tr_PID : http://vk.com/airnave
tr_PID ( tr_PID, , . . tr_PID, )
h = 10
= 5%
ke
., % | |||||
ke | 0.35 | 0.4 | 0.5 | 0.6 | 0.75 |
ke = 0.5
0
wc. wc = 2. , wc, 0 !
0 ( wc , , )
wc, , 0 :
2 wc, 0.5 , 4 , 0.5 2. , wc = 2 ( 100) .
wc 8, wc = 9. , ( 100) 2 (0.5 8) . 0 : .. wc ( ), .
w1, w2 wn :
w1, w2 wn . w1=w2=w3=w4=0.5, .. 0.5 0 -4, .. 4, 4 (w1,w2,w3,w4). wc =2. 8 -4 -5, .. 1, w5 = 8
W(s)
.. 0.5 4, w1=w2=w3=w4=0.5. :
Tsum:
, (w1) Tsum !, (w2) h, (w4, w5 wn) .
wcj :
(zpk-) -. w1 w2, (w3,w4wn) !
W(s), :
:
, , . , : , , .
|
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MS Word txt , matlab , Enter . trenag . matlab , Step(W) figure
W1=tf([1],[2 1]) W2 Wn, Wp=zpk([-0.5 -0.5],[0 -5],0.009) .
Wp=zpk([-0.5 -0.5],[0 -5],0.009) . -, .. !
- , W(s) (2S+1)^4, .. 4, W1=W2=W3=W4 , , , 4 . .
:
trenag
addpath c:\trenag
W1=tf([1],[2 1])
W2=tf([1],[2 1])
W3=tf([1],[2 1])
W4=tf([1],[2 1])
W5=tf([1],[0.125 1])
Ws=256*W1*W2*W3*W4*W5
Wp=zpk([-0.5 -0.5],[0 -5],0.009)
W=feedback(Wp*Ws,1)
figure; step(W)
figure; margin(Ws*Wp)
aLAX(Ws)
khar_sysz3(W)[DA1]
3 [DA2]:
:
5% ( ke=0.5), . 0% (ke=0.35) ( ). , ke . Time(sec) . .
[DA3]
aLAX(Ws)
0 -4 -5, 0.5, 8, 2 .
2. tr_PID