ch3_7.m

《MATLAB7.0控制系统应用实例》 作者：刘叔军

Kp=1.2;
Kda=5/2048;
Ka=1.2;
Kvi=48/2.5;
Wnv=200;
KSv=0.5;
Q=0.125/60;  %unit:(m^3/s)=125L/min
P=7.0*10^6;  %Pa
I=40;%mA
L=0.31;l=0.10;
m0=9.05;m1=42.0;m2=55.5;
m=m0+m1+m2*2; %mass of system
Be=7000*10^5;%N/m^2
D=0.063;d=0.04;
D1=0.028;d1=0.022;
Kc=2.58e-12;
A=(D^2-d^2)*pi/4;
V=A*L;
A1=pi*d1^2/4;
V1=A1*l;
Vt=V+V1*2;
Q0=Q*sqrt(2/7);
Ksv=0.5*Q0/I;
Wnh=sqrt(4*Be*A*A/(Vt*m));
KSh=sqrt(Be*m/Vt)*Kc/A;
Kf=100000;
AA=[0 1;-Wnv^2 -2*KSv*Wnv];
BB=[0 1]';
CC=[Ksv*Wnv^2 0];
AAA=[0 1 0;0 0 1;0 -Wnh^2 -2*KSh*Wnh];
BBB=[0 0 -Wnh^2/A]';
CCC=[1 0 0];