exa01.asv

PID性能分析

clear all;
ng0=[1];
dg0=conv([1,0],conv([0.001,1],[0.1,1]));
g0=tf(ng0,dg0);
t=[0:0.001:0.07];
w=logspace(0,4);
KK=1000;
Pm=45;
wc=165;
[ngc,dgc]=lead5(ng0,dg0,KK,Pm,wc,w);
gc=tf(ngc,dgc);
g0c=tf(KK*g0*gc);
b1=feedback(KK*g0,1);
b2=feedback(g0c,1);
step(b1,t);
grid on;
hold on;
step(b2,t);
hold off;
figure;
bode(KK*g0,w);
grid on;
hold on;
bode(g0c,w);
hold off;
[gm,pm,wcg,wcp]=margin(g0c);
Km=20*log10(gm);