《自动控制报告(陶超).docx》由会员分享，可在线阅读，更多相关《自动控制报告(陶超).docx（55页珍藏版）》请在三一文库上搜索。
1、题目学院自动控制原理机械交通学院专业 电气工程及其自动化班级092姓名陶超学号0指导教师宋玲2011 年11 月 31 日1目录1. 实验一控制系统时域分析31.1、一阶系统阶跃响应31.2、二阶系统阶跃响应41.3、自构造高阶系统，进行数学模型转换并分析其时频域特性62、实验二控制系统根轨迹分析82.1、一阶系统阶跃响应82.2、二阶系统阶跃响应102.3、自构造高阶系统，绘制系统根轨迹图并分析其动态性能及稳定性153、实验三控制系统频域分析173.1、一阶系统阶跃响应173.2、二阶系统阶跃响应203.3、自构造高阶系统， 绘制系统尼氏图和伯德图并分析其动态性能及稳定性294、实验四控制系
2、统的设计与校正314.1、单位控制系统的开环传递函数315、实验五离散控制系统的分析325.1、对自构造连续三阶系统进行离散化325.2、含有零阶保持器系统335.3 、自构造高阶系统346、 实验六典型环节及其阶跃响应367、 实验七二阶系统阶跃响应4221、实验一控制系统时域分析K1.1、一阶系统阶跃响应G( s)Ts1分别取以下几组参数，求系统阶单位阶跃输入时的响应时间常数和调整时间。1) .K=1,T=10;2).K=1,T=1;3).K=1,T=0.1G1=tf(1,10 1), G2=tf(1,1 1), G3=tf(1,0.1 1)Transfer function: （ G1）
3、Transfer function: （ G2）Transfer function: （ G3）111-10 s + 1s + 10.1 s + 1step(G1,G2,G3)hold onSystem: sys3System: sys2Step ResponseSystem: sysSettling Time (sec): 0.392Settling Time (sec): 3.92Settling Time (sec): 39.110.9System: sys3System: sys2System: sysRise Time (sec): 0.22Rise Time (sec): 2.2R
4、ise Time (sec): 220.80.7e0.6dutil0.5pmA0.40.30.20.101020304050600Time (sec)111G1； G 2； G310s 1s 10.1s 1311.2 、二阶系统阶跃响应G ( s)T 2 s2 2T s 1分别就 T=1 和 T=0.1 ， 分别取 0, 0.5, 1, 10时系统阶跃响应的最大超调量、峰值时间、调整时间、振荡次数。G1=tf(1,10 1),G2=tf(1,11 1),G3=tf(1,12 1),G4=tf(1,120 1),G5=tf(1,0.0101),G6=tf(1,0.01 0.1 1),G7=tf(
5、1,0.01 0.2 1),G8=tf(1,0.01 2 1)Transfer function:（ G1）（ G5）1Transfer function:1-s2 + 10.01 s2 + 1Transfer function:（ G2）（ G6）1Transfer function:1-s2 + s + 10.01 s2 + 0.1 s + 1Transfer function:（ G3）（ G7）1Transfer function:1-s2 + 2 s + 10.01 s2 + 0.2 s + 1Transfer function:（ G4）（ G8）1Transfer functio
6、n:1-s2 + 20 s + 10.01 s2 + 2 s + 1峰值时间、调整时间、振荡次数。4System: G11Peak amplitude: 2Overshoot (%): NaN2Step ResponseAt time (sec): 9.4System: G211.8Peak amplitude: 2Overshoot (%): NaNSystem: G11At time (sec): 2.2Settling Time: None1.61.41.2eduti1lpmA0.80.60.4System: G210.2Settling Time: None0123456789100T
7、ime (sec)System: sys2Step ResponseSystem: sys1.4Peak amplitude: 1.16Peak amplitude: 1.16Overshoot (%): 16.3Overshoot (%): 16.3At time (sec): 0.36At time (sec): 3.641.2System: sys2System: sysSystem: sys2Settling Time (sec): 0.807Settling Time (sec): 8.081e Time (sec): 0.165e0.8System: sysRise Time (s
8、ec): 1.64dutilpm0.6A0.40.20024681012Time (sec)5System: sys3System: sys2ling Time (sec): 0.594Step ResponseSettling Time (sec): 5.8410.9System: sys3System: sys2se Time (sec): 0.362Rise Time (sec): 3.360.80.7e0.6dutil0.5pmA0.40.30.20.10051015Time (sec)System: sys4Step ResponseSystem: sys31Settling Tim
9、e (sec): 7.82Settling Time (sec): 78.1System: sys40.9Final Value: 1System: sys4System: sys3Rise Time (sec): 4.39Rise Time (sec): 43.80.80.7e0.6duti0.5lpmA0.40.30.20.10204060801001200Time (sec)1.3 自构造高阶系统，进行数学模型转换并分析其时频域特性1G (s)s3 3s2 8s 3G=tf(1,1 3 8 3)Transfer function:61-s3 + 3 s2 + 8 s + 3edulitp
10、mAStep Response0.35System: GR ise Time (sec): 4.64System: GSystem: G0.3Final Value: 0.333Settling Time (sec): 8.80.250.20.150.10.05002468101214161820Time (sec)时域特性曲线Bode DiagramGm = 29.2 dB (at 2.83 rad/sec) , Pm = Inf0-20)B-40d(ed-60utinga-80M-100-1200)g-90ed(esahP-180-270-2-10101210101010Frequency
11、 (rad/sec)伯德图7Nyquist Diagram10.80.60.4s0.2ixAyr0anigam-0.2I-0.4-0.6-0.8-1-0.8-0.6-0.4-0.200.20.4-1Real Axis奈奎斯特图2、实验二控制系统根轨迹分析K2.1 、一阶系统阶跃响应G ( s)Ts1G1=tf(1,10 1), G2=tf(1,1 1), G3=tf(1,0.1 1)Transfer function: （ G1）Transfer function:(G2)Transfer function:(G3)111-10 s + 1s + 10.1 s + 1 step(G1,G2,G
12、3)rlocus(G1)rlocus(G2)rlocus(G3)8Root Locus10.80.60.4s0.2ixAyr0anigam-0.2I-0.4-0.6-0.8-1-0.3-0.25-0.2-0.15-0.1-0.050-0.35Real Axis根轨迹Root Locus10.80.60.4s0.2ixAyra0nigam-0.2I-0.4-0.6-0.8-1-18-16-14-12-10-8-6-4-20-20Real Axis根轨迹9Root Locus10.80.6System: G30.4Gain: 0Pole: -10s0.2Damping: 1iOvershoot (
13、%): 0xAFrequency (rad/sec): 10yr0anigam-0.2I-0.4-0.6-0.8-1-18-16-14-12-10-8-6-4-20-20Real Axis根轨迹12.2 、二阶系统阶跃响应G ( s)T 2 s2 2T s 1分别就 T=1 和 T=0.1 ， 分别取 0, 0.5, 1, 10时绘制系统根轨迹图。G1=tf(1,1 0 1),G2=tf(1,1 1 1),G3=tf(1,1 2 1),G4=tf(1,1 20 1),G5=tf(1,0.01 0 1),G6=tf(1,0.01 0.1 1),G7=tf(1,0.01 0.2 1),G8=tf(
14、1,0.01 2 1)Transfer function:（ G1）1-s2 + 1Transfer function:（ G2）1-s2 + s + 1Transfer function:（ G3）1-Transfer function:（ G5）1-0.01 s2 + 1Transfer function:（ G6）1-0.01 s2 + 0.1 s + 1Transfer function:（ G7）1-0.01 s2 + 0.2 s + 110Transfer function:（ G8）1-s2 + 2 s + 1Transfer function:（ G4）1-s2 + 20 s
15、+ 1step(G1,G2,G3,G4,G5,G6,G7,G8)rlocus(G1,G5)rlocus(G2,G6)rlocus(G3,G7)rlocus(G4)rlocus(G8)2.2.2 根轨迹仿真图Root Locus2.521.51s0.5ixAyr0anigam -0.5I-1-1.5-2-2.5-1-0.8-0.6-0.4-0.200.20.40.60.81Real AxisT=1=011Root Locus2.521.51s0.5ixAyr0anigam-0.5I-1-1.5-2-2.5-0.5-0.45-0.4-0.35-0.3-0.25-0.2-0.15-0.1-0.050
16、Real AxisRoot Locus0.40.30.20.1sixAyra0nigamI-0.1-0.2-0.3-0.4-20-18-16-14-12-10-8-6-4-20Real AxisT=1=112Root Locus25201510s5ixAyra0nigam-5I-10-15-20-25-0.8-0.6-0.4-0.200.20.40.60.81-1Real AxisRoot Locus25201510s5ixAyr0anigam -5I-10-15-20-25-5-4-3-2-10-6Real AxisT=0.1=0.513Root Locus4321sixAyra0nigam
17、I-1-2-3-4-9-8-7-6-5-4-3-2-10-10Real AxisRoot Locus0.40.30.2s0.1ixAyr0anigamI-0.1-0.2-0.3-0.4-20-18-16-14-12-10-8-6-4-20Real AxisT=0.1=1014Root Locus25201510s5ixAyr0anigam-5I-10-15-20-25-0.8-0.6-0.4-0.200.20.40.60.81-1Real Axis2.3 、自构造高阶系统，绘制系统根轨迹图并分析其动态性能及稳定性。1G (s)s3 3s2 8s 3G=tf(1,1 3 8 3)Transfer function:1-s3 + 3 s2 + 8 s + 3impulse(H)step(G)rlocus(G)