基于Matla的纯滞后控制系统设计.docVIP

实验 一、实验目的 学习。 学习。 二、实验原理 1. 已知被控对象传递函数： 应用Smith预估补偿算法设计控制系统，并采用PID控制。原理图参见课本P127图4-21和P128图4-22。 表1衰减曲线法整定控制器参数经验公式 控制规律 增益 积分时间 (min) 微分时间 (min) P PI 0.83 0.5 PID 1.25 0.3 0.1 2. Dahlin算法的设计 已知被控对象传递函数： 采样周期为2s，选择期望闭环传递函数中的时间常数分别为Tτ=5s，10s，20s，设计Dahlin控制器。原理图参见课本P129 4.3.2小节。 三、实验内容 按1)建立系统的Simulink模型，建立系统的Simulink模型系统的Simulink模型 图3 同一PID控制器对无滞后的被控对象控制Simulink仿真图 图4 同一PID控制器对无滞后系统的仿真结果。Simulink仿真图如下 仿真图如下： 图5 不带Smith预估补偿器的PID控制系统曲线图 当加入离散控制器和零阶保持器时，观察和比较实验图。 图6 有离散控制器和零阶保持器的Simulink仿真图 图7 离散控制器和零阶保持器的仿真曲线图 3）按建立系统的Simulink模型，不同的仿真结果。按建立 D(z)= 当Tτ=10s，同理可得： D(z)= 当Tτ=20s，同理可得： D(z)= 根据控制系统原理框图可得Simulink模型系统的Simulink系统的 and performance test copies of the record. If necessary, review should be carried out; 4) for spring hangers (included simple spring, hangers and constant support hangers) it should also be recognized as setting and locking of loads. 5) check the surface quality, folded layering and without cracks, rust and other defects. 5) after completion of the test and control drawing number one by one, by series baled. Color alloy steel parts, the parts marking installation location and rotation about the direction you want. 7.3.14. hangers installation 7.3.14.1 hanger layout a. a clear design of hanger should be installed strictly in accordance with the drawings and designs shall not be installed wrong, missing, etc. B. own arrangement of piping support and hanger set and selection should be based on comprehensive analysis of general layout of piping systems; cold installation of steam pipe with particular attention reserved for compensation of thermal expansion displacement and orientation. C. support systems should be rational to withstand pipe loads, static load and incidental load; reasonable piping displacement; guaranteed under various conditions, stress are within the allowed range. Strength, stiffness, and meet requirements to prevent vibration and soothing water, without affecting the adj