北航自控实验报告

2013.10.221 1. 2. 3. 1. ,t,ts2. ,%ts1? s =r(s)=ts+1 1- 1c(s)k 1- 1 1-1u0(s)r2/r1k=i2r2= r1k=1t= r2c t 0.25 0.51.0ts1-12:? s =r(s)=s+21-2c(s)n2ns+nn=1/1-21-31-3r2c1=1 r3c2 =1r4=r4c2=2=2r3r114c2=0.25 , =0.5 , =1.0%ts1-21. hhmn-1 2.pc3. 1. hhmn-12. 3. d/a1uia/d1uo4. windows xpmatlabautolab5. 3.26. 111-4250k/500k/1m250k/500k/1m11-4 (2)(3)1-5at=0.25s1-5bt=0.5s1-5c t=1.0s7. 11-62m/1m/500k1m1m 1m1m11m11-6(2)(3)1-7a =0.251-7b =0.51-7c=1.01. 123a/d4ts2. 1ttt2=0.707tst01a/dd/au 2013.11.121 1. 2. 1. 2. 2-12-2 200r=200kg s =s+10s+200r=100kg s =s+10s+ui(t)=a1sin(t),uo(t)=a2sin(t+)f=2a2/a1f()1. a1a2a2/a1 2. : x(t)=xmsin(t) y(t)=ymsin(t+) x(t)y(t)tx(t)y(t)x-y3. :x(t)=xmsin(t)y(t)= ymsin(t) t=0 x(0)=0 y(0)=ym sin() =arcsiny(0)/ym, 0/21. hhmn-1 2.pc4. 1. 2. k=2k=5 3. 5. 6. 1. 2-3100k100k/200k11m100k1100k 100k2-3 2. 2- 1 k=12- 2 k=2(1)k=12- 4a k=1(1)k=22- 5a k=21. g s =s2+22nns+n=1ss+2nnm= g j1=nm=2=?90y(0)/ym1nac /ar1/2 1+k=1 =90=9.7rad?s?1=n m=1.006=0.497 g s =s+22nns+ng s =s+10s+1002k=2 =90=13.7rad?s?1=n m=1.428=0.35g s =s2+2ns+=s2+9.59s+187.69n100=s+9.642s+94.0994.092187.69g s =s+10s+2002.123matlabyox=0ya/dyoyo4 =90 200n3. 2013.10.221 1. 2. 1 21. 3-13-1gcs2. 3-23-2 3. gc s =1ats+14gc s =ts+1a>1a=2.44t=0.26gc s =0.26s+15gc s =gc s =83.33s+110s+10.63s+1bts+1ts+1b<1a=0.12t=83.331. hhmn-1 2.pc3. 1. hhmn-12. d/a1uia/d1uo4. windows xpmatlabautolab5. 3.26. manual switchgc s 7. 8. scope1. 11m250k1m 13-2 2. 3-3a ts=5.9s%=453-3b ts=2.4s%=22.83-3c ts=14s%=20.43. 3-4a 1.88rad/s 85db 283-4b 2.38rad/s 77.4db 47.43-4c 0.449rad/s 103db 54.81. 2. 3. 4. matlab 2013.10.221 4-1 4-15%25%50%kk1. ?%?e?100% cos=,180-1k2. 1. rgkta.m%rgkta.m%abcdx0h%rt0tf;tyfunction t,y=rgkta(a,b,c,d,x0,h,r,v,t0,tf);x=x0;y=0;t=t0;fori=1:tf/hk1=a*x+b*r;k2=a*(x+h*k1/2)+b*r;k3=a*(x+h*k2/2)+b*r;k4=a*(x+h*k3)+b*r;x=x+h*(k1+2*k2+2*k3+k4)/6;y=y;c*x;t=t;t(i)+h;endtest.m%test.m%5%,25%,50%ky=0 0;k=1;while max(y)<=1.5 %1.05(5%),1.25(25%),1.5(50%) num1=k;den1=1 10 25 0;num,den=feedback(num1,den1,1,1);a,b,c,d=tf2ss(num,den);x0=0;0;0;v=1;tf=10;t0=0;h=0