matlab实验六答案.docVIP

1 kk=25;delta=0.05; ng0=[1];dg0=conv([1,0],conv([1,1],[0.25,1])); t=[0:0.01:5];w=logspace(-2,2); g0=tf(ng0,dg0);b1=feedback(kk*g0,1); [gm,pm,wcg,wcp]=margin(kk*g0) Warning: The closed-loop system is unstable. In warning at 26 In lti.margin at 66 gm = 0.2000 pm = -32.1449 wcg = 2.0000 wcp = 4.1142 roots(b1.den{1}) ans = -6.6562 0.8281 + 3.7865i 0.8281 - 3.7865i Pm=40;wc=2.5+0.2; [ng1,dg1]=fg_lead_pm_wc(ng0,dg0,Pm,wc,w) ng1 = 2.1327 1.0000 dg1 = 0.1640 1.0000 gc1=tf(ng1,dg1) Transfer function: 2.133 s + 1 ----------- 0.164 s + 1 g01=kk*g0*gc1; [ng2,dg2]=fg_lag_pm(g01.num{1},g01.den{1},w,Pm); T = 390.8598 gc2=tf(ng2,dg2) Transfer function: 25.83 s + 1 ----------- 390.9 s + 1 g02=g01*gc2;b2=feedback(g02,1); bode(kk*g0,r--,g02,b,w);grid on [gm,pm,wcg,wcp]=margin(g02) gm = 3.5012 pm = 44.2497 wcg = 5.4127 wcp = 2.5835 step(b1,r--,b2,b,t);grid on; [pos,tr,ts,tp]=stepchar(b2,delta) pos = 19.8628 tr = 0.8084 ts = 2.5986 tp = 1.1357 gc=zpk(kk*gc1*gc2) Zero/pole/gain: 21.4849 (s+0.4689) (s+0.03871) ------------------------------ (s+6.097) (s+0.002558) 2 kk=10;delta=0.05; ng0=[1];dg0=conv([1,0],conv([1,1],[0.5,1])); t=[0:0.01:5];w=logspace(-2,2); g0=tf(ng0,dg0);b1=feedback(kk*g0,1); [gm,pm,wcg,wcp]=margin(kk*g0) gm = 0.3000 pm = -28.0814 wcg = 1.4142 wcp = 2.4253 roots(b1.den{1}) ans = -3.8371 0.4186 + 2.2443i 0.4186 - 2.2443i Pm=60; [ng1,dg1]=fg_lead_pm(ng0,dg0,Pm,w); gc1=tf(ng1,dg1) Transfer function: 1.687 s + 1 ------------ 0.4973 s + 1 g01=kk*g0*gc1; [ng2,dg2]=fg_lag_pm(g01.num{1},g01.den{1},w,Pm); T = 113.1179 gc2=tf(ng2,dg2) Transfer function: 7.257 s + 1 ----------- 113.1 s + 1 g02=g01*gc2;b2=feedback(g02,1); bode(kk*g0,r--,g02,b,w);grid on; [gm,pm,wcg,wcp]=margin(g02) gm = 4.8540 pm = 54.4857 wcg = 2.2259 wcp = 0.7384 step(b1,r--,b2,b,t);grid on; [pos,tr,ts,tp]=stepchar(b2,delta) pos = 19.