lag2.asv

PID性能分析

function [ngc,dgc]=lag2(ng0,dg0,w,KK,Pm);
[mu,pu]=bode(KK*ng0,dg0,w);
wgc=spline(pu,w,Pm+5-180);
ngv=polyval(KK*ng0,j*wgc);
dgv=polyval(dg0,j*wgc);
g=ngv/dgv;

theta=180*angle(g)/pi;
alf=ceil(Pm-(theta+180)+5);
phi=(alf)*pi/180;
a=(1+sin(phi))/(1-sin(phi));
dbmu=20*log10(mu);
mm=-10*log10(a);
wgc=spline(dbmu,w,mm);
T=1/(wgc*sqrt(a));
ngc=[a*T,1];
dgc=[T,1];