[优秀毕业设计精品]单闭环控制系统的matlab仿真

目录A2A3A4A01A6A3A7A1A5A8A9A10A11A12A13A143A17A3A13A14A15A16A18A19A20A21A22A23A24A254A28A3A13A14A15A16A184A29A3A13A14A15A16A18A20A21A22A23A24A254A30A3A13A14A26A27A31A32A18A23A33A344A28A3A13A14A26A27A31A32A18A35A36A23A37A389A29A3A13A14A26A27A39A40A22A4110A44A3A13A14A42A43A39A40A22A4111A47A3A13A14A26A27A31A32A18A23A45A4612A50A3A13A14A23A51A48A49A52A18A19A22A4113A28A3A13A14A23A53A54A55A5613A29A3A13A14A23A51A57A58A59A1814A44A3A51A57A58A59A18A22A41A13A1415A60A3A61A62A63A3816A28A3A61A62A64A13A14A23A26A27A31A32A1817A29A3A61A62A64A23A13A14A26A27A39A40A22A4122A44A3A61A62A64A23A13A14A42A27A39A40A22A4123A65A3A61A62A64A13A14A23A26A27A31A32A18A23A45A4624A66A3A61A62A64A13A14A23A51A57A58A59A1825A67A3A61A62A64A13A14A51A57A58A59A18A22A4126A68A3127A69A7028A35A71A72A7329A74A75A76A77A78A79A80A81MATLABA82A831一、概述在实际应用中，电动机作为把电能转换为机械能的主要设备，一是要具有较高的机电能量转换效率；二是应能根据生产机械的工艺要求控制和调节电动机的旋转速度。电动机的调速性能如何对提高产品质量、提高劳动生产率和节省电能有着直接的决定性影响。因此，调速技术一直是研究的热点。随着交流变频调速技术的发展，虽然直流调速一统天下的格局已被打破，但由于其具有良好的起动、制动、正反转及调速性能，目前在调速领域中仍占有一定地位，特别是一些对精度、快速性要求较高的场合，仍倍受亲睐。长期以来，直流电动机由于调速性能优越G13792G6525G11434G1114G13479G7512G3809G7446G12573G13582点G5203G8879的应用于工G12255G17819G12255中。直流电动机在G20081定转速以下G17828G15904G7114，G1457G6357G2181G11925电流G5670定，G2499用G6925变电G7542电G2399的G7053G8873实G10628G5670定转G11709调速；在G20081定转速以G990G17828G15904G7114，G1457G6357电G7542电G2399G5670定，G2499用G6925变G2181G11925的G7053G8873实G10628G5670G2163率调速。G18331用转速、电流G2464G19393G10627直流调速G13007统G2499G14731G5483优良的G19757、动G5589调速特性。G17829G1972G5192来，G12197G4410技术的G17817速发展为交流调速技术的发展G2031G17908G1114G7509为有G2045的技术G7477G1226和G10301质G3534G11796。为G1114提高直流调速G13007统的动G19757G5589性能G6363G7643，G17902G5132G18331用G19393G10627控制G13007统G2265G6336G2345G19393G10627G13007统和G3822G19393G10627G13007统。对调速G6363G7643要求G993高的场合，G18331用G2345G19393G10627G13007统，G13792对调速G6363G7643较高的G2029G18331用G3822G19393G10627G13007统。G6365反G20316的G7053G5347G993G2528G2499G2010为转速反G20316，电流反G20316，电G2399反G20316G12573。在G2345G19393G10627G13007统中，转速G2345G19393G10627G1363用较G3822。在对调速性能有较高要求的领域G5132G2045用直流电动机作动G2159,但直流电动机G5332G10627G13007统G12295G5589性能G993能G9397G17287要求,G2499G2045用速度G17139反G20316提高G12295G5589精度,G13792G18331用G8616G1375调节G3132的G17139反G20316调速G13007统仍是有G19757G5058的,为G1114G9052G19512G13007统的G19757G5058,G2499用G12227G2010调节G3132G1207G7379G8616G1375调节G3132。反G20316控制G13007统的G16280G5471是要G5831G13512G6357G13007统中的G7588G1022G10301G10714量G3534G7424G993变，G4613G5353用G16825量的G17139反G20316G1461G2507G2447G994G5670G1552G13485定G11468G8616较，G7512G6116G19393G10627G13007统。对调速G13007统来G16840，G14521G5831提高G19757G5589G6363G7643，G4613G5483提高G19757特性G11840度，G1075G4613是G5088G7407转速在G17139G17745电流变G2282G7114G6122受G2052G6212动G7114G3534G7424G993变。要G5831G13512G6357转速G17837一G10301G10714量G993变，G7380直接和有效的G7053发G4613是G18331用转速G17139反G20316G7512G6116转速G19393G10627调节G13007统。G11709G19465实G20576G4472G708MATLABMATRIXLABORATORYG709是一G12193以G11709G19465G17828G12651为G3534G11796的交互G5347的G12255序语言。G994其它计G12651机语言G11468G8616，具有简洁和智能G2282G12255度高的特点，G13792且A74A75A76A77A78A79A80A81MATLABA82A832适应G12197技专业人员的思G13512G7053G5347和书写习惯，因G13792用其编G12255和调试，G2499以大大提高工作的效率。目前MATLAB已经G6116为国际G990G7380流G15904的软G1226之一，G19512G1114G2499提供传统的交互G5347的编G12255G7053G8873之外，还能提供丰富G2499靠的G11709G19465G17828G12651、图形绘制、数据处G10714、图像处G10714和G7053便的WINDOWS编G12255工具G12573。因G13792出G10628G1114各G12193以MATLAB为G3534G11796的工具箱，应用于自动控制、图像G1461G2507处G10714、生G10301医G4410工G12255、语音处G10714、G1461G2507G2010析、G7114序G2010析G994建模、优G2282设计G12573G5203G8879的领域，表G10628出G1114一般高级语言难以G8616拟的优势。较为G5132见的MATLAB工具箱有控制G13007统工具箱、G13007统辩识工具箱、G3822变量频率设计工具箱、G2010析G994综合工具箱、神经网络工具箱、G7380优G2282工具箱、G1461G2507处G10714工具箱、模糊推G10714G13007统工具箱，以及G17902G1461工具箱G12573。在MATLABG17902G1461工具箱中有SLMULINK仿真模块和MATLAB函数，形G6116一G1022G17828G12651函数和仿真模块的集合体，用来进G15904G17902G1461领域的研究、G5332发、G13007统设计和仿真。G17902G1461工具箱中的模块G2499供直接G1363用，并允许修G6925，G1363用起来十G2010G7053便，因G13792完全G2499以G9397G17287G1363用者设计和G17828G12651的需要。MATLABG17902G1461工具箱中的G13007统仿真，G2010为用SIMULINK模块框图进G15904仿真和用MATLAB函数进G15904的仿真两G12193。在用SIMULINK模块框图的仿真中，每G1022模块，在每G1022G7114间步长G990执G15904一次，G4613是G16840，所有的模块在每G1022G7114间步长G990G2528G7114执G15904。G17837G12193仿真被称为G7114间流的仿真。G13792在用MATLAB函数的仿真中，函数G6365照数据流的顺序依次执G15904，意味着所处G10714的数据，首先要经G17819一G1022G17828G12651阶段，然后再激活下一G1022阶段，G17837G12193仿真被称为数据流仿真。G7588些特定的应用会要求G18331用两G12193仿真G7053G5347中的一G12193，但无论是哪G12193，仿真的G13479果是G11468G2528的。A74A75A76A77A78A79A80A81MATLABA82A833二、单闭环有静差调速系统G19393G10627控制G13007统是G17902G17819G13485定G1552G994反G20316量的偏G5058来实G10628控制作用，故G17837G12193控制G5132称为G6365偏G5058控制。此类G13007统G2265G6336两G12193传输G1461G2507的G17902道由G13485定G1552至被控量的G17902道称前向G17902道。由被控量至G13007统输入端的G17902道称为反G20316G17902道。对于调速G13007统来G16840，输出量是转速，G17902G5132G5353入转速G17139反G20316G7512G6116G19393G10627调速G13007统。在电动机轴G990安装一台测速发电动TG，G5353出G994输出量转速G6116正G8616的G17139反G20316电G2399UN，G994转速G13485定电G2399进G15904G8616较，G5483G2052偏G5058电G2399，经G17819放大G3132A，产生驱动G6122触发装置的控制电G2399UCT，G2447控制电动机的转速，G17837G4613G13464G6116G1114反G20316控制的G19393G10627调速G13007统。下图所G12046为G18331用G7242G19404G12661G11468控G6984流G3132供电的G19393G10627调速G13007统，因为G2494有一G1022转速反G20316G10627，所以称为G2345G19393G10627调速G13007统。G16825G13007统由转速调节G3132、G7242G19404G12661G6984流G3132、直流电动机和测速发电机G13464G6116。G3G3A18A28A3A7A1A5A8A9A10A11A12A13A14A18G16825G13007统由G13485定G10627节、速度调节G3132、速度反G20316G10627节、G2163率放大G3132以及电动机G7512G6116。输入为G13485定电G2399，输出为电动机的转速G81G17G3A74A75A76A77A78A79A80A81MATLABA82A834三、系统方框图及各部分的作用1、系统方框图根据G990G19766G13007统的电G17347图，G2499G11023出G13007统的G7053框图。G13007统的G7053框图如下图所G12046A18A29A7A1A5A8A9A10A11A12A13A14A23A15A16A182、系统方框图各部分的作用测速发电机G5353出G994输出量转速G6116正G8616的G17139反G20316电G2399G994转速G13485定电G2399进G15904G8616较，G5483G2052偏G5058电G2399。速度调节调节G3132放大偏G5058电G2399，产生驱动G6122触发装置的控制电G2399。触发电G17347G2045用放大后的偏G5058电G2399，控制电G17347的电G2399，经G6984流电G17347G6984流后G2447控制电动机的转速。四、系统动态结构图的建立G3G16825G13007统由G13485定G10627节、速度调节G3132、速度反G20316G10627节、G2163率放大G3132以及电动机G13464G6116。输入为G13485定电G2399NU，输出为电机的转速G81。G3A84A85A86A87A88A89A90A91MATLABA92A935首先绘出各G10627节的动G5589G13479G7512图，然后G6365G1461G2507的传G17894G7053向把各G10627节动G5589G13479G7512图G17842接起来，G4613G7512G6116G1114G13007统的动G5589G13479G7512图。G3G20、G8616较G10627节和速度调节G3132G3如G990图所G12046，根据G17828G12651放大G3132特性，有1RFIIIG3对G990G5347进G15904G6301G7234G6301G7043变换G54831RFISISISG3G3250G17347中电流G18331用G3809G19471G6251的G8022G5577，G23750NRUSIR、11CTUSIR、FFFUSISRG3G237510FCTNFUSUSUSRRRG3G2282简G5483110FNCTFUSRUSRUSRRG310CTNFRUSUSUSRG3G5347中10RR，为速度调节G3132G8616G1375G13007数。G17837G18336省G11065表G12046G17828G12651放大G3132输出G994输入反G11468的G12538G2507。G8616G1375G10627节和速度调节G3132的G7053框图如下图所G12046G3G3A94A95A96A97A98A99A100A101A102A103A99A104A105A106A107A94G3G21、G2163率放大G10627节G3G5585G11065G7242G19404G12661G6984流电流的G5322G17843G7114间G5132数，G2163率放大G10627节G2499G16282为无惯性放大G10627节，其输入、输出G1863G13007为FSCTUSKUS，G5347中SK为放大倍数。G3G22、电动机G18108G2010G3G1194G2181电动机的G12573效电G17347图为G3A108A109A110A111A112A113A114A115MATLABA116A1176G3A94A118A119A120A121A122A123A105A124A125A121A126A94G3其中G2010别为电G7542电G2399、电流、电G19471、电G5875各反电动势，电G11925转G11709，G17139G17745转G11709，G6717G6842转G11709。G3G708G20G709、G11842定输入、输出量G3电G7542电G2399DU为输入量，它控制电机转速变G2282，LT为G17139G17745转G11709，作为电动机一G1022G6212动量，电动机N为输出量。G3G708G21G709、G2027写G2033G3999G5506G2010G7053G12255G13464G3根据G3534G4584G19681G3839定G5471和电动机工作G2419G10714G5483G3IDDDDDDTDEDURILEDECNG3G5347中EC为反电动势G13007数，G11925G17902为G5670定G7114，EC为G5132数。G3电机动G2159G4410G7053G12255G5347G32375ELFEMDGDDNTTTDTTCIG3G5347中2GD为电机G20146G17730惯性，MC为转G11709G13007数G3G708G22G709、G9177G19512中间变量，G4570G5347G4388G7643G1946G2282G3为简G2282G7053G12255，设0LFTT，G4570G1207入G5347G5483G32375DMGDDNICDTG3G4570G5347G1207入G3G3G5347并G6984G10714G5483G3A108A109A110A111A112A113A114A115MATLABA116A11772222375375DDDDDMMEMEELRGDRUGDDNDNNRCCCDTCCDTCG3G1208电动机电G11925G7114间G5132数DDDLTRG3电动机的机电G7114间G5132数2375DMMEGDRTCCG3G2029动机G5506G2010G7053G12255G2499G2282G611622DMDMEUDNDNTTTNDTDTCG3如果G13783G15397G17139G17745转G11709，G13792G5585G11065G6717G6842转G11709，G2029电动机的G2033G3999G5506G2010G7053G12255G13464为G32375IDDDDDDTDENELTEMDLMLDURILEDECNDGDTTDTCITCIG3对G990G17860G5506G2010G7053G12255G13464进G15904G6301G7234G6301G7043变换G5483G3DDDDDDUSRISLSISESADEESCNSB2375ELGDTSTSSNSCEMDTSCISDLMLTSCISEG3由G990G5347有G31SDDDDDDDSLUSESRLSISISRSRG3G3G3G3G3G3G3G3G11G73G12G3G1208DDDLTRG5483G3A127A128A129A130A131A132A133A134MATLABA135A13681DDDDDUSESISRTSG3G3G3G3G3G3G3G3G3G3G11G74G12G3G4570G71G5347G72G5347G1207入G70G5347G5483G32375DLMGDISISSNSCG3G23752375DLEDDMEISISNSCGDRSRCCG3G12082375DMMEGDRTCCG3G2029有G3DLDDLEEMMDISISRISISNSHCCTSTSRG3G3G708G68G709G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G11G69G12G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G11G70G12G3G4570各G7053框图依产次G17842接起来，G2375G5483电动机的动G5589G13479G7512图G3G3A137A138A139A140A141A140A142A143A144A137G3G23、速度反G20316G10627节G3FSCTUSKUSG3G3FUS为速度反G20316G13007数。G3A127A128A129A130A131A132A133A134MATLABA135A1369G4570G990G19766各G10627节的动G5589G13479G7512图G17842接起来，G7512G6116G13007统的动G5589G13479G7512图。G13007统的动G5589G13479G7512图如下图所G12046G3A137A145A146A147A148A140A142A143A144A1371、系统动态结构图参数的设置动G5589G13479G7512图中，G13007统G2454数的G2559G1053如下CKG252G8616G1375控制G3132G13007数；SKG252G7242G19404G12661G6984流G3132G994触发装置的电G2399放大G12573G13007数；STG252G7242G19404G12661G6984流电G17347的G5322G17843G7114间G5132数；DT电机的电G11925G7114间G5132数；DR电G7542电G19471；MT机电G7114间G5132数；EC反电动势G13007数；SFK速度反G20316G13007数。根据G13007统的动G5589G13479G7512图，G2499求出G13007统的传G17894函数。前向G17902道传G17894函数2/11CFEDMMSKKCGSTTSTSTS反G20316G17902道传G17894函数SFHSKG5332G10627传G17894函数2/11CSSFEDMMSKKKCGSHSTTSTSTSG7081G709G145214MDTT，G2029G2499对G2010G8609作因G5347G2010G16311G548312111SKGSHSTSTSTS据G7081G709G5347G2499G5483G19393G10627传G17894函数A149A150A151A152A153A154A155A156MATLABA157A15810232/11/1/CSENDMMSCSSFECSEDMSDMMSMSCSSFEKKCNSSUSTTSTSTSKKKCKKCTTTSTTTTSTTSKKKCG7082G709控制G13007统的性能G6363G7643G2010为动G5589性能G6363G7643和G12295G5589性能G6363G7643。2、系统动态性能分析设G13007统的G2454数为DT003S，MT02S，SK40，05DR10132/MINECVR，SFK007，000167STSG4570G2454数G1207入G19393G10627传G17894函数表G17810G5347，有32/00000100063302016721211CSECKKCSSSSKG17837是一G1022G989阶G13007统，根据劳思G12295定G2040据，G2499G5483G13007统G12295定的G7477G122600063302016700000121211CK据此G2499G11705，G5415597CK，G2029G11468应的G19393G10627G13007统G12295定，一般，G1552越大，G13007统的G11468对G12295定性越好。在工G12255中G17902G5132要求在30G205260之间。2、系统的BODE图G990G19766已经求G5483G13007统的G5332G10627传G17894函数为2/11CSSFEDMMSKKKCGSHSTTSTSTSG1207入G990G19766已G11705的G2454数和已G11842定的G2454数，并对G2010G8609做因G5347G2010G16311G5483233016210036810001671GSHSSSSG5347G43882/11CSSFEDMMSKKKCGSHSTTSTSTS中由于STG5468G4579，G2499G5585G11065。所以G2499G17829G1296写G61162/1CSSFEDMMKKKCSTTSTSG4570G2454数G1207入G5347G4388中G548322330006021GSHSSS进入MATLABG10627G3671后，在编辑框中G19202入以下G12255序G4613G2499G5483G2052G13007统的BODE图NUM233A212A213A214A215A216A217A218A219MATLABA220A22115NUM23300DEN0006021DEN000600200010000MAG,PHASE,WBODENUM,DENSUBPLOT211,SEMILOGXW,20LOG10MAGGRIDONSUBPLOT212,SEMILOGXW,PHASEGRIDONA222A223A224A225A226A227A228A229A230A2223、BODE图分析系统G13007统的BODE图如G990图所G12046其中，根据G5347G4388233016210036810001671GSHSSSSG2499G1170520LOG20LOG233723KDB，116170126，21271700368，A212A213A214A215A216A217A218A219MATLABA220A22116315988000167G1186图G990G2499G11842定1438CG13007统的G11468位裕量为123180ARCTANARCTANARCTAN180667727891388396CCCCTTT一般要求，G1552越大，G13007统的G11468对G12295定性越好。但在工G12255中G17902G5132要求在30G205260之间。G16825G13007统的G11468位裕量没有在30G205260之间所以G13007统G11468对来G16840G993G12295定。G17837G4613需要对它进G15904校正、G6925进。七、校正装置G5415调G6984G13007统的G2454数G993能G2528G7114G9397G17287对G13007统的各项性能G6363G7643要求G7114，G2029G2499以在G13007统中附G2164一些装置，G6925变G13007统的G13479G7512，G1186G13792G6925善G13007统的性能，G1363之G9397G17287工G12255要求，G17837G12193措施称为G13007统的校正，所G5353入的装置称为校正装置。G13007统中G19512校正装置外的G18108G2010G6116为G13007统的固有G18108G2010。控制G13007统的校正G1075G4613是根据G13007统固有G18108G2010的性能和对G13007统性能G6363G7643的要求，G11842定校正装置的G13479G7512和G2454数的G17819G12255。校正装置G2499以是电气的、机械的，G6122由其它G10301G10714形G5347的元G18108G1226G13464G6116。电气的校正装置G2499G2010为有源的和无源的两G12193。为提高G13007统的G12295G5589精度，G2528G7114G9397G17287G5191衡性要求，G6925善动G5589G6363G7643，G4570G990G19766G13007统中的G8616G1375控制G3132G6925换G6116G8616G1375G12227G2010控制G3132111CKSS，G6925后的G13007统如下图所G12046A231A232A233A234A235A236A237A238MATLABA239A24017A241A242A243A244A245A246A247A248A2411、校正后系统的动态结构图G16825G13007统由G13485定G10627节、速度调节G3132、速度反G20316G10627节、G2163率放大G3132以及电动机G13464G6116。输入为G13485定电G2399NU，输出为G13485电机的转速G81G17。G3首先绘出各G10627节的动G5589G13479G7512图，然后G6365G1461G2507的传G17894G7053向把各G10627节动G5589G13479G7512图G17842接起来，G4613G7512G6116G1114G13007统的动G5589G13479G7512图。G3G20、G8616较G10627节和速度调节G3132G3如G990图所G12046，根据G17828G12651放大G3132特性，有1RFIIIG3对G990G5347进G15904G6301G7234G6301G7043变换G54831RFISISISG3G3250G17347中电流G18331用G3809G19471G6251的G8022G5577，G2375G30NRUSIR、FFFUSISRG31111111111111CTCTCTCUSRCUSSUSIRCSRSRRCSG3A249A250A251A252A253A254A255A1MATLABA9A018G5347中111RCG3G2375111001FCTNUSSUSUSSRRRG3G2282简G5483G3G311011CTNFRSUSUSUSRSG3G5347中10RR，为速度调节G3132G8616G1375G13007数。G17837G18336省G11065G2447表G12046G17828G12651放大G3132输出G994输入反G11468的G12538G2507。G8616G1375G10627节和速度调节G3132的G7053框图如下图所G12046G3G3A2A3A4A5A6A7A8A10A11A12A13A8A14A15A16A17A2G21、G2163率放大G10627节G3G5585G11065G7242G19404笔G6984流电流的G5322G17843G7114间G5132数，G2163率放大G10627节G2499G16282为无惯性放大G10627节，其输入、输出G1863G13007为FSCTUSKUS，G5347中SK为放大倍数。G3G22、电动机G18108G2010G3G1194G2181电动机的G12573效电G17347图为G3G3G3A2A3A3A18A19A20A21A22A15A23A24A20A25A2G3其中G2010别为电G7542电G2399、电流、电G19471、电G5875各反电动势，电G11925转G11709，G17139G17745转G11709，G6717G6842转G11709。G3A26A27A28A29A30A31A32A33MATLABA34A3519G708G20G709、G11842定输入、输出量G3电G7542电G2399DU为输入量，它控制电机转速变G2282，LT为G17139G17745转G11709，作为电动机一G1022G6212动量，电动机N为输出量。G3G708G21G709、G2027写G2033G3999G5506G2010G7053G12255G13464G3根据G3534G4584G19681G3839定G5471和电动机工作G2419G10714G5483G3IDDDDDDTDEDURILEDECNG3G5347中EC为反电动势G13007数，G11925G17902为G5670定G7114，EC为G5132数。G3电机动G2159G4410G7053G12255G5347G32375ELFEMDGDDNTTTDTTCIG3G5347中2GD为电机G20146G17730惯性，MC为转G11709G13007数G3G708G22G709、G9177G19512中间变量，G4570G5347G4388G7643G1946G2282G3为简G2282G7053G12255，设0LFTT，G4570G1207入G5347G5483G32375DMGDDNICDTG3G4570G5347G1207入G3G3G5347并G6984G10714G5483G32222375375DDDDDMMEMEELRGDRUGDDNDNNRCCCDTCCDTCG3G1208电动机电G11925G7114间G5132数DDDLTRG3电动机的机电G7114间G5132数2375DMMEGDRTCCG3G2029动机G5506G2010G7053G12255G2499G2282G611622DMDMEUDNDNTTTNDTDTCG3如果G13783G15397G17139G17745转G11709，G13792G5585G11065G6717G6842转G11709，G2029电动机的G2033G3999G5506G2010G7053G12255G13464为G3A36A37A38A39A40A41A42A43MATLABA44A45202375IDDDDDDTDENELTEMDLMLDURILEDECNDGDTTDTCITCIG3对G990G17860G5506G2010G7053G12255G13464进G15904G6301G7234G6301G7043变换G5483G32375DDDDDDDEELEMDLMLUSRISLSISESAESCNSBGDTSTSSNSCTSCISDTSCISEG3由G990G5347有G31SDDDDDDDSLUSESRLSISISRSFRG3G1208DDDLTRG5483G31DDDDDUSESISGRTSG3G4570G71G5347G72G5347G1207入G70G5347G5483G32375DLMGDISISSNSCG3G23752375DLEDDMEISISNSCGDRSRCCG3G12082375DMMEGDRTCCG3G2029有G3DLDDLEEMMDISISRISISNSHCCTSTSRG3A46A47A48A49A50A51A52A53MATLABA54A5521G3G708G68G709G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G11G69G12G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G11G70G12G3G3G4570各G7053框图依产次G17842接起来，G2375G5483电动机的动G5589G13479G7512图G3G3A56A57A58A59A60A61A60A62A63A64A56G3G23、速度反G20316G10627节G3FSCTUSKUSG3G3FUS为速度反G20316G13007数。G3G4570G990各G10627节的动G5589G13479G7512图G17842接起来，G7512G6116G13007统的动G5589G13479G7512图，G13007统的动G5589G13479G7512图如图13所G12046A56A57A65A60A62A63A64A56动G5589G13479G7512图中，G13007统G2454数的G2559G1053如下G3CKG252G8616G1375控制G3132G13007数；SKG252G7242G19404G12661G6984流G3132G994触发装置的电G2399放大G12573G13007数；STG252G7242G19404G12661G6984流是G17347的G5322G17843G7114间G5132数；DT电机的电G11925G7114间G5132数；DR电G7542电G19471；MTA46A47A48A49A50A51A52A53MATLABA54A5522机电G7114间G5132数；EC反电动势G13007数；SFK速度反G20316G13007数。G3根据动G5589G13479G7512图求G5483G13007统的前向G17902道传G17894函数为G31121/11CSEDMMSKKSCGSSTTSTSTSG708AG709对于G2010G8609中的二次因G5347来G16840，G145214MDTT，G2029G2499作因G5347G2010G16311G5483G311121/111CSESKKSCGSSTSTSTS12TTG247411T，G2499G548312/11CSESKKCGSSTSTSB反G20316G17902道传G17894函数为SFHSKC2、校正后的系统动态性能分析G4570G13007统G2454数G1207入G5347G708G68G709G5483112303031/00060210001671SGSSSSS对G2010G8609中的二次因G5347作因G5347G2010G16311，有11303031/000610036810001671SGSSSSSG14521G247410162G2029有1870560036810001671CKGSSSS又007SFHSK故G19393G10627传G17894函数为1187056003681000167113094NCCNSGSSUSGSHSKSSSKA66A67A68A69A70A71A72A73MATLABA74A7523特征G7053G122550036810001671130940CSSSK由劳思G12295定G2040据有478CKG2474110162T，G4570G13007统的G2454数和所G11842定的01CKG1207入G13007统的G5332G10627传G17894函数表G17810G5347G54831232/130911003681000167113090000061500385CSSFESKKKCGSHSSTSTSSSSSSS进入MATLABG10627G3671后，在编辑框中G19202入以下G12255序G4613G2499G5483G2052G13007统的BODE图NUM2618NUM261800DEN0000123007720DEN0000100770200000SUBPLOT211,SEMILOGXW,20LOG10MAGGRIDONSUBPLOT212,SEMILOGXW,PHASEGRIDONA76A77A78A79A80A81A82A83MATLABA84A8526A86A86A87A88A89A90A91A92A866、校正后系统BODE图分析G13007统的BODE图如G990图所G12046其中，根椐G5347G438812/1309110036810001671CSSFESKKKCGSHSSTSTSSSSG2499求G548320LOG20LOG13092234KDB，11271700368，215988000167G1186图G990G2499G11842定1309CG13007统的G11468位裕量为2180ARCTANARCTAN1809025721256303CCCSTT校正前后的G11468位裕量G8616较后发G10628，校正后的G11468位裕量G7186然G8616校正前的要G4579，G13792且更接G17829于60，G17837G16840明校正后G13007统的G12295定性要G8616校前G13007统的G12295定性要好，G17810G2052G1114校正的目的。G3A93A94A95A96A97A98A99A100MATLABA101A10227总结此次毕业设计是我们G1186大G4410毕业生走向未来职业生涯重要的一步。G1186G7380G2033的选题，G5332题G2052思G13783、计G12651、仿真直G2052完G6116设计。其间，查找资料，老师G6363导，G994G2528G4410交流，反G3809修G6925G7053案，每一G1022G17819G12255都是对自己能G2159的一次检G20576和充实。毕业设计，G1075许是我大G4410生涯交G990的G7380后一G1022作业G1114。G5831借次机会G5875谢在大G4410G989G5192中G13485我帮助的所有老师、G2528G4410，你们的友谊是我人生的财富，是我生G2641中G993G2499G6122G13582的一G18108G2010，在G17837G18336我G4410G5483G1114G11705识，懂G5483G1114G5831问题、办事情的G7053G8873，所有的一切都G1363我受益菲浅。在G17837次漫长的毕业设计制作G17819G12255中，我收G14731良G3822，G14731G5483G1114许G3822珍贵的G11705识，G4410G2052G1114在许G3822书G7424G990G993G2499能收录的东西。如何独立思G13783，如何G994人G11468处融洽，怎G7691G4570G10714论G11705识和工G12255实际G11468G13479合G12573G12573。G5647之，G17837次毕业设计的完G6116G1363我在身心都G5483G2052G1114锻炼，在此十G2010G5875谢我的自动控制老师柳铭，以及在设计G990G13485予我莫大帮助的老师和G2528G4410。大G4410生活G2375G4570匆匆忙忙地G17819G2447，但我却能无悔地G16840G256我曾经来G17819。”大G4410G989G5192，但它G13485我的影响却G993能用G7114间来衡量，G17837G989G5192以来，经历G17819的所有事，所有人，都G4570是我以后生活G3250味的一G18108G201