You are on page 1of 11

c

ccccccccccccccccccccccccccccccccccccccccccccccccccccccccccc

c
c


c
 

c
 c 
c

c 


c
c

 
c c 
c
c
 cc
c
c c c!"#$"%c
c!c&""%%c
'(%c
c
c

c
ccccccccccccccccccccccccccc
cccccc)*)+)),*cccccccccc-c'c
ccccccccccccccccccccccc
c
"$.c/"c
c

c
c
cccccccccccccc01c#"(c2c!"#3c"c
"-c4. (c
c
cccccccccccccccccccc "5c "-c2c*)6))7c
c
ccccccccccccccccccc (c "-
c2c8)6))7c
ccc

c
c
c
c
c
c
c

cc  c
 c
c
c
c
c
cccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccc 
c
c
ccccccccccc

   ccccccccc !" #cc
cccccccccccccccccccccc
9%&c
' %&c
#
cccccccc$%&c
c 
c % &
c
c
5 7 8 8# 8
c
6c
c
c
cccccccccccccc'c( c)
 c
c
c
c
c
*c* +,cc
-c
 +c
*c* +,c*,c
c
ccccccccc ccccccc9)ccccc
c:::::::::::::::::::::::::::::::ccccccccccccccccccccccccccccccccccccccc;0c<c=c>c9c?c@(c?c 0(cAc
cc(B*c?c+c(Bc?c)c(c?c9c
c


c- .cc
*c* +,,c-c
/
0c1 c

c c
c
22c c
  
 c-c cc0cc c1 c, ,
 c
c

 c0/"Cc
c
>> gs=tf(10,[1 5 20 12])
cc

*c*,3c
ccccccccccc#c
c
45c6c7c48c6c8#cc6c8c
cc
>> kp=15;Ki=0;Ti=10e12;Td=0
c
c
c c
c
ccccc#c
c
>> gd=kp*tf([Td 1 Ki],[0 1 0])
cc

cc c


*c*,3c
7cc
c
cc
cc
>> god=gd*gs
cc
c

*c*,3c
ccccccccccc7#cc
c
4:c6c7c45c6c8#c48c6c8cc
cc
>> gkd=feedback(god,1)
cc

*c*,3c
ccccccccccc7#cc
c
4:c6c7c45c6c8#c48c6c8;cc
cc
>> step(gkd)
c

c
"c0/"Cc
c
>> gs=tf(10,[1 5 20 12])
cc

c8c c


*c*,3c
ccccccccccc#c
c
45c6c7c48c6c8#cc6c8c
cc
>> kp=5;Ki=0;Ti=10e12;Td=0
c
c
c c
c
>> gd=kp*tf([Td 1 Ki],[0 1 0])
cc

*c*,3c
7cc
c
cc
cc
>> god=gd*gs
cc

*c*,3c
cccccccccccc7#cc
c
4:c6c7c45c6c8#c48c6c8cc
>> gkd=feedback(god,1)

*c*,3c
cccccccccccc7#cc
c
4:c6c7c45c6c8#c48c6c;cc
c
>> t=0:0.1:20;
c
>> step(gkd,t)
c
c

c5c c

#c0/"Cc
c
>> gs=tf(10,[1 5 20 12])
cc

*c*,3c
cccccccccc#c
c
45c6c7c48c6c8#cc6c8c
cc
>> kp=8.8;Ki=0;Ti=10e12;Td=0
c
c c
c
ccccc#c
c
>> gd=kp*tf([Td 1 Ki],[0 1 0])
cc

*c*,3c
<.<cc
c
ccc
cc
>> god=gd*gs
cc

*c*,3c
ccccccccccc<<cc
c
4:c6c7c45c6c8#c48c6c8cc

c:c c

cc
>> gkd=feedback(god,1)
cc

*c*,3c
cccccccccccc<<cc
c
4:c6c7c45c6c8#c48c6c##cc
c
c>> t=0:0.1:6;
c
>> step(gkd,t)

c
>> [t1 y1]=ginput(1)
c
c c
c
cccc#.=#=8c
c
c
+c c
c
cccc.75#>c
c
>> [t2 y2]=ginput(1)
c
8c c
c

c7c c

cccc8.5#7>c
c
c
+8c c
c
cccc.75#>c
c
>> pu=t2-t1
c
c
c
,c c
c
cccc.5=>:c
c
>> kpmax=8.8
c

?c c
c
cccc<.<###c
c
!c =""c 0/""c *c 0%0c (=c 0c =Dc 1c =c 0/""c $E"c
-(=(%c 1c((c &"%c &=%%5c !c 0&Fc c =%c 0E$.c F1%%c 0c
0(Cc
c
>> kp=0.6*kpmax;Ki=1/(0.5*pu);Td=0.125*pu
c
c c
c
cccc#.;:>c
c
>> Ti=1/Ki
c
c c
c
cccc#.>=<8c
c
>> gd=kp*tf([Td 1 Ki],[0 1 0])
cc

*c*,3c
#.=8>c48c6c7.8<cc6c;.7>8c
c
cccccccccccccc
cc
>> god=gd*gs
cc

*c*,3c
=.8>c48c6c78.<cc6c;7.>8c
c
4:c6c7c45c6c8#c48c6c8cc

c>c c

cc
>> gkdd=feedback(god,1)
cc

*c*,3c
ccccccc=.8>c48c6c78.<cc6c;7.>8c
c
4:c6c7c45c6c8=.88c48c6c>:.<cc6c;7.>8c
cc
>> step(gkdd)
>> grid

c
c
c
>> [t1 y1]=ginput(1)
c
c c
c
cccc#.=#=8c
c
c
+c c
c
cccc.587<c
c
>> [t2 y2]=ginput(1)
c

c;c c

8c c
c
cccc8.5#7>c
c
c
+8c c
c
cccc.#;85c
c
c
c
c
>> [Wn xsi]=damp(gkdd)
c
c
@c c
c
cccc.=<8;c
cccc.=<8;c
cccc:.5<>#c
cccc:.5<>#c
c
c
?c c
c
cccc#.;:5<c
cccc#.;:5<c
cccc#.855<c
cccc#.855<c
c
AAc
c
c
c
c
 2c c "c 
 c
/
 c
+
  c 
B
c +  c ,, 
 
c 

c 
1
+

c
c
 c ccB /
  .cc*
/
cc

 / c  c+



c
 c 
 c
/
  c +  c ,, 
 c 
1


c c

 / 1
c +
  1 c  c
 ,,.c
c
c
c
c
c
c
c
c
c
c
c

c<c c

c
c
c
c
c
c
c
c
c
c
c
(c c
cGEH..Cc
c
c

c
Ccc(  cD
 cCc
c
c @ 
c  1,
c E
-c *
Fc 01c E,,@BFc 

c 0  c

c,
+c0
  c-cc

c
 
c=#>&I&($(1(AC$"0cc ,,c
+
/

c

1 
c
* c c .c
c

c=c c

c
Cc(  cD
 cG/cH c c c'
* cCc

c#c c

You might also like