MATLAB文档 1.docx
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MATLAB文档1
实习一
1
2
3
4
5
6
7
8
书P55
t=0:
0.1:
7*pi;y=1-exp(-0.2*t).*cos(0.9*t);plot(t,y);
title('\fontsize{14}\bf\it203130705y=1-exp(-\alpha*t).*cos(\omega*t)');
xlabel('\fontsize{14}\bft\rightarrow');
ylabel('\fontsize{14}\bfy\rightarrow');
text(3.25,1.51,'\fontsize{14}\leftarrow\itsin(t)\fontname{隶书}极大值\it')
text(19.2,1,'\fontsize{14}\leftarrow\itsin(t)\fontname{隶书}极小值\it')
实习二
1
2
Cos(t)sin(t)
>>a=1;thita=0:
0.1:
2*pi;
>>rho=a.*cos(thita).*sin(thita);
>>polar(thita,rho);holdon
R=0.01e0.1
>>a=2;thita=0:
0.1:
4*pi;
rho=a.*0.01*exp(0.1*thita);
polar(thita,rho);holdon;
3
t=0:
0.1:
2*pi;y=sin(t);plot(t,y);
axis([0,2*pi,-1.2,1.2]);
title('\fontsize{14}\bf\ity=sin(t)y=cos(t)');
text(pi,0,’\fontsize{14}\leftarrow\itsin(t)’)
text(2*pi,-0.2,’\fontsize{14}\uparrow\it2\pi’)
text(pi/2,1,’\fontsize{14}\leftarrow\itsin(t)\fontname{隶书}极大值\it’)
text(3*pi/2,-1,’\fontsize{14}\leftarrow\itsin(t)\fontname{隶书}极小值\it’);holdon;
t=0:
0.1:
2*pi;y=cos(t);plot(t,y);holdon;
text(pi/2,0,’\fontsize{14}\leftarrow\itcos(t)’)
text(0,1,’\fontsize{14}\leftarrow\itsin(t)\fontname{隶书}极大值\it’)
text(pi,-1,’\fontsize{14}\leftarrow\itsin(t)\fontname{隶书}极小值\it’);holdon;
t=0:
0.1:
2*pi;
x=0:
0.1:
2*pi;
y1=sin(t);y2=cos(x);
plot(t,y1,'g',x,y2,'b');
axis([0,2*pi,-1.2,1.2]);
title('\fontsize{14}\bf\ity=sin(t)y=cos(t)');
%text(pi,0,'\fontsize{14}\leftarrow\itsin(t)');
text(2*pi,-0.2,'\fontsize{14}\uparrow\it2\pi');
text(pi/2,1,'\fontsize{14}\leftarrow\itsin(t)\fontname{隶书}极大值\it');
text(3*pi/2,-1,'\fontsize{14}\leftarrow\itsin(t)\fontname{隶书}极小值\it');
%text(pi/2,0,'\fontsize{14}\leftarrow\itcos(t)');
text(0,1,'\fontsize{14}\leftarrow\itcos(x)\fontname{隶书}极大值\it');
text(pi,-1,'\fontsize{14}\leftarrow\itcos(x)\fontname{隶书}极小值\it');
legend('sin','cos');
实习三
1
实习四
1
>>num=[0.0001,0.218,1.0436,9.3599];
>>den=[0.0006,0.0268,0.06365,6.2711];
>>sys=tf(num,den)
Transferfunction:
0.0001s^3+0.218s^2+1.044s+9.36
-------------------------------------------
0.0006s^3+0.0268s^2+0.06365s+6.271
>>sys1=ss(sys)
a=
x1x2x3
x1-44.67-1.658-10.21
x26400
x30160
b=
u1
x116
x20
x30
c=
x1x2x3
y122.241.6810.8458
d=
u1
y10.1667
Continuous-timemodel.
>>sys2=zpk(sys)
Zero/pole/gain:
0.16667(s+2175)(s^2+4.778s+43.03)
----------------------------------------
(s+47.12)(s^2-2.456s+221.8)
>>
2
>>A=[-2.8,-1.4,0,0;1.4,0,0,0;-1.8,-0.3,-1.4,-0.06;0,0,0.6,0];B=[1;0;1;0];
>>C=[0,0,0,1];D=0;
>>sys=ss(A,B,C,D,0.1)
a=
x1x2x3x4
x1-2.8-1.400
x21.4000
x3-1.8-0.3-1.4-0.06
x4000.60
b=
u1
x11
x20
x31
x40
c=
x1x2x3x4
y10001
d=
u1
y10
Samplingtime:
0.1
Discrete-timemodel.
>>sys1=zpk(sys)
Zero/pole/gain:
0.6(z^2+z+1.54)
------------------------------
(z+1.4)^2(z+1.374)(z+0.0262)
Samplingtime:
0.1
>>sys=tf(sys)
Transferfunction:
0.6z^2+0.6z+0.924
---------------------------------------------
z^4+4.2z^3+5.916z^2+2.845z+0.07056
Samplingtime:
0.1
num=[0.6,0.6,0.924];
den=[1,4.2,5.916,2.845,0.07056];
num=
0.60000.60000.9240
>>den
den=
1.00004.20005.91602.84500.0706
3
>>[A,B,C,D]=linmod('four');[num,den]=ss2tf(A,B,C,D);printsys(num,den,'s')
num/den=
2.2737e-013s^4+1.3933e-006s+8140182220.5928
-------------------------------------------------------------------------
s^5+885.5167s^4+192537.8087s^3+12529834.0733s^2+25916466.387s
+8153760506.1985
实习五
1
>>num=1;bc=0.6;
>>den=[1,2*bc*5,5*5];sys=tf(num,den)
Transferfunction:
1
--------------
s^2+6s+25
>>step(sys)
num=1;zeta=0.6;omegan=5;
>>den=[1,2*zeta*omegan,omegan*omegan];sys=tf(num,den)
Transferfunction:
1
--------------
s^2+6s+25
>>[sigma]=zetosi(zeta);
>>[tp]=pi/(omegan*sqrt(1-zeta^2))
tp=
0.7854
>>delta=0.05;[N]=can(1,zeta,delta);[ts]=cats(1,zeta,omegan,delta)
N=
0.8307
Nj=
1
ts=
1.1488
ts=
1.1488
>>delta=0.02;[N]=can(2,zeta,delta);[ts]=cats(2,zeta,omegan,delta)
N=
1.0251
Nj=
1
ts=
1.4821
ts=
1.4821
>>[sigmal]=zetosi(zeta)
sigmal=
0.0948
>>
>>beta=atan(sqrt(1-zeta^2)/zeta);wd=sigma*(sqrt(1-zeta^2));[tr]=(pi-beta)/wd
tr=
29.2010
2
symssG1H1tauphi1kHGphi
G1=10/(s*(s+1));H1=tau*s;
phi1=factor(G1/(1+G1*H1));
G=k*phi1;H=1;phi=factor(G/(1+G*H));
sigma=0.163;[zeta]=sitoze(sigma);
k=vpa(omegan^2,4);
[omegan]=solve('1=3.14/(omegan*sqrt(1-0.5^2))');
omegan=vpa(omegan,4);
tau=solve('13.15*tau=2*0.5*3.626');
tau=vpa(tau,4)
zeta=
0.5000
phi=
10*k/(s^2+s+10*tau*s+10*k)
k=
13.15
omegan=
3.626
tau=
.2757
3
clear;
symszetasigmaomegansK1aK2G1HphiG;
G1=K2/(s*(s+a));H=1;phi=factor(G1/(1+G1*H));
G=phi*K1;
sigma=(2.18-2)/2;
[zeta]=sitoze(sigma);
[omegan]=solve('3.14/(omegan*sqrt(1-0.6083^2))=0.8');
[omegan]=vpa(omegan,4);K2=omegan^2;T=1/(2*zeta*omegan);G=K2/(s*(T*s+1))
结果是:
zeta=
0.6083
omegan=
4.9451485750296270669396811949723
G=
24.453025/s/(.16621152519540937670765503693039*s+1)
K2=
24.453025
实习六
第一个1
程序
>>d=[1,4,-4,4,-7,-8,10];
>>roots(d)
结果
ans=
-5.0000
-0.0000+1.4142i
-0.0000-1.4142i
-1.0000
1.0000+0.0000i
1.0000-0.0000
计算数据表明,有两个特征值的实部均为正值,所以系统不稳定。
第二个2
symssGKTnd;
G=K*(s+1)/(s*(T*s+1)*(2*s+1));
[n,d]=numden(simple(G/(1+G)));
>>n
n=
K*(s+1)
>>D1=d
D1=
2*T*s^3+T*s^2+2*s^2+s+K*s+K
symsa0a1a2a3TKD2;a0=2*T;a1=2+T;a2=K+1;a3=K;D2=a1*a2-a0*a3
D2=
(2+T)*(K+1)-2*T*K
symsK;[K]=simple(solve('(2+T)*(K+1)-2*T*K=0',[K]));K=vpa(K)
K=
(2.+T)/(-2.+T)
第三个
n1=[15];d1=conv(conv([1,0],[1,1]),[1,10]);s1=tf(n1,d1)
Transferfunction:
s+5
-------------------
s^3+11s^2+10s开环
sys=feedback(s1,1)
Transferfunction:
s+5
-----------------------
s^3+11s^2+11s+5闭环函数
P=sys.den{1};p=roots(P)
p=
-9.9444
-0.5278+0.4735i
-0.5278-0.4735i
pzmap(sys)
clear;n=[15];d=conv([110],[110]);sys=tf(n,d)
Transferfunction:
s+5
-------------------
s^3+11s^2+10s
rlocus(sys)
pzmap(sys)
>>P=[111100];roots(P)
ans=
0
-10
-1
可得,系统稳定
第四个
num=[19];den=conv([110],[0.11]);sys=tf(num,den)
Transferfunction:
19
---------------------
0.1s^3+1.1s^2+s
margin(sys)
由于相角稳定裕度<0,是不稳定
num=[00019];den=[0.11.110];
s1=tf(num,den);sys=feedback(s1,1);
t=0:
0.01:
30;
step(sys,t)
第五个
[A,B,C,D]=linmod(‘six’);[num,den]=ss2tf(A,B,C,D);printsys(num,den,’s’)
num/den=
-7.1054e-015s^2+6.8212e-013s+15000
----------------------------------------
s^3+10s^2-2.8422e-013s+16200
ans=
Emptymatrix:
0-by-1
P=[1,10,0,16200];roots(P)
ans=
-29.1132
9.5566+21.5666i
9.5566-21.5666i
n=600;d=[1,10,0,16200];
GH=tf(n,d)
nyquist(GH)
Transferfunction:
600
--------------------
s^3+10s^2+16200
symssGHsys;GH=600/(s^3+10s^2+16200);sys=factor(GH/(1+GH))
N=1200000;d=[];sys=tf(n,d);step(sys)
5.symssG1H1G;
G1=30/(0.1*s^3+s^2);H1=4*s;
G=50*G1/(1+G1*H1);
[n1,d1]=numden(simple(G))
n1=
15000
d1=
s*(s^2+10*s+1200)
P=[11012000];roots(P)
得到ans=0
-5.0000+34.2783i
-5.0000-34.2783i
(2)
n1=[00015000];
d1=[11012000];
GH=tf(n1,d1);
nyquist(GH)
(3)
symssGHsys;
GH=15000/(s^3+10*s^2+1200*s);
sys=factor(GH/(1+GH))
sys=
15000/(s^3+10*s^2+1200*s+15000)
clear;
n=[00015000];
d=[110120015000];
sys=tf(n,d);
step(sys)
第六个
P=[121000];roots(P)
ans=
0
0
-1.0000+3.0000i
-1.0000-3.0000i
P=[0.11.55];roots(P)
ans=
-10
-5
symsGbKpKvKas;
Gb=100/((0.1*s+1)*(s+5));
phi=simple(Gb/(1+Gb))
phi=
1000/(s^2+15*s+1050)
P=[12906010];
roots(P)
ans=
-0.6637+9.4103i
-0.6637-9.4103i
-0.3628
-0.3097
Kp=limit(Gb,s,0,'right')
Kv=limit(s*Gb,s,0,'right')
Ka=limit(s^2*Gb,s,0,'right')
Kp=
20
Kv=
0
Ka=
0
8
1)
n1=[2010];[d1]=conv([100],[16100]);s=tf(n1,d1)
Transferfunction:
20s+10
---------------------
s^4+6s^3+100s^2
sys=feedback(s,1);
t=[0:
0.001:
100];
[ess]=ster(0,sys,t)
ess=
3.8458e-005
2)n1=[2010];
d1=[1610000];
s=tf(n1,d1);
sys=feedback(s,1);
t=[0:
0.001:
100];
[ess]=ster(1,sys,t)
ess=
-1.6463e-004
3)
n1=[2010];
d1=[1610000];
s=tf(n1,d1);
sys=feedback(s,1);
t=[0:
0.001:
100];
[ess]=ster(2,sys,t)
ess=9.9999
实习7
1
num=[1,-1];den=conv(conv([1,2],[1,2]),[1,5]);sys=tf(num*5,den)
rlocus(sys)
[k,poles]=rlocfind(sys)
[k,poles]=rlocfind(sys,-1)
s=feedback(sys,1)
figure;
step(s)
结果:
Transferfunction:
5s-5
-----------------------
s^3+9s^2+24s+20
Selectapointinthegraphicswindow
selected_point=
-0.0024-0.1398i
k=
3.9619
poles=
-4.4978+4.8518i
-4.4978-4.8518i
-0.0043
k=
0.4000
poles=
-4.0000+1.4142i
-4.0000-1.4142i
-1.0000
Transferfunction:
5s-5
-----------------------
s^3+9s^2+29s+15
2
num=[1,-2,5];den=[1,1.5,-1];
sys=tf(num,den)
rlocus(sys)
[k,poles]=rlocfind(sys)
结果:
Selectapointinthegraphicswindow
selected_point=
0.0030+1.2484i
k=
0.7475
poles=
-0.0014+1.2516i
-0.0014-1.2516i
[k,poles]=rlocfind(sys)
Selectapointinthegraphicswindow
结果:
selected_point=
-0.4117-0.0062i
k=
0.2416
poles=
-0.4094+0.0058i
-0.4094-0.0058i
3
num=[1];den=conv(conv([1,0],[1,0]),[1,1]);
sys=tf(num,den)
rlocus(sys)
[k,poles]=rlocfind(sys)
rltool(sys)
结果:
Transferfunction:
1
---------
s^3+s^2
selected_point=
-0.0095+0.0062i
k=
1.2721e-004
poles=
-1.0001
0.0001+0.0113i
0.0001-0.0113i
实习八
symssGphiomeganKa;
phi=6.25/((s+1)*(s+1.25)*(s+5));
G=factor(phi/(1-phi))
num=[25];den=conv([1,0],[4,29,50]);
G=tf(num,den);
[Gm,Pm,wcg,Wcp]=margin(G)
margin(G)