency (rad/sec): 4.93Magnitude (dB): 0.17110-210-1100101102103-180-150-120Phase (deg)System: G1Frequency (rad/sec): 4.9Phas

10、e (deg): -1280123456700.511.52Step ResponseTime (sec)AmplitudeStep ResponseTime (sec)Amplitude00.511.522.533.544.5500.20.40.60.811.21.4System: G1aTime (sec): 0.583Amplitude: 1.23System: G1aTime (sec): 3.92Amplitude: 1-150-100-50050System: sys1Frequency (rad/sec): 35.9Magnitude (dB): 1.24Magnitude (d

11、B)Bode DiagramFrequency (rad/sec)10-1100101102103104-270-180-900Phase (deg)System: sys1Frequency (rad/sec): 35.4Phase (deg): -157阶跃响应00.10.20.30.40.50.60.70.80.9050100150200250Step ResponseTime (sec)AmplitudeSSSSKSWpPI128. 01128. 01)(-700-600-500-400-300-200-1000100-50005000.140.280.420.560.680.80.910.9750.140.280.420.560.680.80.910.975100200300400500600700Root LocusReal AxisImaginary Axis-50050System: sys1Frequency (rad/sec): 11.1Magnitude (dB): -0.227Magnitude (dB)10-1100101