东南大学自控实验报告-MATLAB

matlab/simulink xx 22011xx 2013 11 20 .3.3.3.141 2 3 bode4 matlab/simulinkmatlab1hs=0.05s?1hs (0.2s?1)(0.1s?1)1>> num=0.05 1;den=conv(0.2 1,0.1 1);sys1=tf(num,den)sys2=zpk(sys1)sys1 =0.05 s + 1-0.02 s2 + 0.3 s + 1continuous-time transfer function.sys2 =2.5 (s+20)-% (s+10) (s+5)continuous-time zero/pole/gain model.>> num=0.05 1;den=conv(0.2 1,0.1 1);sys1=tf(num,den);sys3=ss(sys1)sys3 =a =x1 x2x1 -15 -6.25x280b =u1x1 4x2 0c =x1 x2y1 0.625 1.562d =u1y1 0continuous-time state-space model.2h1(s)?1s?5h2(s)? s?1s(s?1)(s?2)1 >> m1=1,5;n1=conv(1,conv(1,1,1,2);m2=1;n2=1,1;m,n=series(m1,n1,m2,n2)g=tf(m,n)m =0 0 1 5n =1. 4 5 2g =s + 5- % h(s)=h1(s)*h2(s) s3 + 4 s2 + 5 s + 2continuous-time transfer function.2 >> m1=1,5;n1=conv(1,conv(1,1,1,2);m2=1;n2=1,1;m,n=parallel(m1,n1,m2,n2)g=tf(m,n)m =0 2 9 7n =1. 4 5 2g =2. s2 + 9 s + 7- % h(s)=h1(s)+h2(s) s3 + 4 s2 + 5 s + 2continuous-time transfer function.3 >> m1=1,5;n1=conv(1,conv(1,1,1,2); m2=1; n2=1,1;m,n=feedback(m1,n1,m2,n2,-1) g=tf(m,n) m =0 1 6 5 n =1. 4 6 7 g =s2 + 6 s + 5- % s3 + 4 s2 + 6 s + 7continuous-time transfer function.3 1bode >> num=1,5; den=1,4,5,2; w=logspace(-1,2); sys=tf(num,den) bode(num,den);g,p,wg,wp=margin(sys)sys =s + 5 - s3 + 4 s2 + 5 s + 2continuous-time transfer function.g =% 18.0016p =% 67.3499wg =% 4.7960wp =% 1. 1127? g = 18.0016 ? p = 67.3499 ? wg=4.7960 ? wp=1.1127? bode4.g(s)?k2(s?2)(s?2s?5)k 1 >> num=1;den=conv(1,2,1,2,5); g=tf(num,den) figure(1) pzmap(g); figure(2) rlocus(g); figure(3) nyquist(g) g =1. - s3 + 4 s2 + 9 s + 10continuous-time transfer function.21 2 33 nyquistnyquist diagramimaginary axisreal axis4 nyquist4k k 0+3.01i k 25.7k<25.7>> r,k=rlocus(num,den) r =1. 0e+02 *- 0.0100 + 0.0200i -0.0100 - 0.0200i -0.0200 -0.0091 + 0.0205i -0.0091 - 0.0205i -0.0217 -0.0085 + 0.0209i -0.0085 - 0.0209i -0.0231 -0.0074 + 0.0218i -0.0074 - 0.0218i -0.0253 -0.0057 + 0.0233i -0.0057 - 0.0233i -0.0286 -0.0035 + 0.0256i -0.0035 - 0.0256i -0.0330 -0.0006 + 0.0292i -0.0006 - 0.0292i -0.0388 0.0030 + 0.0341i 0.0030 - 0.0341i -0.0459 0.0074 + 0.0407i 0.0074 - 0.0407i -0.0547 0.0128 + 0.0491i 0.0128 - 0.0491i -0.0655 0.0194 + 0.0598i 0.0194 - 0.0598i -0.0788 0.7746 + 1.3650i 0.7746 - 1.3650i -1.5893 inf inf infk =1. 0e+06 *columns 1 through 100 0.0000 0.0000 0.0000 0.0000 0.0001