TP N°1 :

Etude des systèmes échantillonnés

Hadj dahmen khalil

2020/2021
 1- Calcul de la transformée en z inverse en utilisant la méthode de la série de puissance :

 Commande Matlab :
Num = [2 -2.3 0.5];
den = [1 -2.3 1.7 -0.4];
>> H=tf(num,den)
Te1=1;
Te2=0.5;
Te3=0.25;
Te4=0.15;
Te5=0.1;
He1=c2d(H,Te1,'zoh')
He2=c2d(H,Te2,'zoh')
He3=c2d(H,Te3,'zoh')
He4=c2d(H,Te4,'zoh')
He5=c2d(H,Te5,'zoh')

1
  Résultat:
H= 1
---------------------------
s^3 - 2.3 s^2 + 1.7 s - 0.4
He1 =
0.3003 z^2 + 2.166 z + 0.949
--------------------------------
z^3 - 6.593 z^2 + 14.2 z - 9.974
Sample time: 1 seconds
He2 =
0.02787 z^2 + 0.1491 z + 0.04953
---------------------------------
z^3 - 4.425 z^2 + 6.492 z - 3.158
Sample time: 0.5 seconds
He3 =
0.003009 z^2 + 0.01391 z + 0.004012
-----------------------------------
z^3 - 3.639 z^2 + 4.407 z - 1.777
Sample time: 0.25 seconds
He4 =
0.0006134 z^2 + 0.002675 z + 0.0007288
--------------------------------------
z^3 - 3.367 z^2 + 3.778 z - 1.412
Sample time: 0.15 seconds
He5 =
0.0001766 z^2 + 0.0007481 z + 0.0001981
---------------------------------------
z^3 - 3.24 z^2 + 3.498 z - 1.259
Sample time: 0.1 seconds

2
  Commande Matlab:
num=[1];
den=[0.5 1];
H=tf(num,den)
Te1=1;
Te2=0.5;
Te3=0.25;
Te4=0.15;
Te5=0.1;
Te6=0.05;
He1=c2d(H,Te1,'zoh')
He2=c2d(H,Te2,'zoh')
He3=c2d(H,Te3,'zoh')
He4=c2d(H,Te4,'zoh')
He5=c2d(H,Te5,'zoh')
He6=c2d(H,Te6,'zoh')
 Résultat:
H=

1
---------
0.5 s + 1
He1 =
0.8647
----------
z - 0.1353
Sample time: 1 seconds
He2 =
0.6321
----------
z - 0.3679
Sample time: 0.5 seconds

3
He3 =
0.3935
----------
z - 0.6065
Sample time: 0.25 seconds
He4 =
0.2592
----------
z - 0.7408
Sample time: 0.15 seconds
He5 =
0.1813
----------
z - 0.8187
Sample time: 0.1 seconds
He6 =
0.09516
----------
z - 0.9048
Sample time: 0.05 seconds

 Figure:

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 Commande:

a1=-0.2;
b1=a1+1;
n1=[b1];
d1=[1 a1];
H1=tf(n1,d1,-1)
a2=-0.5;
b2=a2+1;
n2=[b2];
d2=[1 a2];
H2=tf(n2,d2,-1)
a3=-0.7;
b3=a3+1;
n3=[b3];
d3=[1 a3];
H3=tf(n3,d3,-1)
a4=-0.9;
b4=a4+1;
n4=[b4];
d4=[1 a4];
H4=tf(n4,d4,-1)
step(H1,'b',H2,'r',H3,'y',H4,'g')
legend('a1=-0.2','a1=-0.5','a1=-0.7','a1=-0.9')

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6
7
  Commande :
 num=[100];
 den=[1 2 100];
 H=tf(num,den)
 Te1=1;
 Te2=0.5;
 Te3=0.25;
 Te4=0.1;
 Te5=0.05;
 He1=c2d(H,Te1,'zoh')
 He2=c2d(H,Te2,'zoh')
 He3=c2d(H,Te3,'zoh')
 He4=c2d(H,Te4,'zoh')
 He5=c2d(H,Te5,'zoh')
 Résultat:
H=
100
---------------
s^2 + 2 s + 100
He1 =
1.337 z + 0.4351
-----------------------

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 z^2 + 0.6366 z + 0.1353
Sample time: 1 seconds
He2 =
0.9014 z + 0.1516
-----------------------
z^2 - 0.3148 z + 0.3679
Sample time: 0.5 seconds
He3 =
1.57 z + 1.272
----------------------
z^2 + 1.236 z + 0.6065
Sample time: 0.25 seconds
He4 =
0.431 z + 0.4023
-----------------------
z^2 - 0.9854 z + 0.8187
Sample time: 0.1 seconds
He5 =
0.1185 z + 0.1145
----------------------
z^2 - 1.672 z + 0.9048
Sample time: 0.05 seconds
 Commande:
step(He1,'r',He2,'b',He3,'y',He4,'k',He5,'m')
legend('Te=1s','Te=0.5s','Te=0.25s','Te=0.1s','Te=0.05s')
bode(H)
 Résultat:

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  Commande:
n=[1];
d=[1 -0.3 0.5];
He=tf(n,d,Te5)
pzmap(He)

 Résultat :

10
  Commande:
step(He)
stepinfo(He)
[w,m]=damp(He)
k=dcgain(He)
k1=0.8333;
w0=28;
m1=0.2474;
n1=[k1*w0^2];
d1=[1 2*m1*w0 w0^2];
Hc=tf(n1,d1)
hold on
step(Hc,'r')
 Résulat:

ans =
struct with fields:

RiseTime: 0
SettlingTime: 0.6500
SettlingMin: 0.6170
SettlingMax: 1.3000
Overshoot: 56.0000
Undershoot: 0
Peak: 1.3000
PeakTime: 0.1500

w =
28.011

m =
0.2474

k =
0.8333
Hc =

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 653.3
-------------------
s^2 + 13.85 s + 784

12