model_sample_time.m

来自「PIDTuningUsingG.A pid 算法」· M 代码 · 共 22 行

sys_hoop1=tf([1.63],[.66 1]);
H=tf([67.5],[1 0]);
sys_ball=tf([.42 1.873 0],[1.42 1.873 112.11]);
sys_hoop=series(sys_hoop1,H);
Ball_Hoop=series(sys_hoop,sys_ball);
sys=feedback(Ball_Hoop,1);
t=0:.01:50;
figure(1)
plot(t,nb_out,'r');
hold on;
[y,t]=step(sys,t);
plot(t,y)
%Finding the sample time using bandwidth
figure(2)
bode(Ball_Hoop);
[mag,phase,w]=bode(Ball_Hoop);
mag_db=20*log10(mag);
ind_wb=min(find(mag_db<=mag_db(1)-3));
wb=w(ind_wb);
ws=10*wb;
ts=(2*pi)/ws
rlocus(Ball_Hoop);