[자동제어실험설계] 극점 -4,-6 일때 P, PI 보상기 설계

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[자동제어실험설계] 극점 -4,-6 일때 P, PI 보상기 설계에 대한 보고서 자료입니다.

본문내용

>> n=[1];
>> d=[1 10 24];
>> sys=tf(n,d)
Transfer function:
1
---------------
s^2 + 10 s + 24
>> sys
Transfer function:
1
---------------
s^2 + 10 s + 24
>> rlocus(n,d)
>> w=logspace(-1,4,50);
>> bode(sys,w)
>> [mag,phase]=bode(sys,w);
>> [Gm,Pm,wcg,wcp]=margin(mag,phase,w)
Gm =
5.8958e+008
Pm =
Inf
wcg =
2.4281e+004
wcp =
NaN
>> [nt, dt]=cloop(n,d,-1);
>> sys1=tf(nt, dt)
Transfer function:
1
---------------
s^2 + 10 s + 25
>> bode(sys1,w)
>> fb=bandwidth(sys1)
fb =
3.2115
P제어기
>> n=20*n;
>> [nt, dt]=cloop(n,d,-1);
>> sys1=tf(nt, dt)
Transfer function:
20
---------------
s^2 + 10 s + 44
>> t=[0:0.1:20];
>> step(sys1,t)
>> lsim(sys1,t,t) %=20
>> bode(sys,w)% 보상된 개루프의 보드선도
>> [mag,phase]=bode(sys,w);
>> [Gm,Pm,wcg,wcp]=margin(mag,phase,w)
Gm =
2.9479e+007
Pm =
Inf
wcg =
2.4281e+004
wcp =
NaN
>> bode(sys1,w)% =20 보상된 폐루프 보드선도
>> fb=bandwidth(sys1)
fb =
6.1889
= 195
n=[1];
n=195*n;
sys=tf(n,d);
[nt, dt]=cloop(n,d,-1);
sys1=tf(nt, dt);
step(sys1,[0:0.1:5])
hold on
end
>> lsim(sys1,t,t) % 램프입력
>> bode(sys,w)% 보상된 개루프의 보드선도
>> [mag,phase]=bode(sys,w);
[Gm,Pm,wcg,wcp]=margin(mag,phase,w)
Gm =
3.0235e+006
Pm =
42.0620
wcg =
2.4281e+004
wcp =
12.9900
>> [nt, dt]=cloop(n,d,-1);
>> sys1=tf(nt, dt)
Transfer function:
195
----------------
s^2 + 10 s + 219
>> bode(sys1,w)
>> fb=bandwidth(sys1)
fb =
21.1001
PI 제어기
>> n=[1];
>> sys=tf(n,d)
Transfer function:
1
---------------
s^2 + 10 s + 24
>> n1=[116.79 2.14*116.79];
>> d1=[1 0];
>> [na,da]=series(n1,d1,n,d);%
>> sys1=tf(na,da)%
Transfer function:
116.8 s + 249.9
-------------------
s^3 + 10 s^2 + 24 s
>> rlocus(na,da)
>> [nt, dt]=cloop(na,da,-1);
>> sys2=tf(nt,dt)
Transfer function:
116.8 s + 249.9
------------------------------
s^3 + 10 s^2 + 140.8 s + 249.9
>> step(sys2,[0:0.1:5])
>> lsim(sys2,t,t)
>> bode(sys1,w)%개루프 보드선도
>> [mag,phase]=bode(sys1,w);%개루프 여유
[Gm,Pm,wcg,wcp]=margin(mag,phase,w)
Gm =
5.0482e+006
Pm =
41.9020
wcg =
2.4281e+004
wcp =
9.6735
>> bode(sys2,w)
>> fb=bandwidth(sys2)
fb =
15.3410

키워드

자동제어,   자동제어 실험,   극점,   P제어기,   PI 제어기