3.
.
1. :
.
Simulink .
, , m- .
R=2;L=0.5;Km=0.1;Kb=0.1;Kf=0.2;J=0.02; | |
W1=tf(0.05,[0.25,1]) | , . |
W2=tf(5,[0.1,1]) | , . |
t=0:0.1:15; | |
u=1*(t>0&t<15); | . |
Td=-0.1*(t>5&t<10) | |
Wust=feedback(W1*W2,0.1) | . |
K=dcgain(Wust) | . |
H1=(1/K)*Wust | |
H2=feedback(W2,(Kb*W1)) | |
lsim(H1,u,t); | . |
lsim(H2,u,t); | |
[yu1,t,x]=lsim(H1,u,t); | . |
[yv1,t,x]=lsim(H2,Td,t); | . |
figure(1) | . |
plot(t,(yu1+yv1)), grid on | |
save proga1 R L Km Kb Kf J W1 W2 t u Td H1 H2 yu1 yv1 | . |
.1 , ( 2 ).
.1. .
Simulink (.2) .
.2. Simulink
.2, ( 4.1). .2, , .2, . Simulink .3, .2, 2, . 4,1 4 (.3).
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.3. Simulink
, .4, . (-), , (.4,).
, , , . m . , .. , .
.4. .
: MatLab , . , , , . , .
load proga1 | proga1.m |
W3=tf(1,[1,0]) | |
W4=tf(1,[0.01,1]) | |
HI=6*H1*W3*W4 | |
figure(1) | |
bode(HI), grid on | |
H1i=feedback(W3*W4*H1,1) | |
figure(2) | |
rlocus(W3*W4*H1) | . |
.5.
2 .5 , . . .5 , , . . ().
m 3 .
load proga1 | proga1.m |
W3=tf(2,[1,0]) | |
W4=tf(1,[0.01,1]) | |
H1i=feedback(W3*W4*H1,1) | . |
lsim(H1i,u,t) | . |
lsim(H1i,u,t) | |
[yu2,t,x]=lsim(H1i,u,t) | |
H2i=feedback(H2,W3*4.1*W1*W4) | . |
lsim(H2i,u,t) | |
[yv2,t,x]=lsim(H2i,Td,t) | |
figure(1) | (yu1+yv1) (yu2+yv2) . - |
plot(t,(yu2+yv2),t,(yu1+yv1)),grid on | |
save proga3 yu2 yv2 |
.6 , - ( 2), .
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.7 Simulink , 3. , Simulink, , .
. , .
.6. Ȗ
load proga1 | proga1.m |
W3=tf(1,[1,0]) | |
W4=tf(1) | |
HI=6*H1*W3*W4 | |
figure(1) | |
bode(HI), grid on | |
H1i=feedback(W3*W4*H1,1) | |
figure(2) | |
rlocus(W3*W4*H1) | . |
.7. Ȗ .
load proga1 | proga1.m proga3.m |
load proga3 | |
W3=tf(2) | |
W4=tf(1,[0.01,1]) | |
H1i=feedback(W3*W4*H1,1) | . |
lsim(H1i,u,t) | |
[yu3,t,x]=lsim(H1i,u,t) | |
H2i=feedback(H2,W3*4.1*W1*W4) | . |
lsim(H2i,u,t) | |
[yv3,t,x]=lsim(H2i,Td,t) | |
figure(1) | (yu1+yv1), (yu2+yv2) - (yu3+yv3) c -. - |
plot(t,(yu2+yv2),t,(yu1+yv1),t(yu3+yv3)),grid on | |
save proga5 yu3 yv3 |