MATLAB文档 1.docx

1、MATLAB文档 1实习一12345678书P55t=0:0.1:7*pi;y=1-exp(-0.2*t).*cos(0.9*t);plot(t,y); title(fontsize14bfit 203130705 y=1-exp(-alpha*t).*cos(omega*t);xlabel(fontsize14bftrightarrow);ylabel(fontsize14bfyrightarrow);text(3.25,1.51,fontsize14leftarrowitsin(t)fontname隶书极大值it)text(19.2,1,fontsize14leftarrowitsin(t

2、)fontname隶书极小值it)实习二12Cos(t)sin(t) a=1;thita=0:0.1:2*pi; rho=a.*cos(thita).*sin(thita); polar(thita,rho);hold onR=0.01e0.1a=2;thita=0:0.1:4*pi;rho=a.*0.01*exp(0.1*thita);polar(thita,rho);hold on;3t=0:0.1:2*pi;y=sin(t);plot(t,y);axis(0,2*pi,-1.2,1.2); title(fontsize14bfit y=sin(t) y=cos(t);text(pi,0,

3、fontsize14leftarrowit sin(t)text(2*pi,-0.2,fontsize14uparrowit2pi)text(pi/2,1,fontsize14leftarrowitsin(t)fontname隶书极大值it)text(3*pi/2,-1,fontsize14leftarrowitsin(t)fontname隶书极小值it);hold on; t=0:0.1:2*pi;y=cos(t);plot(t,y);hold on;text(pi/2,0,fontsize14leftarrowit cos(t)text(0,1,fontsize14leftarrowits

4、in(t)fontname隶书极大值it)text(pi,-1,fontsize14leftarrowitsin(t)fontname隶书极小值it);hold on; 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(fontsize14bfit y=sin(t) y=cos(t);%text(pi,0,fontsize14leftarrowit sin(t);text(2*pi,-0.2,fontsize14uparrowit2pi);text(pi/

5、2,1,fontsize14leftarrowitsin(t)fontname隶书极大值it);text(3*pi/2,-1,fontsize14leftarrowitsin(t)fontname隶书极小值it);%text(pi/2,0,fontsize14leftarrowit cos(t);text(0,1,fontsize14leftarrowitcos(x)fontname隶书极大值it);text(pi,-1,fontsize14leftarrowitcos(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

6、.0436,9.3599; den=0.0006,0.0268,0.06365,6.2711; sys=tf(num,den) Transfer function: 0.0001 s3 + 0.218 s2 + 1.044 s + 9.36-0.0006 s3 + 0.0268 s2 + 0.06365 s + 6.271 sys1=ss(sys)a = x1 x2 x3 x1 -44.67 -1.658 -10.21 x2 64 0 0 x3 0 16 0b = u1 x1 16 x2 0 x3 0 c = x1 x2 x3 y1 22.24 1.681 0.8458d = u1 y1 0.

7、1667 Continuous-time model. sys2=zpk(sys) Zero/pole/gain:0.16667 (s+2175) (s2 + 4.778s + 43.03)- (s+47.12) (s2 - 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 = x1 x2 x3 x4 x1 -2.8 -1.4 0 0 x2 1.4 0 0 0 x3 -1.8 -0.3 -1.4 -0.

8、06 x4 0 0 0.6 0 b = u1 x1 1 x2 0 x3 1 x4 0 c = x1 x2 x3 x4 y1 0 0 0 1 d = u1 y1 0 Sampling time: 0.1Discrete-time model. sys1=zpk(sys) Zero/pole/gain: 0.6 (z2 + z + 1.54)-(z+1.4)2 (z+1.374) (z+0.0262) Sampling time: 0.1 sys=tf(sys) Transfer function: 0.6 z2 + 0.6 z + 0.924-z4 + 4.2 z3 + 5.916 z2 + 2

9、.845 z + 0.07056 Sampling time: 0.1num=0.6,0.6,0.924;den=1,4.2,5.916,2.845,0.07056;num = 0.6000 0.6000 0.9240 denden = 1.0000 4.2000 5.9160 2.8450 0.07063 A,B,C,D=linmod(four);num,den=ss2tf(A,B,C,D);printsys(num,den,s) num/den = 2.2737e-013 s4 + 1.3933e-006 s + 8140182220.5928 - s5 + 885.5167 s4 + 1

10、92537.8087 s3 + 12529834.0733 s2 + 25916466.387 s + 8153760506.1985实习五1 num=1;bc=0.6; den=1,2*bc*5,5*5;sys=tf(num,den) Transfer function: 1-s2 + 6 s + 25 step(sys)num=1;zeta=0.6;omegan=5; den=1,2*zeta*omegan,omegan*omegan;sys=tf(num,den) Transfer function: 1-s2 + 6 s + 25 sigma=zetosi(zeta); tp=pi/(

11、omegan*sqrt(1-zeta2)tp = 0.7854 delta=0.05;N=can(1,zeta,delta);ts=cats(1,zeta,omegan,delta)N = 0.8307Nj = 1ts = 1.1488ts = 1.1488 delta=0.02;N=can(2,zeta,delta);ts=cats(2,zeta,omegan,delta)N = 1.0251Nj = 1ts = 1.4821ts = 1.4821 sigmal=zetosi(zeta)sigmal = 0.0948 beta=atan(sqrt(1-zeta2)/zeta);wd=sigm

12、a*(sqrt(1-zeta2);tr=(pi-beta)/wdtr = 29.20102syms s G1 H1 tau phi1 k H G phiG1=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(omegan2,4);omegan=solve(1=3.14/(omegan*sqrt(1-0.52);omegan=vpa(omegan,4);tau=solve(13.15*tau=2*0.5*3.626

13、);tau=vpa(tau,4)zeta = 0.5000 phi =10*k/(s2+s+10*tau*s+10*k)k =13.15omegan =3.626 tau =.2757 3clear;syms zeta sigma omegan s K1 a K2 G1 H phi G;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(1-0.60832)=0.8);omegan=vpa(omegan,4);K

14、2=omegan2;T=1/(2*zeta*omegan);G=K2/(s*(T*s+1)结果是：zeta = 0.6083omegan =4.9451485750296270669396811949723G =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.

15、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2syms s G K T n d;G=K*(s+1)/(s*(T*s+1)*(2*s+1);n,d=numden(simple(G/(1+G); nn =K*(s+1) D1=dD1 =2*T*s3+T*s2+2*s2+s+K*s+Ksyms a0 a1 a2 a3 T K D2;a0=2*T;a1=2+T;a2=K+1;a3=K;D2=a1*a2-a0*a3D2 =(2+T)*(K+1)-2*T*Ksyms K;K=simple(solve(2+T)*(K+1)-2*T*K=0,K);K=vpa(K)K =(2.+T)

16、/(-2.+T)第三个n1=1 5;d1=conv(conv(1,0,1,1),1,10);s1=tf(n1,d1)Transfer function: s + 5-s3 + 11 s2 + 10 s开环sys=feedback(s1,1)Transfer function: s + 5-s3 + 11 s2 + 11 s + 5闭环函数P=sys.den1;p=roots(P)p = -9.9444 -0.5278 + 0.4735i -0.5278 - 0.4735ipzmap(sys)clear;n=1 5;d=conv(1 1 0,1 10);sys=tf(n,d)Transfer f

17、unction: s + 5-s3 + 11 s2 + 10 srlocus(sys)pzmap(sys) P=1 11 10 0;roots(P)ans = 0 -10 -1可得，系统稳定第四个num=19;den=conv(1 1 0,0.1 1);sys=tf(num,den)Transfer function: 19-0.1 s3 + 1.1 s2 + smargin(sys)由于相角稳定裕度0,是不稳定num=0 0 0 19;den=0.1 1.1 1 0;s1=tf(num,den);sys=feedback(s1,1); t=0:0.01:30;step(sys,t)第五个A,

18、B,C,D=linmod(six);num,den=ss2tf(A,B,C,D);printsys(num,den,s)num/den = -7.1054e-015 s2 + 6.8212e-013 s + 15000 - s3 + 10 s2 - 2.8422e-013 s + 16200ans = Empty matrix: 0-by-1P=1,10,0,16200;roots(P)ans = -29.1132 9.5566 +21.5666i 9.5566 -21.5666in=600;d=1,10,0,16200;GH=tf(n,d)nyquist(GH)Transfer functi

19、on: 600-s3 + 10 s2 + 16200syms s GH sys;GH= 600/(s3 + 10 s2 + 16200);sys=factor(GH/(1+GH)N=1200000;d=;sys=tf(n,d);step(sys)5.syms s G1 H1 G ;G1=30/(0.1*s3+s2);H1=4*s;G=50*G1/(1+G1*H1);n1,d1=numden(simple(G)n1 =15000 d1 =s*(s2+10*s+1200)P=1 10 1200 0;roots(P)得到ans = 0 -5.0000 +34.2783i -5.0000 -34.27

20、83i（2）n1=0 0 0 15000;d1=1 10 1200 0;GH=tf(n1,d1);nyquist(GH)（3）syms s GH sys;GH=15000/(s3+10*s2+1200*s);sys=factor(GH/(1+GH)sys =15000/(s3+10*s2+1200*s+15000)clear;n=0 0 0 15000;d=1 10 1200 15000;sys=tf(n,d);step(sys)第六个P=1 2 10 0 0;roots(P)ans = 0 0 -1.0000 + 3.0000i -1.0000 - 3.0000iP=0.1 1.5 5;ro

21、ots(P)ans = -10-5syms Gb Kp Kv Ka s;Gb=100/(0.1*s+1)*(s+5);phi=simple(Gb/(1+Gb)phi =1000/(s2+15*s+1050) P=1 2 90 60 10;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(s2*Gb,s,0,right)Kp =20Kv =0Ka =081)n1=20 10;d1=conv(1 0 0,1

22、6 100);s=tf(n1,d1)Transfer function: 20 s + 10-s4 + 6 s3 + 100 s2sys=feedback(s,1);t=0:0.001:100;ess=ster(0,sys,t)ess = 3.8458e-0052)n1=20 10;d1=1 6 100 0 0;s=tf(n1,d1);sys=feedback(s,1);t=0:0.001:100;ess=ster(1,sys,t)ess = -1.6463e-0043)n1=20 10;d1=1 6 100 0 0;s=tf(n1,d1);sys=feedback(s,1);t=0:0.00

23、1:100;ess=ster(2,sys,t)ess = 9.9999实习71num=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：Transfer function: 5 s - 5-s3 + 9 s2 + 24 s + 20 Select a point in the graphics windowselected_point = -0.0024 - 0.13

24、98ik = 3.9619poles = -4.4978 + 4.8518i -4.4978 - 4.8518i -0.0043 k = 0.4000poles = -4.0000 + 1.4142i -4.0000 - 1.4142i -1.0000 Transfer function: 5 s - 5-s3 + 9 s2 + 29 s + 152num=1,-2,5;den=1,1.5,-1;sys=tf(num,den)rlocus(sys)k,poles=rlocfind(sys)结果：Select a point in the graphics windowselected_poin

25、t = 0.0030 + 1.2484ik = 0.7475poles = -0.0014 + 1.2516i -0.0014 - 1.2516ik,poles=rlocfind(sys)Select a point in the graphics window结果：selected_point = -0.4117 - 0.0062ik = 0.2416poles = -0.4094 + 0.0058i -0.4094 - 0.0058i3num=1;den=conv(conv(1,0,1,0),1,1);sys=tf(num,den)rlocus(sys)k,poles=rlocfind(sys)rltool(sys)结果：Transfer function: 1-s3 + s2selected_point = -0.0095 + 0.0062ik = 1.2721e-004poles = -1.0001 0.0001 + 0.0113i 0.0001 - 0.0113i 实习八syms s G phi omegan K a;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)