控制系统仿真与CAD实验5.docx
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控制系统仿真与CAD实验5
控制系统仿真与CAD
实验报告
班级:
姓名:
学号:
一、实验内容
控制系统的PID控制器设计。
PID控制器是将输出与输入的偏差的比例,积分和微分通过线性组合构成控制量,对被控系统实施控制的,因其具有原理简单,使用方便,适应性强等特点,所以在工程设计中应用最为广泛.
二、实验过程
1、PID控制规律
PID控制器中比例,积分和微分对系统性能的影响
g1=tf(1,[0.0171]);g2=tf(13.3,[10]);g12=feedback(g1*g2,1)
g3=tf(44,[0.00171]),g4=5.2,g=g12*g3*g4;kp=[1:
1:
5]
fori=1:
length(kp)
gc=feedback(kp(i)*g,0.01178)
step(gc),holdon
end
axis([0,0.2,0,130]);gtext('kp=1'),gtext('kp=2')
gtext('kp=3'),gtext('kp=4'),gtext('kp=5')
Transferfunction:
13.3
--------------------
0.017s^2+s+13.3
Transferfunction:
44
------------
0.0017s+1
g4=
5.2000
kp=
12345
Transferfunction:
3043
--------------------------------------------
2.89e-005s^3+0.0187s^2+1.023s+49.15
Transferfunction:
6086
--------------------------------------------
2.89e-005s^3+0.0187s^2+1.023s+84.99
Transferfunction:
9129
--------------------------------------------
2.89e-005s^3+0.0187s^2+1.023s+120.8
Transferfunction:
1.217e004
--------------------------------------------
2.89e-005s^3+0.0187s^2+1.023s+156.7
Transferfunction:
1.522e004
--------------------------------------------
2.89e-005s^3+0.0187s^2+1.023s+192.5
g1=tf(1,[0.0171]);g2=tf(13.3,[10]);g12=feedback(g1*g2,1);
g3=tf(44,[0.00171]),g4=5.2,g=g12*g3*g4;kp=1;ti=[0.03:
0.01:
0.07]
fori=1:
length(ti)
gc=tf(kp*[ti(i)1],[ti(i)0]),gb=feedback(gc*g,0.01178),
step(gb),holdon
end
axis([0,0.2,0,130]);gtext('ti=0.03'),gtext('ti=0.04'),gtext('ti=0.05'),gtext('ti=0.06'),gtext('ti=0.07')
Transferfunction:
44
------------
0.0017s+1
g4=
5.2000
ti=
0.03000.04000.05000.06000.0700
Transferfunction:
0.03s+1
----------
0.03s
Transferfunction:
91.29s+3043
------------------------------------------------------------
8.67e-007s^4+0.000561s^3+0.03068s^2+1.474s+35.85
Transferfunction:
0.04s+1
----------
0.04s
Transferfunction:
121.7s+3043
------------------------------------------------------------
1.156e-006s^4+0.000748s^3+0.0409s^2+1.966s+35.85
Transferfunction:
0.05s+1
----------
0.05s
Transferfunction:
152.2s+3043
-------------------------------------------------------------
1.445e-006s^4+0.000935s^3+0.05113s^2+2.457s+35.85
Transferfunction:
0.06s+1
----------
0.06s
Transferfunction:
182.6s+3043
-------------------------------------------------------------
1.734e-006s^4+0.001122s^3+0.06136s^2+2.949s+35.85
Transferfunction:
0.07s+1
----------
0.07s
Transferfunction:
213s+3043
------------------------------------------------------------
2.023e-006s^4+0.001309s^3+0.07158s^2+3.44s+35.85
g1=tf(1,[0.0171]);g2=tf(13.3,[10]);g12=feedback(g1*g2,1);
g3=tf(44,[0.00171]),g4=5.2,g=g12*g3*g4;kp=0.01;ti=0.01;td=[12:
36:
84,]
fori=1:
length(td)
gc=tf(kp*[ti*td(i)ti1],[ti0]),gb=feedback(gc*g,0.01178),
step(gb),holdon
end
Transferfunction:
44
------------
0.0017s+1
g4=
5.2000
td=
124884
Transferfunction:
0.0012s^2+0.0001s+0.01
----------------------------
0.01s
Transferfunction:
3.652s^2+0.3043s+30.43
--------------------------------------------------------------
2.89e-007s^4+0.000187s^3+0.05324s^2+0.1366s+0.3585
Transferfunction:
0.0048s^2+0.0001s+0.01
----------------------------
0.01s
Transferfunction:
14.61s^2+0.3043s+30.43
-------------------------------------------------------------
2.89e-007s^4+0.000187s^3+0.1823s^2+0.1366s+0.3585
Transferfunction:
0.0084s^2+0.0001s+0.01
----------------------------
0.01s
Transferfunction:
25.56s^2+0.3043s+30.43
-------------------------------------------------------------
2.89e-007s^4+0.000187s^3+0.3113s^2+0.1366s+0.3585
2.PID控制器设计方法
PID控制器参数设计的方法有理论设计法和工程设计法。
n0=180;d0=conv(conv([10],[0.21]),[0.51]);g0=tf(n0,d0);g1=feedback(g0,1);step(g1)
n0=180;d0=conv(conv([10],[0.21]),[0.51]);g0=tf(n0,d0),rlocus(g0)
Transferfunction:
180
---------------------
0.1s^3+0.7s^2+s
n0=180;d0=conv(conv([10],[0.21]),[0.51]);g0=tf(n0,d0)
Transferfunction:
180
---------------------
0.1s^3+0.7s^2+s
gc=tf([0.0060.0240.024],[10]),g=feedback(g0*gc,1)
Transferfunction:
0.006s^2+0.024s+0.024
---------------------------
s
Transferfunction:
1.08s^2+4.32s+4.32
--------------------------------------------
0.1s^4+0.7s^3+2.08s^2+4.32s+4.32
step(g)
g1=tf(180,[3601]);[np,dp]=pade(180,2)
np=
1.0000-0.03330.0004
dp=
1.00000.03330.0004
gp=tf(np,dp);g0=feedback(g1*gp,1),step(g0)
Transferfunction:
180s^2-6s+0.06667
-------------------------------------
360s^3+193s^2-5.833s+0.06704
三、实验总结
在这次实验中,我们通过MATLAB软件,输入命令以实现控制系统瞬态性能的时域、频域和根轨迹分析,并介绍利用该软件命令实现线性定常系统稳定性的分析。
对PID控制的矫正分析,系统性能得到大幅度的提高。
在自动控制分析中利用比例积分微分等系统矫正的方法,结合Matlab软件的强大功能使得问题变得简单化,加快计算速度,节省很大的时间,具有优越性,在以后的问题中也要学会利用Matlab软件处理各种类似的问题。