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MATLAB课后答案电子工业出版社
5.3
阶跃响应曲线:
K=10
K=30
K=50
斜坡响应曲线:
K=10
K=30
K=50
冲激响应曲线:
K=10
K=30
K=50
5.6
6.1
figure
(1)
num=[11];
den=conv([100],conv([12],[14]));
sys=tf(num,den);
rlocus(sys);
title('根轨迹图')
figure
(2)
num=[11];
den=conv([10],conv([1-1],[1416]));
sys=tf(num,den);
rlocus(sys);
title('根轨迹图')
figure(3)
num=[18];
den=conv([110],conv([13],conv([15],conv([17],[115]))));
sys=tf(num,den);
rlocus(sys);
title('根轨迹图')
6.5
(1)
clc
num=[-12];
den=[130];
G=tf(num,den);
H=1;
GG=feedback(G,H)
Transferfunction:
-s+2
-------------
s^2+2s+2
(2)clc
num=[-12];
den=[130];
G=tf(num,den);
rlocus(G);
title('根轨迹图')
(3)由图可以看出,改点不在根轨迹曲线上。
(4)clc
num=[-12];
den=[130];
G=tf(num,den);
rlocus(G);
gridon;
title('根轨迹图')
[k,poles]=rlocfind(G)
Selectapointinthegraphicswindow
selected_point=-0.0024+2.3975i
k=2.9461
poles=-0.0269+2.4272i
-0.0269-2.4272i
当增益K>4时,闭环系统的极点都位于虚轴的左部,处于稳定状态。
7.1
(1)
clc
num=100*[11];
den=conv([10],conv([21],[101]));
figure
(1)
bode(num,den)
grid
figure
(2)
nyquist(num,den)
(2)
clc
num=10;
den=conv([10],conv([0.11],[0.51]));
figure
(1)
bode(num,den)
grid
figure
(2)
nyquist(num,den)
(3)clc
num=5*[0.5-1];
den=conv([10],conv([0.11],[0.2-1]));
figure
(1)
bode(num,den)
grid
figure
(2)
nyquist(num,den)
(4)
clc
num=10*[51];
den=conv([110],conv([11],[0.21]));
figure
(1)
bode(num,den)
grid
figure
(2)
nyquist(num,den)
(5)
clc
num=2*[101];
den=conv([10],conv([110],conv([1425],[10.2])));
figure
(1)
bode(num,den)
grid
figure
(2)
nyquist(num,den)
7.4
(1)
num=300;
den=conv([110],conv([0.2,1],[0.02,1]));
G=tf(num,den)
Transferfunction:
300
------------------------------------
0.004s^4+0.224s^3+1.22s^2+s
(2)
clc
num=300;
den=conv([110],conv([0.2,1],[0.02,1]));
G=tf(num,den);
w=logspace(0,4,50);
margin(num,den)
grid
[Gm,Pm,Wcg,Wcp]=margin(G)
Gm=0.0179
Pm=-72.7403
Wcg=2.1129
Wcp=10.9919
幅值穿越频率:
Wcg=2.1129
8.2
(1)clc
num=[10];
den=conv([10],conv([0.21],[0.52]));
G=tf(num,den);
H=1;
GG=feedback(G,H)
bode(GG)
gridon
title('幅频特性曲线')
Transferfunction:
10
----------------------------
0.1s^3+0.9s^2+2s+10
(2)clc
num=[10];
den=conv([10],conv([0.21],[0.52]));
G=tf(num,den);
kc=5;
yPm=50+12;
Gc=cqjz_frequency(G,kc,yPm);
G=G*kc;
GGc=G*Gc;
Gy_close=feedback(G,1)
Gx_open=feedback(GGc,1)
子函数:
%
functionGc=cqjz_frequency(G,kc,yPm);
G=tf(G);
[mag,pha,w]=bode(G*kc);
Mag=20*log(mag);
[Gm,Pm.Wcg,Wcp]=margin(G*kc);
phi=(yPm-getfield(Pm,'Wcg'))*pi/180;
alpha=(1+sin(phi))/(1-sin(phi));
Mn=-10*log10(alpha);
Wcgn=spline(Mag,w,Mn);
T=1/Wcgn/sqrt(alpha);
Tz=alpha*T;
Gc=tf([Tz,1],[T,1])
Transferfunction:
3.273s+1
--------------
0.001756s+1
Transferfunction:
50
----------------------------
0.1s^3+0.9s^2+2s+50
Transferfunction:
163.6s+50
------------------------------------------------------
0.0001756s^4+0.1016s^3+0.9035s^2+165.6s+50
9.3
clc
clear
A=[-22-1;0-20;1-40];
B=[0;0;1];
C=[100];
D=0;
sys=ss(A,B,C,D)
control_matrix=ctrb(A,B);
rank_control=rank(control_matrix);
ifrank_control<3
disp('系统不可控!
')
else
disp('系统可控!
')
end
observe_matrix=obsv(A,C);
rank_observe=rank(observe_matrix);
ifrank_observe<3
disp('系统不可观!
')
else
disp('系统可观!
')
end
[num,den]=ss2tf(A,B,C,D);
G=tf(num,den)
[z,p,k]=tf2zp(num,den)
a=
x1x2x3
x1-22-1
x20-20
x31-40
b=
u1
x10
x20
x31
c=
x1x2x3
y1100
d=
u1
y10
Continuous-timemodel.
系统不可控!
系统不可观!
Transferfunction:
-s-2
---------------------
s^3+4s^2+5s+2
z=-2
p=-2.0000
-1.0000+0.0000i
-1.0000-0.0000i
k=-1
由结果可以看出,闭环传递函数的所有极点都在S平面的左半平面,因此该系统是稳定的。
10.2
num=20;
den=[1430];
G=tf(num,den)
[A,B,C,D]=tf2ss(num,den);
G1=ss(A,B,C,D)
P=[-5,-2+2i,-2-2i];
K=acker(A,B,P)
无反馈:
加反馈:
10.4
clc
A=[01;-2-3];
B=[0;1];
C=[2,0];
D=0;
G=ss(A,B,C,D)
P=[-10-10];
G=acker(A',C',P);
Kg=G'
11.1
11.2
(1)
(2)
12.5
当K=1,T=0.1时
当K=1,T=1时
当K=1,T=2时
当K=2,T=1时
当K=3,T=1时