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(完整word版)matlab实验十控制系统的PID校正设计及仿真.pdf

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1、实验十控制系统的PID 校正设计及仿真一、实验目的1学会用 MATLAB 对系统进行仿真；2应用频率综合法对系统进行PID 校正综合。二、设计原理与步骤1设计原理超前校正的主要作用是增加相角裕量，改善系统的动态响应特性。滞后校正的作用是改善系统的静态特性，两种校正结合起来就能同时改善系统的动态和静态特性。滞后超前校正（亦称 PID 校正）综合了前两种校正的功能。滞后超前校正（亦称PID 校正）的传递函数为：)(,)1()1)(1()1)(1()(121212TTSTSTSTSTSGC它相当于一个滞后校正与一个超前校正相串联，其对数频率特性如图 10-1 所示：2设计步骤基于频率法综合滞后-超前

2、校正的步骤是：（1）根据静态指标要求，确定开环比例系数K，并按已确定的K 画出系统固有部分的Bode图；（2）根据动态指标要求确定c，检查系统固有部分在c的对数幅频特性的斜率是否为-2，精品资料-欢迎下载-欢迎下载名师归纳-第 1 页，共 11 页 -如果是，求出c点的相角;（3）按综合超前校正的步骤（3）（6）综合超前部分GC1（S）（注意在确定m时要计入滞后校正带来的00125的相角滞后量）。在第（6）步时注意，通常)()(cccgLL比 0高出很多，所以要引进滞后校正;（4）令lg20=)()(cccgLL求出；（5）按综合滞后校正的步骤（4）（5）综合滞后部分)(2SGc；（6）将滞

3、后校正与超前校正串联在一起，构成滞后超前校正：)()()(21SGSGSGccc三、实验内容练习 10-1 反馈控制系统的开环传递函数为：)105.0)(11.0()(SSSKSG要求：（1）速度偏差系数Kv50（2）相位裕度%5400（3）增益穿越频率%510c要求：（1）设计满足上述要求的滞后-超前控制器；（2）用 Simulink 进行仿真；（3）画出校正前后的Bode 图（4）分析讨论设计过程及结果。精品资料-欢迎下载-欢迎下载名师归纳-第 2 页，共 11 页 -文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5

4、O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1

5、文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5

6、O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1

7、文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5

8、O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1

9、文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5

10、O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1精品资料-欢迎下载-欢迎下载名师归纳-第 3 页，共 11 页 -文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:C

11、H7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6

12、E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:C

13、H7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6

14、E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:C

15、H7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6

16、E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1s=tf(s)g=40/(s*(s+1)*(s+4)%g=tf(40,conv(1,1,1,4),0)w=logspace(-1,3,1000);subplot(2,1,1

17、)margin(g);grid on hold on mag,phase,w=bode(g,w);gm,pm,wcg,wcp=margin(mag,phase,w);gama=50;gama1=gama-pm+5;gam1=gama1*pi/180;alfa=(1-sin(gam1)/(1+sin(gam1);adb=20*log10(mag);wc=spline(adb,w,10*log(alfa);t=1/(wc*sqrt(alfa);gc1=tf(t,1,t*alfa,1)sys=g*gc1;wc=10;num=sys.num1;den=sys.den1;na=polyval(num,j

18、*wc);da=polyval(den,j*wc);g1=na/da;g11=abs(g1);h=20*log10(g11);beta=10(h/20);t=1/(0.1*wc);精品资料-欢迎下载-欢迎下载名师归纳-第 4 页，共 11 页 -文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8

19、 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4

20、Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8

21、 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4

22、Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8

23、 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4

24、Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1bt=beta*t;gc2=tf(t,1,bt,1)sys1=g*gc1*gc2 mag1,phase1,w=b

25、ode(sys1,w);gm1,pm1,wcg1,wcp1=margin(mag1,phase1,w);gma1db=20*log10(gm1);subplot(2,1,2)margin(sys1);grid on;练习 10-2 被控对象的传递函数为：)4)(1()(SSSKSG要求设计单回路控制系统，满足：（1）稳态速度误差增益Kv=10/s（2）相位裕度050（3）增益裕度db10要求：（1）设计满足上述要求的滞后-超前控制器；（2）用 Simulink 进行仿真；（3）画出校正前后的Bode 图（4）分析讨论设计结果。clear g=tf(10,conv(1,1,1,4),0)subp

26、lot(2,1,1)margin(g);grid on hold on mag,phase,w=bode(g);gm,pm,wcg,wcp=margin(mag,phase,w);gama=50;gama1=gama-pm;gam1=gama1*pi/180;alfa=(1-sin(gam1)/(1+sin(gam1);adb=20*log10(mag);wc=spline(adb,w,10*log(alfa);t=1/(wc*sqrt(alfa);gc1=tf(t,1,t*alfa,1)sys=g*gc1;gama2=gama+pm-180;精品资料-欢迎下载-欢迎下载名师归纳-第 5 页

27、，共 11 页 -文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O

28、1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC

29、5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O

30、1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC

31、5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O

32、1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC

33、5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1wc=spline(phase,w,gama2);num=sys.num1;den=sys.den1;na=polyval(num,j*wc);da=polyval(den,j*wc);g1=na/da;g11=abs(g1);h=20*log10(g11);beta=10(h/20);t=1/(0.1*wc);bt=beta*t;gc2=

34、tf(t,1,bt,1)sys1=g*gc1*gc2 mag1,phase1,w=bode(sys1,w);gm1,pm1,wcg1,wcp1=margin(mag1,phase1,w);gma1db=20*log10(gm1);subplot(2,1,2)margin(sys1);grid on;精品资料-欢迎下载-欢迎下载名师归纳-第 6 页，共 11 页 -文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4

35、Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8

36、 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4

37、Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8

38、 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4

39、Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8

40、 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4

41、Q4I1Transfer function:40-s3+5 s2+4 s Transfer function:0.4248 s+1-0.02094 s+1 精品资料-欢迎下载-欢迎下载名师归纳-第 7 页，共 11 页 -文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4

42、 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7

43、F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4

44、 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7

45、F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4

46、 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7

47、F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1Transfer function:11.03 s+1-94.19 s+1 Transfer function:187.4 s2+458

48、.2 s+40-1.972 s5+104.1 s4+479.9 s3+381.8 s2+4 s 练习 10-3 已知单位反馈系统被控对象开环传递函数为：)2)(1(1)(00sSSKSG试用 BODE 图设计方法对系统进行滞后-超前串联校正设计，使之满足：（1）在单位斜坡信号r（t）=t 的作用下，系统的速度误差系数KV110s；（1）系统校正后剪切频率C15.1s；（2）系统斜校正后相角裕度045；（3）计算校正后系统时域性能指标：%=25%；tp=2s；tS=6s。要求：（1）用频率法设计满足上述要求的串联滞后校正控制器；（2）画出校正前后的Bode 图;（3）用 Simulink 对校正

49、前后的闭环系统进行仿真，求出其阶跃响应；（4）分析设计效果。clear g=tf(10,conv(conv(1,0,1,1),1 2)w=logspace(-1,3,1000);subplot(2,1,1)margin(g);grid on hold on mag,phase,w=bode(g,w);gm,pm,wcg,wcp=margin(mag,phase,w);gama=45;精品资料-欢迎下载-欢迎下载名师归纳-第 8 页，共 11 页 -文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H

50、3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H9V8 HP5O1G5F6E4 ZC5H3Z4Q4I1文档编码:CH7F3O1H

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