仿真分析报告

1、现代控制工程典型环节特性的研究与计算机仿真分析报告小组成员：李岳，郑策，刘遥，李杨，孙跃嘉，刘青竹，张百灵覃星福教师：王喜莲2011/9/19、理论准备a.模型建立Proportional control ActionPUi(s)Uo(s) 乜Integral control ActionIProportional-plus-integral control actionPIUi(s)* K(1讣)出TsProportional-plus-derivative control action PDUi(s)I K(1+s) |-U(s)PIDProportional-plus-integral-

2、plus-derivative control action鸣k(1 + 严TsFirst order inertia linkUi(劭 K U0(s)TS+1Second order systemPIPDb.参数选择 TOC o 1-5 h z Proportional control ActionPK=0.5K=1K=2Integral control ActionITi=1s 4.7s10sProportional-plus-integral control actionKTi(s)14.71100.54.7Proportional-plus-derivative control act

3、ionKTd(s)10.01510.070520.0155) Proportional-plus-integral-plus-derivative control actionPIDKTi/sTd/sTf/s14*0.0470.0470.75*0.0476) First order inertia linkKT(s)10.0110.4720.477) Second order systemw(sA-1)Z1/0.470.21/1.470.210.210.411MATLAB仿真1、 PStpGainGsimlSsspe：0.5|M|PulseGeneratorRsmipS.2-a.20.4Gai

4、n2波形波形step responsepukeresporiseramp response101112、I?.ep r&spone00:n10Ti波形D4.7-1?tep respor;e010pulse response0 Ir1I-0.5-13、PIKT1(s)波形4.7100.54.74、 PDMLK11210226B10loStpZf2-=cl92Zero-Pole20 RampZera-PclelPulWG enfetterGainlGainZ波形T2(s)T3G)0.0150.020.07050.02F-D SbepRD PulseP-D Pulse7i；s+1T2) ；3+1 T

5、3)5+1T2)5+1/T3J|+1 T2|S+1jT3yP-D Step0.0150.025-42&8101. . . .J.1 1 i L.P-D Pul56L.|1!；7- 丨一PO R amp:- J J-L9一一Ll_ 一11! I fa* 1 J 3.1 a:i|a 亠 0 W J ! a INi * i k ij j05、PIDPID_un ity step resp onseZero-Fol 1PID_un ity step resp onseZero-PciiPID_un ity step resp onseS（S*1 -T3）:s-1 T3：i输入波形Z&rn-PDl*1s

6、teppulseF卜D Ramp 0500 k ramp100000.511 522533.544.556、First order inertia link-105-1010-krt.s+tStepTransfer Fcnlnn-trt.s+tPulseTransfer FanGen&rHtCHr/Jts+1RamPTransfer Fcn2T(s)波形0.01i自mpesponse-1step response-0.50.47pulse response-0.5ramp response2q0.20001026S1500.505101520207、Second order system;eo

7、 lesponse0.47step responseramp responseTransfer Forpukfi r&tpinst?rairppulse response波形ai)1/0.47sc&rid order5sj5+2*wRq1/1.470.2second order0.2second oideifjecon 口 order0.4second order05-D10 5102030jecnnd oidsr三、研究性问题解答a.b四、拓展研究利用Multism进行电路层次的仿真，对比研究波形。五、研究心得附：Matlab仿真历史记录Command HistoryxQ 11-19 下牛4;贮一 Start： -k=0. 5;i- Inl:I r I- k=2;k Ii=l;|” Ii=4. 7;tTi=10;1=1; TIM. 7;Tl=10;k-K=0.5;T1=4, 7;J-13=0. 02;I2=0.015;K=2;j- K=1;卜 K=l;12=0. 0705;；K=1: ri=4*0. 047;