[毕业设计精品]控制系统的超前校正设计

A1A0A2A3A4A5A7A8A6A9A10A11A12A131控制系统的超前校正设计1设计原理本设计使用频域法确定超前校正参数。首先根据给定的稳态性能指标，确定系统的开环增益K。因为超前校正不改变系统的稳态指标，所以，第一步仍然是调整放大器，使系统满足稳态性能指标。再利用上一步求得的K，绘制未校正前系统的伯德图。在伯德图上量取未校正系统的相位裕度和幅值裕度，并计算为使相位裕度达到给定指标所需补偿角的超前相角0。其中为给定的相位裕度指标；0为未校正系统的相位裕度；为附加角度。（加的原因超前校正使系统的截止频率C增大，未校正系统的相角一般是较大的负相角，为补偿这里增加的负相角，再加一个正相角，即|00CCCCJHJGJHJG其中，C为校正后的截止频率。当系统剪切率对应的取值为当剪切率为20DB时，DEG105，剪切率为40DB时，DEG1510，剪切率为60DB时，DEG2015。）取M，并由MMASIN1SIN1求出A。即所需补偿的相角由超前校正装置来提G1391。为使超前校正装置的G7380大超前相角出G10628在校正后系统的截止频率C上，即CM，取未校正系统幅值为LG10DBA时的频率G1328为校正后系统的截止频率C。由TAM1计算参数G55，并G1901出超前校正的G1268G17894G2001数TSATSSGC11。校G20576指标，绘制系统校正后的伯德图，G7828G20576是G2554满足给定的性能指标。当系统仍不满足G16213求时，G2029增大值，G1186取值再G8437调G16809计算。A14A15A16A17A18A19A20A21A22A23A24A25A26A2722控制系统的超前校正21初始状态的分析由G5062G11705G7477G1226，首先根据G2033G3999G7477G1226调整开环增益。根据301101SSSKSGG16213求系统的G19757态G17907度G16835G5058系数6VK，KSSKSSGKSV301101LIM0G2499得K6，G2029G5465校正的系统开环G2001数为3011016SSSSG上G5347为G7380G4579相位系统，其MATLAB伯德图G3926图1所G12046。G12255G5219GTF6,0030410KG,RMARGINGGTF6,0030410MARGINGA281A29A30A31A32A33A34A35A36A28A37A38A39A40A41A42A43A44A45A46A47A48A49A503频率的相对稳定性即稳定裕度G1075G5445G2721系统时域G2721应的性能，稳定裕度G5132用相角裕度和幅值裕度H来度量。由图1G2499得截止频率SEC/743RADCG12371G17246频率SEC/775RADX相角裕度DEG221PM幅值裕度DBH496G7186然DEG45，需G16213G17839G15904超前校正。用MATLABG11023出其校正前的根G17724G17869，G3926图2所G12046。其G12255G5219NUM6G6563G17860系统G2010G4388G3822G20045G5347DEN003,04,1,0G6563G17860系统G2010G8609G3822G20045G5347RLOCUSNUM,DEN计算出系统根G17724G17869A512A52A53A54A55A56A57A58A59A60A61A62A63A64A65A66A67A44A45A46A47A48A49A50422超前校正分析及计算221使用频域法确定超前环节函数利用超前G13605G13488的相位超前G10317性，正确的G4570超前G13605G13488的G1144G6521频率1/AT和1/TG17885在G5465校正系统截止频率的G1016G7061，并G17885G6333G17878当参数A和T，G4613G2499以使G5062校正系统的截止频率和相角裕度满足性能指标的G16213求。计算为使相位裕度达到给定指标所需补偿的超前相角0取|00CCCCJHJGJHJG，由未校正系统的伯德图G2499G11705当前未校正系统的剪切率为40DB，G2499取DEG1510，其中DEG45DEG2210DEG10DEG833取DEG833M并由MMASIN1SIN1求出513AG1328455513LG10DBG11464G13459G994未校正系统对数幅频G10317性G7366G13459相G1144G1122SEC/285RAD，G3926图3所G12046。A683DEG10时的取值A69A70A71A72A73A74A75A76A77A78A79A80A81A825取SEC/285RADMC由TAM1，得1010T因G8504超前G1268G17894G2001数为SSSGC1010135401513为G1114补偿G7092G9316超前G13605G13488G1147G10995的增益G15940G1955，放大器的增益需提G20652351G1505，G2554G2029不能G1457G16789稳态G16835G5058G16213求。超前G13605G13488参数确定后，G5062校正系统的开环G1268G17894G2001数为10101301101354016SSSSSSGSGC因G8504，G5062系统校正后G12255G5219G2462伯德图G3926图4所G12046。NUM2134,6G6563G17860开环系统G1268G17894G2001数的G2010G4388G3822G20045G5347DEN000303,00704,0501,1,0G6563G17860开环系统G1268G17894G2001数的G2010G8609G3822G20045G5347MARGINNUM,DENG11023出伯德图TITLE校正后的系统伯德图标G20076KG,R,WG,WCMARGINNUM,DEN求出G2520个参数A834DEG10时校正后的伯德图A84A85A86A87A88A89A90A91A92A93A94A95A96A976KG31130R380727WG104196WC53069G2499G16277DEG45DEG0738，因G8504不满足G16213求，G16840G7138G17836不G3827大。G16809取DEG150其中DEG45DEG2210DEG15DEG838取DEG838M并由MMASIN1SIN1求出354AG1328396354LG10DBG11464G13459G994未校正系统对数幅频G10317性G7366G13459相G1144G1122SEC/595RAD，G3926图5所G12046，取SEC/595RADMC由TAM1，得0850T因G8504超前G1268G17894G2001数为A985DEG15时的取值A99A100A101A102A103A104A105A106A107A108A109A110A111A1127SSSGC0850137301364为G1114补偿G7092G9316超前G13605G13488G1147G10995的增益G15940G1955，放大器的增益需提G20652436G1505，G2554G2029不能G1457G16789稳态G16835G5058G16213求。超前G13605G13488参数确定后，G5062校正系统的开环G1268G17894G2001数为08501301101373016SSSSSSGSGC因G8504，G5062系统校正后G12255G5219G2462伯德图G3926图6所G12046。NUM2238,6G6563G17860开环系统G1268G17894G2001数的G2010G4388G3822G20045G5347DEN000258,0064,0486,1,0G6563G17860开环系统G1268G17894G2001数的G2010G8609G3822G20045G5347MARGINNUM,DENG11023出伯德图TITLE校正后的系统伯德图标G20076KG,R,WG,WCMARGINNUM,DEN求出G2520个参数KG32670R404936WG113960WC55985A986DEG15A113A114A115A116A117A118A119A98A99A100A101A102A103A104A105A106A107A108A109A110A111A1128G2499G16277DEG45DEG4940，因G8504不满足G16213求，G16840G7138G17836不G3827大。222使用MATLAB解方程组方法确定超前环节函数用G48G36G55G47G36BG16311G7053G12255G13464的G7053法G4593G16809求取未校正系统的A和CALLMCCLG10；（G20）ATM1；（2）11ARCSINAAM；（G22）由（G20）G451（2）G451（G22）G989个G1856G5347G2499的G1863G1122A和C的G7053G12255G134641301106LG20LG10CCCJJJA（G7053G12255G20）4530ARCTAN10ARCTAN9011ARCSINCCAA（G7053G122552）其G12255G5219为G33G33G62AG90G64G32G86G82G79G89G72G11G10G200G13G79G82G74G200G11AG12G3220G13G79G82G74G200G11G90G13G86G84G85G87G11G110G17G20G13G90G12G652G14G20G12G13G86G84G85G87G11G110G17G22G13G90G12G652G14G20G12G1220G13G79G82G74G200G116G12G10G15G10AG86G76NG11G11AG20G12/G11AG14G20G12G12G14PG76/2AG87ANG110G17G20G13G90G12AG87ANG110G17G22G13G90G12G32PG76/4G10G15G10AG15G90G10G12G6563G17860求G16311的G7053G12255G13464并求G1016个未G11705量AG327G177G227076G2296697G206G22764974076757905G20G2057G1724400989088G2040052G224782G22G2264624G90G326G174447G22865299G20G20460G229G20G2076608G2206442G202G17G2245G20096289957G22G20825G200092G2260G22504G2499得747ASEC/446RADC由TAM1，得0560T因G8504超前G1268G17894G2001数为SSTSATSSGC055780143160111超前G13605G13488参数确定后，G5062校正系统的开环G1268G17894G2001数G2499G1901为A120A121A122A123A124A125A126A127A128A129A130A131A132A133905580130110143160160SSSSSSGSGC根据得出的A和C，由先前的频域法G2499计算出11SINAAMDEG4450MDEG44260M大大超出G1114该系统的的取值范围，G16789G7138该系统不宜用超前校正，但是理论上该G1268G17894G2001数G2499以对系统G17839G15904满足G7477G1226的超前校正。23对校正后的验证231校正后的伯德图及参数在计算后G17836G2499以用其他的G7053法来G17839G15904G7828G20576，看所加装置参数G17885G6333是都真的符合G20076意，满足G16213求。下面用MATLAB来G17839G15904G7828G20576G12255G5219为NUM25896,6G6563G17860开环系统G1268G17894G2001数的G2010G4388G3822G20045G5347DEN0001674,005232,04558,1,0G6563G17860开环系统G1268G17894G2001数的G2010G8609G3822G20045G5347MARGINNUM,DENG11023出伯德图TITLE校正后的系统伯德图标G20076KG,R,WG,WCMARGINNUM,DEN求出G2520个参数结果为KG37876R449969WG143730WC64444得到G3926下伯德图，G3926图7所G12046。A120A121A122A123A124A125A126A127A128A129A130A131A132A13310G12255G5219计算得相角裕度DEG45，正好符合G20076目G16213求。232校正后的根轨迹用MATLABG11023出校正后的根G17724G17869，G3926图8所G12046。G12255G5219为NUM25896,6G6563G17860系统G2010G4388G3822G20045G5347DEN0001674,005232,04558,1,0G6563G17860系统G2010G8609G3822G20045G5347RLOCUSNUM,DEN计算出系统根G17724G17869A1347A135A136A137A138A139A140A141A142A134A120A121A122A123A124A125A126A127A128A129A130A131A132A13311233校正对系统性能的改分析对校正前后的阶跃G2721应G17839G15904比较，G12255G5219G3926下NUM16G6563G17860原G2001数G2010G4388G3822G20045G5347DEN1003,04,1,6G6563G17860原G2001数G2010G8609G3822G20045G5347NUM325896,6G6563G17860校正后G2001数G2010G4388G3822G20045G5347DEN30001674,005232,04558,3586,6G6563G17860校正后G2001数G2010G8609G3822G20045G5347T00025时间间隔Y1STEPNUM1,DEN1,T求原G2001数阶跃G2721应Y3STEPNUM3,DEN3,T求校正后G2001数阶跃G2721应PLOTY1,Y3自动绘图命令GRID绘制G13605格GTEXT校正前命名图形GTEXT校正后命名图形A1438A144A145A146A147A148A149A150A151A152A143A153A154A155A156A157A158A159A160A161A162A163A164A165A16612得到图形G3926图9由上图G2499以看出在校正后A加入校正装置系统的超调量G7138G7186G1955少G1114，阻尼比增大，动态性能得到改善。B校正后系统的调节时间大大G1955少，大大提升G1114系统的G2721应G17907度。C校正后系统的上升时间G1955G4579很G3822，G1186而提升G1114系统的G2721应G17907度。因G8504，串入超前校正装置后，G7138G7186提升G1114系统的动态性能指标，增强G1114系统的稳定性。A1679A168A169A170A171A172A173A174A175A176A177A178A179A180A181A182A183A184A185A186A187A188A189A190133心得体会这G8437课G12255设计，我得到的任务是超前校正G13605G13488的设计，通过这G8437课G12255设计我对课本G11705识又有G1114更深的理G16311，对校正过G12255中的G19757态G17907度G16835G5058系数，相角裕度，截止频率，超前角频率，G2010度系数，时间G5132数等参数有G1114更深理G16311并应用到G1114设计当中。设计时借助MATLAB软G1226G17839G15904控制系统G2010析，G17839一步熟悉G1114MATLAB语言G2462其应用，例G3926MATLAB中计算单位阶跃G2721应G2001数STEP，二维绘图G2001数PLOT，根G17724G17869绘制G2001数RLOCUS等等。书G1901课G12255设计G16840G7138书时使用WORD软G1226，使我掌握G1114许G3822WOR