现代机械控制工程实验报告

华东理工大学现代机械控制工程仿真实验实验报告学院________________班级________________姓名________________学号________________2021年12月现代机械控制工程仿真实验实验一1.比例环节：G(s)=kk=12num=[12];num=[12];den=[1];den=[1];t=[0:0.1:10];t=[0:0.1:10];y=impluse(num,den,t);y=step(num,den,t);plot(t,y);plot(t,y);gridongridon积分环节：G(s)=1/snum=[1];num=[1];den=[1,0];den=[1,0];t=[0:0.1:10];t=[0:0.1:10];y=impluse(num,den,t);y=step(num,den,t);plot(t,y);plot(t,y);gridongridon微分环节：G(s)=snum=[1,0];den=[1]num=[1,0];num=[1,0];den=[1];den=[1];t=[0:0.1:10];t=[0:0.1:10];y=impluse(num,den,t);y=step(num,den,t);plot(t,y);plot(t,y);gridongridon不存在惯性环节：G(s)=1/(Ts+1)T取2num=[1];num=[1];den=[2,1];den=[2,1];t=[0:0.1:10];t=[0:0.1:10];y=impluse(num,den,t);y=step(num,den,t);plot(t,y);plot(t,y);gridongridon二阶振荡系统：G(s)=50/((0.05s^2+(1+50T)s+50)T取1num=[50];num=[50];den=[0.05,51,50];den=[0.05,51,50];t=[0:0.1:10];t=[0:0.1:10];y=impluse(num,den,t);y=step(num,den,t);plot(t,y);plot(t,y);gridongridonSimulink练习：实验二例1系统模型如下所示，判断系统的稳定性，以及系统是否为最小相位系统。num=[3,16,41,28];den=[1,14,110,528,1494,2117,112];G=tf(num,den);sys=zpk(G);pzmap(sys)clc;clear;closeall;num=[20];den=[1836400];[numc,denc]=cloop(num,den);t=0:0.1:10;y=step(numc,denc,t);[y1,x,t1]=step(numc,denc);plot(t,y,'r:',t1,y1);title('thestepresponce');xlabel('time-sec');disp(‘稳态值dc为');dc=dcgain(numc,denc)clc;clear;closeall;num=[20];den=[1836400];[numc,denc]=cloop(num,den);t=0:0.1:10;y=impulse(numc,denc,t);[y1,x,t1]=impulse(numc,denc);plot(t,y,'r:',t1,y1);title('theimpulseresponce');xlabel('time-sec');disp(‘稳态值dc为');dc=dcgain(numc,denc)clc;clear;closeall;num=[25];den=[1625];t=0:0.1:10;y=step(num,den,t);[y1,x,t1]=step(num,den);plot(t,y,'r:',t1,y1);title('thestepresponce');xlabel('time-sec');disp(‘稳态值dc为');dc=dcgain(num,den)clc;clear;closeall;num=[1025];den=[0.161.961025];[numc,denc]=cloop(num,den);t=0:0.1:10;y=step(numc,denc,t);[y1,x,t1]=step(numc,denc);plot(t,y,'r:',t1,y1);title('thestepresponce');xlabel('time-sec');disp(‘稳态值dc为');dc=dcgain(numc,denc)clearclccloseall%输入期望的超调量及峰值时间pos=40('inputpleaseinputexpectpos(%)=');tp=0.8('pleaseinputexpecttp=');z=log(100/pos)/sqrt(pi^2+(log(100/pos))^2);wn=pi/(tp*sqrt(1-z^2));num=wn^2;den=[12*z*wnwn^2];t=0:0.02:4;y=step(num,den,t);plot(t,y)xlabel('time-sec')ylabel('y(t)')gridd=wn^2e=(2*z*wn-1)/dD=16.7331，E=0.0771clc;clc;clear;clear;closeall;closeall;num=[20];num=[20];den=[1836400];den=[1836400];[numc,denc]=cloop(num,den);[numc,denc]=c