电气传动PDF报告.docx

Model building：Build constant state space model：sys=ss(A,B,C,D).lsim：The lsim function for calculating the output and state response.y,T,x=lsimsys,u,t,x0.y(t)=output response at t;T: time vector;x(t)=stste response at t.The program is as follows：A=0 -2;1 -3;B=2;0;C=1 0;D=0;sys=ss(A,B,C,D);%state space modelx0=1 1;%Initial conditionst=0:0.01:1;u=0*t;%zero inputy,T,x=lsim(sys,u,t,x0);subplot(121);plot(T,x(:,1);xlabel(Time(s);ylabel(x_1);subplot(122);plot(T,x(:,2);xlabel(Time(s);ylabel(x_2);The figures ：M=M1+M2=20.5g=0.0205kg.Md2ydt2+b1dydt=u(t)The transfer function model is: Y(s)U(s)=1s(Ms+b1)For the parameters of Table 3-2,we obtain：Y(s)U(s)=1s(0.0205s+0.410)=48.78s(s+20)When R=1，L=1mH and km=0.1025,we obtain:Y(s)V(s)=5000s(s+20)(s+1000)Mass M1: M1d2qdt2+b1dqdt+kq-y=u(t)Mass M2: M2d2qdt2+b2dqdt+ky-q=u(t)X1=q ,x2=qX3=dqdt,X4=dqdtx=Ax+Bux=qyqy, B=001/M10,A=00100001-kM1kM1-b1M10kM2-kM20-b2M2For the typical parameters and for k=10, we have：B=00500,A=00100001-500500-20.5020000-200000-8.2The program is as follows：%Model Parametersk=10;M1=0.02;M2=0.0005;b1=410e-03; b2=4.1e-03;t=0:0.001:1.55;%State Space ModelA=0 0 1 0;0 0 0 1;-k/M1 k/M1 -b1/M1 0;k/M2 -k/M2 0 -b2/M2;B=0;0;1/M1;0; C=0 0 0 1; D=0; sys=ss(A,B,C,D);%Simulated Step Responsey=step(sys,