📄 xitongjiaozhenbaogao.m
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clear
num=100
den1=[1 0]
den2=[0.1 1]
den3=[0.01 1]
den=conv(den1,conv(den2,den3))
%系统闭环传递函数
[numc,denc]=cloop(num,den,-1)
wt=0:0.5:60
t=0:0.01:1.5
%系统频率响应数据
g=freqs(numc,denc,wt)
mag=abs(g)
figure(1)
subplot(121)
bode(num,den)
pause
subplot(222)
step(numc,denc,t)
grid
pause
subplot(224)
plot(wt,mag)
title('C-loop Freguency Response-Amplitude')
xlabel('Frequency-rad')
ylabel('Amplitude')
grid
%Gc(s)=(a*T*s+1)/(T*s+1);a>1
gama=55;wc=50
%超前校正装置传递函数
a=(1+sin(gama*pi/180))/(1-sin(gama*pi/180))
T=1/(wc*sqrt(a))
num=[0 0 0 100]
numa=[a*T 1]
dena=[T 1]
numao=conv(num,numa)
denao=conv(den,dena)
figure(2)
bode(numao,denao)
[numac,denac]=cloop(numao,denao,-1)
figure(3)
step(numac,denac)
%显示超前校正装置的参数
disp('a T a*T')
a
T
a*T
%显示超前校正装置传递函数多项式
numa
dena
%求取校正后系统的相角裕量、截止角频率
[Gm1,Pm1,Wcg1,Wcm1]=margin(numao,denao)
Pm1
Wcm1
wc=5;g=25
beta=10^(g/20)
T=4/wc
wt=logspace(-2,2)
numb=[T 1]
denb=[beta*T 1]
numbo=conv(num,numb)
denbo=conv(den,denb)
figure(4)
bode(numbo,denbo,wt)
[numbc,denbc]=cloop(numbo,denbo,-1)
figure(5)
step(numbc,denbc)
%
beta
T
numb
denb
[Gm2,Pm2,Wcg2,Wcm2]=margin(numbo,denbo)
Pm2
Wcm2
%
%相角裕量、截止角频率
gama=50;wc=20
a=(1+sin(gama*pi/180))/(1-sin(gama*pi/180))
T1=1/(wc*sqrt(a))
numa=[a*T1 1]
dena=[T1 1]
numao=conv(numa,num)
denao=conv(dena,den)
figure(6)
bode(numao,denao,wt)
%相角裕量
g=14
beta=10^(g/20)
T=5/wc
wt=logspace(-1,3)
numb=[T 1]
denb=[beta*T 1]
numo=conv(conv(num,numa),numb)
deno=conv(conv(den,dena),denb)
figure(7)
bode(numo,deno,wt)
a
T1
numa
dena
beta
T
numb
denb
[numc,denc]=cloop(numo,deno,-1)
figure(8)
step(numc,denc)
num =
100
den1 =
1 0
den2 =
0.1000 1.0000
den3 =
0.0100 1.0000
den =
0.0010 0.1100 1.0000 0
numc =
0 0 0 100
denc =
0.0010 0.1100 1.0000 100.0000
wt =
Columns 1 through 8
0 0.5000 1.0000 1.5000 2.0000 2.5000 3.0000 3.5000
Columns 9 through 16
4.0000 4.5000 5.0000 5.5000 6.0000 6.5000 7.0000 7.5000
Columns 17 through 24
8.0000 8.5000 9.0000 9.5000 10.0000 10.5000 11.0000 11.5000
Columns 25 through 32
12.0000 12.5000 13.0000 13.5000 14.0000 14.5000 15.0000 15.5000
Columns 33 through 40
16.0000 16.5000 17.0000 17.5000 18.0000 18.5000 19.0000 19.5000
Columns 41 through 48
20.0000 20.5000 21.0000 21.5000 22.0000 22.5000 23.0000 23.5000
Columns 49 through 56
24.0000 24.5000 25.0000 25.5000 26.0000 26.5000 27.0000 27.5000
Columns 57 through 64
28.0000 28.5000 29.0000 29.5000 30.0000 30.5000 31.0000 31.5000
Columns 65 through 72
32.0000 32.5000 33.0000 33.5000 34.0000 34.5000 35.0000 35.5000
Columns 73 through 80
36.0000 36.5000 37.0000 37.5000 38.0000 38.5000 39.0000 39.5000
Columns 81 through 88
40.0000 40.5000 41.0000 41.5000 42.0000 42.5000 43.0000 43.5000
Columns 89 through 96
44.0000 44.5000 45.0000 45.5000 46.0000 46.5000 47.0000 47.5000
Columns 97 through 104
48.0000 48.5000 49.0000 49.5000 50.0000 50.5000 51.0000 51.5000
Columns 105 through 112
52.0000 52.5000 53.0000 53.5000 54.0000 54.5000 55.0000 55.5000
Columns 113 through 120
56.0000 56.5000 57.0000 57.5000 58.0000 58.5000 59.0000 59.5000
Column 121
60.0000
t =
Columns 1 through 8
0 0.0100 0.0200 0.0300 0.0400 0.0500 0.0600 0.0700
Columns 9 through 16
0.0800 0.0900 0.1000 0.1100 0.1200 0.1300 0.1400 0.1500
Columns 17 through 24
0.1600 0.1700 0.1800 0.1900 0.2000 0.2100 0.2200 0.2300
Columns 25 through 32
0.2400 0.2500 0.2600 0.2700 0.2800 0.2900 0.3000 0.3100
Columns 33 through 40
0.3200 0.3300 0.3400 0.3500 0.3600 0.3700 0.3800 0.3900
Columns 41 through 48
0.4000 0.4100 0.4200 0.4300 0.4400 0.4500 0.4600 0.4700
Columns 49 through 56
0.4800 0.4900 0.5000 0.5100 0.5200 0.5300 0.5400 0.5500
Columns 57 through 64
0.5600 0.5700 0.5800 0.5900 0.6000 0.6100 0.6200 0.6300
Columns 65 through 72
0.6400 0.6500 0.6600 0.6700 0.6800 0.6900 0.7000 0.7100
Columns 73 through 80
0.7200 0.7300 0.7400 0.7500 0.7600 0.7700 0.7800 0.7900
Columns 81 through 88
0.8000 0.8100 0.8200 0.8300 0.8400 0.8500 0.8600 0.8700
Columns 89 through 96
0.8800 0.8900 0.9000 0.9100 0.9200 0.9300 0.9400 0.9500
Columns 97 through 104
0.9600 0.9700 0.9800 0.9900 1.0000 1.0100 1.0200 1.0300
Columns 105 through 112
1.0400 1.0500 1.0600 1.0700 1.0800 1.0900 1.1000 1.1100
Columns 113 through 120
1.1200 1.1300 1.1400 1.1500 1.1600 1.1700 1.1800 1.1900
Columns 121 through 128
1.2000 1.2100 1.2200 1.2300 1.2400 1.2500 1.2600 1.2700
Columns 129 through 136
1.2800 1.2900 1.3000 1.3100 1.3200 1.3300 1.3400 1.3500
Columns 137 through 144
1.3600 1.3700 1.3800 1.3900 1.4000 1.4100 1.4200 1.4300
Columns 145 through 151
1.4400 1.4500 1.4600 1.4700 1.4800 1.4900 1.5000
g =
Columns 1 through 5
1.0000 1.0003 - 0.0050i 1.0010 - 0.0100i 1.0023 - 0.0150i 1.0040 - 0.0201i
Columns 6 through 10
1.0063 - 0.0252i 1.0091 - 0.0303i 1.0124 - 0.0355i 1.0163 - 0.0407i 1.0207 - 0.0460i
Columns 11 through 15
1.0257 - 0.0514i 1.0313 - 0.0569i 1.0375 - 0.0625i 1.0443 - 0.0682i 1.0518 - 0.0740i
Columns 16 through 20
1.0599 - 0.0800i 1.0688 - 0.0861i 1.0784 - 0.0924i 1.0888 - 0.0989i 1.1001 - 0.1056i
Columns 21 through 25
1.1122 - 0.1125i 1.1253 - 0.1196i 1.1394 - 0.1271i 1.1545 - 0.1348i 1.1708 - 0.1429i
Columns 26 through 30
1.1883 - 0.1513i 1.2071 - 0.1602i 1.2273 - 0.1695i 1.2491 - 0.1792i 1.2726 - 0.1896i
Columns 31 through 35
1.2979 - 0.2005i 1.3253 - 0.2121i 1.3548 - 0.2245i 1.3868 - 0.2377i 1.4214 - 0.2519i
Columns 36 through 40
1.4591 - 0.2671i 1.5001 - 0.2836i 1.5449 - 0.3015i 1.5940 - 0.3210i 1.6479 - 0.3423i
Columns 41 through 45
1.7073 - 0.3659i 1.7731 - 0.3919i 1.8462 - 0.4209i 1.9278 - 0.4535i 2.0196 - 0.4903i
Columns 46 through 50
2.1232 - 0.5323i 2.2413 - 0.5807i 2.3768 - 0.6371i 2.5338 - 0.7037i 2.7177 - 0.7835i
Columns 51 through 55
2.9358 - 0.8807i 3.1983 - 1.0018i 3.5202 - 1.1565i 3.9233 - 1.3606i 4.4420 - 1.6407i
Columns 56 through 60
5.1321 - 2.0462i 6.0908 - 2.6771i 7.4961 - 3.7654i 9.6818 - 5.9603i 12.9844 -11.6324i
Columns 61 through 65
10.0000 -30.0000i -23.4085 -21.3957i -16.7617 - 3.5490i -10.9242 - 0.2915i -7.8823 + 0.4789i
Columns 66 through 70
-6.0998 + 0.6889i -4.9442 + 0.7338i -4.1386 + 0.7229i -3.5466 + 0.6926i -3.0940 + 0.6566i
Columns 71 through 75
-2.7371 + 0.6203i -2.4487 + 0.5857i -2.2110 + 0.5536i -2.0118 + 0.5241i -1.8425 + 0.4972i
Columns 76 through 80
-1.6969 + 0.4727i -1.5704 + 0.4503i -1.4595 + 0.4298i -1.3616 + 0.4110i -1.2745 + 0.3938i
Columns 81 through 85
-1.1965 + 0.3778i -1.1263 + 0.3631i -1.0628 + 0.3495i -1.0051 + 0.3368i -0.9525 + 0.3250i
Columns 86 through 90
-0.9043 + 0.3140i -0.8600 + 0.3037i -0.8192 + 0.2940i -0.7814 + 0.2849i -0.7464 + 0.2763i
Columns 91 through 95
-0.7139 + 0.2682i -0.6836 + 0.2606i -0.6553 + 0.2534i -0.6288 + 0.2465i -0.6040 + 0.2400i
Columns 96 through 100
-0.5807 + 0.2338i -0.5587 + 0.2279i -0.5381 + 0.2223i -0.5186 + 0.2169i -0.5002 + 0.2118i
Columns 101 through 105
-0.4828 + 0.2069i -0.4662 + 0.2022i -0.4506 + 0.1977i -0.4357 + 0.1934i -0.4216 + 0.1892i
Columns 106 through 110
-0.4081 + 0.1852i -0.3953 + 0.1813i -0.3831 + 0.1776i -0.3714 + 0.1741i -0.3603 + 0.1706i
Columns 111 through 115
-0.3496 + 0.1673i -0.3394 + 0.1641i -0.3296 + 0.1610i -0.3203 + 0.1580i -0.3113 + 0.1550i
Columns 116 through 120
-0.3027 + 0.1522i -0.2944 + 0.1495i -0.2865 + 0.1468i -0.2788 + 0.1443i -0.2715 + 0.1418i
Column 121
-0.2644 + 0.1393i
mag =
Columns 1 through 8
1.0000 1.0003 1.0011 1.0024 1.0042 1.0066 1.0095 1.0130
Columns 9 through 16
1.0171 1.0217 1.0270 1.0328 1.0393 1.0465 1.0544 1.0629
Columns 17 through 24
1.0723 1.0824 1.0933 1.1051 1.1179 1.1316 1.1464 1.1623
Columns 25 through 32
1.1795 1.1979 1.2177 1.2390 1.2619 1.2867 1.3133 1.3421
Columns 33 through 40
1.3733 1.4070 1.4436 1.4834 1.5267 1.5741 1.6260 1.6831
Columns 41 through 48
1.7461 1.8159 1.8935 1.9804 2.0782 2.1890 2.3153 2.4607
Columns 49 through 56
2.6297 2.8284 3.0650 3.3516 3.7053 4.1525 4.7353 5.5250
Columns 57 through 64
6.6531 8.3886 11.3694 17.4329 31.6228 31.7133 17.1333 10.9281
Columns 65 through 72
7.8968 6.1386 4.9983 4.2012 3.6136 3.1629 2.8065 2.5178
Columns 73 through 80
2.2793 2.0789 1.9084 1.7615 1.6337 1.5215 1.4223 1.3339
Columns 81 through 88
1.2547 1.1834 1.1188 1.0600 1.0064 0.9572 0.9120 0.8703
Columns 89 through 96
0.8317 0.7959 0.7626 0.7316 0.7025 0.6754 0.6499 0.6260
Columns 97 through 104
0.6034 0.5822 0.5621 0.5432 0.5252 0.5082 0.4920 0.4767
Columns 105 through 112
0.4621 0.4482 0.4349 0.4223 0.4102 0.3986 0.3876 0.3770
Columns 113 through 120
0.3668 0.3571 0.3478 0.3388 0.3302 0.3219 0.3139 0.3063
Column 121
0.2989
wc =
50
a =
10.0590
T =
0.0063
num =
0 0 0 100
numa =
0.0634 1.0000
dena =
0.0063 1.0000
numao =
0 0 0 6.3432 100.0000
denao =
0.0000 0.0017 0.1163 1.0000 0
numac =
0 0 0 6.3432 100.0000
denac =
0.0000 0.0017 0.1163 7.3432 100.0000
a T a*T
a =
10.0590
T =
0.0063
ans =
0.0634
numa =
0.0634 1.0000
dena =
0.0063 1.0000
Gm1 =
3.6827
Pm1 =
36.9853
Wcg1 =
119.9302
Wcm1 =
54.0854
Pm1 =
36.9853
Wcm1 =
54.0854
g =
25
beta =
17.7828
T =
0.8000
wt =
Columns 1 through 8
0.0100 0.0121 0.0146 0.0176 0.0212 0.0256 0.0309 0.0373
Columns 9 through 16
0.0450 0.0543 0.0655 0.0791 0.0954 0.1151 0.1389 0.1677
Columns 17 through 24
0.2024 0.2442 0.2947 0.3556 0.4292 0.5179 0.6251 0.7543
Columns 25 through 32
0.9103 1.0985 1.3257 1.5999 1.9307 2.3300 2.8118 3.3932
Columns 33 through 40
4.0949 4.9417 5.9636 7.1969 8.6851 10.4811 12.6486 15.2642
Columns 41 through 48
18.4207 22.2300 26.8270 32.3746 39.0694 47.1487 56.8987 68.6649
Columns 49 through 50
82.8643 100.0000
numb =
0.8000 1.0000
denb =
14.2262 1.0000
numbo =
0 0 0 80 100
denbo =
0.0142 1.5659 14.3362 1.0000 0
numbc =
0 0 0 80 100
denbc =
0.0142 1.5659 14.3362 81.0000 100.0000
beta =
17.7828
T =
0.8000
numb =
0.8000 1.0000
denb =
14.2262 1.0000
Gm2 =
17.0212
Pm2 =
46.9697
Wcg2 =
29.4999
Wcm2 =
5.1399
Pm2 =
46.9697
Wcm2 =
5.1399
wc =
20
a =
7.5486
T1 =
0.0182
numa =
0.1374 1.0000
dena =
0.0182 1.0000
numao =
0 0 0 13.7374 100.0000
denao =
0.0000 0.0030 0.1282 1.0000 0
g =
14
beta =
5.0119
T =
0.2500
wt =
1.0e+003 *
Columns 1 through 8
0.0001 0.0001 0.0001 0.0002 0.0002 0.0003 0.0003 0.0004
Columns 9 through 16
0.0004 0.0005 0.0007 0.0008 0.0010 0.0012 0.0014 0.0017
Columns 17 through 24
0.0020 0.0024 0.0029 0.0036 0.0043 0.0052 0.0063 0.0075
Columns 25 through 32
0.0091 0.0110 0.0133 0.0160 0.0193 0.0233 0.0281 0.0339
Columns 33 through 40
0.0409 0.0494 0.0596 0.0720 0.0869 0.1048 0.1265 0.1526
Columns 41 through 48
0.1842 0.2223 0.2683 0.3237 0.3907 0.4715 0.5690 0.6866
Columns 49 through 50
0.8286 1.0000
numb =
0.2500 1.0000
denb =
1.2530 1.0000
numo =
0 0 0 3.4343 38.7374 100.0000
deno =
0.0000 0.0038 0.1636 1.3812 1.0000 0
a =
7.5486
T1 =
0.0182
numa =
0.1374 1.0000
dena =
0.0182 1.0000
beta =
5.0119
T =
0.2500
numb =
0.2500 1.0000
denb =
1.2530 1.0000
numc =
0 0 0 3.4343 38.7374 100.0000
denc =
0.0000 0.0038 0.1636 4.8155 39.7374 100.0000
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