5
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: Control System Toolbox
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- 2016
() , .
:
( )
, = (RaJ)/(KeKm)
m ( )
J
R
1
Ua
ωmax
2
%: J={J1,J2,J3}
close all;clc;clear all;
Ra=10; %
Ta=0.01;
Ke=0.05; %/
Km=Ke;/
J=0.5E-5; % , ^2
% J=1.5E-5; %
% J=3E-5; %
Tm=(J*Ra)/(Ke*Km);
DC_Motor=tf(1/Ke,[Tm*Ta Tm 1]);
figure(1);
subplot(1,2,1);bode(DC_Motor,{10, 10000});grid on;hold on
subplot(1,2,2);step(DC_Motor,0:0.0005:0.5);grid on;hold on;
1
(. 3-5) , , . , , ( 4 5).
3 / () J=0.5E-5^2
4 / () J=1.5E-5^2
5 / () J=3E-5^2
2. () - (-) J= 1.5E-5^2.
Ksp=3;%
Tsp=0.001;%
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Kdt=10/3;% , /
Trt=Ta; %
Krt=1; %
%Krt=10;
%Krt=5;
Plant_KT=tf(Ksp,[Tsp 1])*tf(1/Ra,[Ta 1])*Kdt%
PI_RT=Krt*tf([Trt 1],[Trt 0])%
KT_open=PI_RT*Plant_KT%
figure(2);subplot(1,2,1);bode(KT_open,{10, 100000});grid on;
KT_closed=feedback(KT_open,1);
subplot(1,2,2);step(KT_closed,0:0.0001:0.1);grid on;
2
(. 6-8) , c , , ( 7 8). 6 , 4,29 %, .
6 / () Krt = 1
7 / () Krt = 10
8 / () Krt = 4.99
3. (C) - (-) J= 1.5Ŗ5^2
Tkt=2*Tsp; %
Trs=4*Tkt; %
Kds=10/600; % , /
Krs=1;%
%Krs=10;
%Krs=15;
Plant_KS=tf(1/Kdt,[Tkt 1])*Km*tf(1,[J 0])*Kds%
PI_RS=Krs*tf([Trs 1],[Trs 0])
KS_open=PI_RS*Plant_KS
figure(3);subplot(1,2,1);bode(KS_open,{10,10000});grid on;
KS_closed=feedback(KS_open,1);
subplot(1,2,2);step(KS_closed,0:0.001:0.1);grid on;
3
(. 9-11) , c , 11 , 42.2 %., .
9 / () Krs = 1
10 / () Krs = 10
11 / () Krs = 15.
, , , - - , , , . - -, , .
