自动控制原理学生试验二阶开环系统的频率特性曲线Word下载.docx

1、（奈奎斯特图）。幅值穿越频率coc,相位裕度丫的测试：在开环对数幅频曲线中，用鼠标在曲线L（co）=0处点击一下，待检测完成后，就可以根据十字标记测得系统的幅值穿越频率gjc,见图3-2-6（a）;同时还可在开环对数相频曲线上根据十字标记测得该系统的相位裕度丫。实验结果与式（3-2-3）和（3-2-4）的理论计算值进行比对。改变惯性环节开环增益：改变运算模拟单元A3的输入电阻R=10K4K、2K。Ti=1（C1=2u）,T=0.1（C2=1u）（R减小（E减小）。改变惯性环节时间常数：改变运算模拟单元A3的反馈电容C2=1u、2u、3u。Ti=1（C1=2u）,K=25（R=4,（。增加.减小

2、）。改变积分环节时间常数：改变运算模拟单元A3的反馈电容C1=1u、2uoT=0.1（C2=1u）,K=25（R=4K）,（C1减小（E减小）。重新观测结果，界面上方将显示该系统用户点取的频率点的3、L、。、Im、Re谐振频率2，谐振峰值L（cor）等相关数据，填入实验报告。三.实验数据及数据处理实验条件：R=10KC,G=2NF,C2=1NF,侧得开环频率特性曲线如下图图4:相频特性曲线取点后数据表取点前数据表频率f幅频L（CD）（开）相频（j）（3）（开）幅频L（3）相频$（0）（开）0.59.48263-108.4410.67.68473-110.9140.76.12835-114.33

3、60.84.73318-117.1170.93.42122-119.69312.25416-122.1891.20.16248-127.3211.4-1.74156-131.4431.6-3.43027-135.2611.8-4.99718-138.6272-6.45626-141.6622.2-7.80264-144.3232.4-9.07791-146.7052.6-10.2617-148.8852.8-11.3909-150.817-12.4647-152.5613.2-13.4673-153.0573.4-14.5282-155.5953.6-15.3895-157.0713.8-16

4、.1647-158.3224-17.0375-159.7194.5-19.1866-162.1495-20.9528-164.3645.5-22.2588-166.4986-23.8322-167.4216.5-25.0976-170.0047-26.6037-171.5477.5-27.9561-173.0458-29.5823-174.486-174.4868.5-30.8802-174.6069-30.8806-175.90710-34.32J-178.667-178.667谐振频率3r=6.283185谐振峰值L（dr1=71谐振峰值L（r）=71穿越频率3C=7.539822阻尼比七

5、=0.511743阻尼比H=自然频率wn=9.104739超调量Mp=15.39269调节时间ts=0.643876（4=5%寸）相位裕度Y=52.67924峰值时间tp=0.401623理论值与实测值比较理论值实测值之=0.5000E=0.5117430n=10rad/secan=9.1047390c=7.4657rad/secc3c=7.539822尸=53.2560丫=52.679240R=4KQCi=2NF,C2=1NF,测得波形图如下所示:图5:幅频特性曲线图7:幅相特性曲线取点前数据表取点后数据表相频）（3）（开）频率f幅频L（3）（开）相频小（3）（开）17.62911-110.

6、3330.517.62911-110.33315.80961-112.8730.615.80961-112.87314.21108-115.9130.714.21108-115.91312.81575-118.10.812.81575P-118.111.53394-120.5810.911.53394-120.58110.23316-122.934110.23316-122.9348.12743-127.4651.28.12743-127.4656.2487-131.7831.46.2487-131.7834.5426-135.2951.64.5426-135.2952.9616-138.61

7、1.82.9616-138.611.51294-141.7221.512941-141.720.15954-144.3352.20.15947-144.3352.3-0.49669-145.4212.4-1.1205-146.522-1.1205-146.5222.6-2.31444-148.624-2.31444-148.6242.8-3.42387-150.594-3.42387-150.5943-4.49136-152.245-4.49136-152.2453.2-5.44225-153.061-5.4423-153.0613.4-6.44918-155.026-6.44924-155.

8、0263.6-7.37936-156.338-7.37942-156.3383.8-8.23405-157.525-8.23411-157.5254-9.05889-158.413-9.05896-158.4134.5-10.9803-160.939-10.9804-160.9395-12.7574-163.016-12.7574-163.0165.5-14.3318-164.826-14.3319-164.8266-15.8438-166.333-15.8439-166.3336.5-17.0929-167.786-17.0929-167.7867-18.3393-168.314-18.33

9、94-168.3147.5-19.5351-168.842-19.5352-168.8428-20.5853-169.876-20.5854-169.8768.5-21.8145-172.199-21.8146-172.1999-22.7613-173.256-22.7614-173.25610-24.4468-173.596-24.4469-173.59612-28.4645-177.31412-28.4646-177.31414-30.8813-180匚14-30.8814-180谐振频率ar=13.82301谐振峰值L（ar）=4.3341穿越频率cc=0.320478自然频率an=15

10、.5071334.54630.603660（4=5%寸）相位裕度丫=35.665130.21387135.66525理论之与实验值相比较t=0.3162E=0.32050n=15.81rad/secan=15.507130c=14.23rad/secac=13.82301=35.0992丫=35.66525R=2KQC1=2NF,C2=1NF,侧得开环频率特性曲线如下图图8：图10:频率f幅频L（3）（开）相频小（3）幅频L（3）（开）相频小）（开）23.68574-113.2031-113.2030B22.03436-113.291-113.291107720.30149-118.45118

11、.92402-119.80117.6123-122.54716.43831-124.483-124.483114.26653-129.061-129.06112.25288-131.735-131.73510.55738-135.366-135.3668.95031-139.066-1390667.50262-141.708-141.70816.17431-144.2024.89476-146.653.70483-146.65-148.6922.57649-150.5861.52358-152.2480.49993-153.5933.30.04523-154.424-0.44994-155.0

12、02-1.37603-156.295-2.22967-157.513-3.03591-158.466-4.94815-160.766-6.69986-162.71-6.69992-8.22689-163.386-8.22696-9.70677-165.663-9.70684-11.0813-167.267-12.3792-167.974-12.3793-13.5365-168.275-13.5366-14.676-170.363-15.6871-171.324-15.6872-16.6658-172.391-16.6659-18.6375-173.458-21.8198-176.023-21.

13、819714-24.448-174.712-24.447920.73451谓振频率3r=20.106197.1002谐振峰值L（3r）=6.9866穿越频率wC=21.3628310.226681阻尼比己=0.22984自然频率nn=21.88979自然频率3n=21.26066（超调量Mp调节时间t48.1344647.61962s=0.604596（4=5%寸）调节时间ts=相位裕度丫=0.613931（Z=5%寸）24.99801相位裕度丫=峰值时间tp=25.575550.1473540.15183t=0.2236E=0.2266818n=22.3607rad/secan=21.889

14、790c=21.2425rad/secac=20.73451=25.2087丫=25.5755R=4KQC1=2NF,C2=2NF,测得波形图如下所示:图11：幅频特性图13:幅相特性相频山3）（开）幅频L（a）（开）相频3）（开）16.51016-124.723-124.72314.32119-129.265-129.26512.30498-131.93-131.9310.5519-136.077-136.0778.98359-139.2-139.27.53227-141.823-141.8234.87874-147.0052.57451-150.7830.51107-153.8230.51091-0.44076-155.094-1.36921-156.2661.7-156.2