控制系统仿真与CAD实验报告.docx
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控制系统仿真与CAD实验报告
《控制系统仿真与CAD》
实验课程报告
一、实验教学目标与基本要求
上机实验是本课程重要的实践教学环节。
实验的目的不仅仅是验证理论知识,更重要的是通过上机加强学生的实验手段与实践技能,掌握应用MATLAB/Simulink求解控制问题的方法,培养学生分析问题、解决问题、应用知识的能力和创新精神,全面提高学生的综合素质。
通过对MATLAB/Simulink进行求解,基本掌握常见控制问题的求解方法与命令调用,更深入地认识和了解MATLAB语言的强大的计算功能与其在控制领域的应用优势。
上机实验最终以书面报告的形式提交,作为期末成绩的考核内容。
二、题目及解答
第一部分:
MATLAB必备基础知识、控制系统模型与转换、线性控制系统的计算机辅助分析
1.
>>f=inline('[-x
(2)-x(3);x
(1)+a*x
(2);b+(x
(1)-c)*x(3)]','t','x','flag','a','b','c');[t,x]=ode45(f,[0,100],[0;0;0],[],0.2,0.2,5.7);plot3(x(:
1),x(:
2),x(:
3)),grid,figure,plot(x(:
1),x(:
2)),grid
2.
>>y=@(x)x
(1)^2-2*x
(1)+x
(2);ff=optimset;ff.LargeScale='off';ff.TolFun=1e-30;ff.TolX=1e-15;ff.TolCon=1e-20;x0=[1;1;1];xm=[0;0;0];xM=[];A=[];B=[];Aeq=[];Beq=[];[x,f,c,d]=fmincon(y,x0,A,B,Aeq,Beq,xm,xM,@wzhfc1,ff)
Warning:
OptionsLargeScale='off'andAlgorithm=
'trust-region-reflective'conflict.
IgnoringAlgorithmandrunningactive-setalgorithm.Torun
trust-region-reflective,set
LargeScale='on'.Torunactive-setwithoutthiswarning,use
Algorithm='active-set'.
>Infminconat456
Localminimumpossible.Constraintssatisfied.
fminconstoppedbecausethesizeofthecurrentsearchdirectionislessthan
twicetheselectedvalueofthestepsizetoleranceandconstraintsare
satisfiedtowithintheselectedvalueoftheconstrainttolerance.
Activeinequalities(towithinoptions.TolCon=1e-20):
lowerupperineqlinineqnonlin
2
x=
1.0000
0
1.0000
f=
-1.0000
c=
4
d=
iterations:
5
funcCount:
20
lssteplength:
1
stepsize:
3.9638e-26
algorithm:
'medium-scale:
SQP,Quasi-Newton,line-search'
firstorderopt:
7.4506e-09
constrviolation:
0
message:
[1x766char]
3.
(a)>>s=tf('s');G=(s^3+4*s+2)/(s^3*(s^2+2)*((s^2+1)^3+2*s+5))
G=
s^3+4s+2
------------------------------------------------------
s^11+5s^9+9s^7+2s^6+12s^5+4s^4+12s^3
Continuous-timetransferfunction.
(b)
>>z=tf('z',0.1);H=(z^2+0.568)/((z-1)*(z^2-0.2*z+0.99))
H=
z^2+0.568
-----------------------------
z^3-1.2z^2+1.19z-0.99
Sampletime:
0.1seconds
Discrete-timetransferfunction.
4.
>>A=[010;001;-15-4-13];B=[002]';C=[100];D=0;G=ss(A,B,C,D),Gs=tf(G),Gz=zpk(G)
G=
a=
x1x2x3
x1010
x2001
x3-15-4-13
b=
u1
x10
x20
x32
c=
x1x2x3
y1100
d=
u1
y10
Continuous-timestate-spacemodel.
Gs=
2
-----------------------
s^3+13s^2+4s+15
Continuous-timetransferfunction.
Gz=
2
---------------------------------
(s+12.78)(s^2+0.2212s+1.174)
Continuous-timezero/pole/gainmodel.
5.
设采样周期为0.01s
>>z=tf('z',0.01);H=(z+2)/(z^2+z+0.16)
H=
z+2
--------------
z^2+z+0.16
Sampletime:
0.01seconds
Discrete-timetransferfunction.
6.
>>symsJKpKis;G=(s+1)/(J*s^2+2*s+5);Gc=(Kp*s+Ki)/s;GG=feedback(G*Gc,1)
GG=
((Ki+Kp*s)*(s+1))/(J*s^3+(Kp+2)*s^2+(Ki+Kp+5)*s+Ki)
7.
(a)>>s=tf('s');G=(211.87*s+317.64)/((s+20)*(s+94.34)*(s+0.1684));Gc=(169.6*s+400)/(s*(s+4));H=1/(0.01*s+1);GG=feedback(G*Gc,H),Gd=ss(GG),Gz=zpk(GG)
GG=
359.3s^3+3.732e04s^2+1.399e05s+127056
----------------------------------------------------------------
0.01s^6+2.185s^5+142.1s^4+2444s^3+4.389e04s^2+1.399e05s+127056
Continuous-timetransferfunction.
Gd=
a=
x1x2x3x4x5x6
x1-218.5-111.1-29.83-16.74-6.671-3.029
x212800000
x30640000
x40032000
x5000800
x6000020
b=
u1
x14
x20
x30
x40
x50
x60
c=
x1x2x3x4x5x6
y1001.0973.5591.6680.7573
d=
u1
y10
Continuous-timestate-spacemodel.
Gz=
35933.152(s+100)(s+2.358)(s+1.499)
----------------------------------------------------------------------
(s^2+3.667s+3.501)(s^2+11.73s+339.1)(s^2+203.1s+1.07e04)
Continuous-timezero/pole/gainmodel.
(b)设采样周期为0.1s
>>z=tf('z',0.1);G=(35786.7*z^2+108444*z^3)/((1+4*z)*(1+20*z)*(1+74.04*z));Gc=z/(1-z);H=z/(0.5-z);GG=feedback(G*Gc,H),Gd=ss(GG),Gz=zpk(GG)
GG=
-108444z^5+1.844e04z^4+1.789e04z^3
----------------------------------------------------------------
1.144e05z^5+2.876e04z^4+274.2z^3+782.4z^2+47.52z+0.5
Sampletime:
0.1seconds
Discrete-timetransferfunction.
Gd=
a=
x1x2x3x4x5
x1-0.2515-0.00959-0.1095-0.05318-0.01791
x20.250000
x300.25000
x4000.12500
x50000.031250
b=
u1
x11
x20
x30
x40
x50
c=
x1x2x3x4x5
y10.39960.63490.10380.050430.01698
d=
u1
y1-0.9482
Sampletime:
0.1seconds
Discrete-timestate-spacemodel.
Gz=
-0.94821z^3(z-0.5)(z+0.33)
----------------------------------------------------------
(z+0.3035)(z+0.04438)(z+0.01355)(z^2-0.11z+0.02396)
Sampletime:
0.1seconds
Di