自控实验报告第四次_陈尧.docx

成绩北 京 航 空 航 天 大 学自动控制原理实验报告学院仪器科学与光电工程学院专业方向惯性技术与导航仪器班级学号学生姓名尧爸爸指导教师自动控制与测试教学实验中心实验四 控制系统数字仿真实验目的通过本实验掌握利用四阶龙格——库塔法进行控制系统数字仿真的方法，并分析系统参数改变对系统性能的影响。实验内容已知系统结构如图4-1 ：图4-1若输入为单位阶跃函数，计算当超调量分别为5%，25%，50%时K的取值（用主导极点方法估算），并根据确定的K值在计算机上进行数字仿真。理论计算1.求解ζ和主导极点所对应角度β①根据公式：，可以解得相应的ξ2.用matlab绘制系统的根轨迹并找到主导极点由cosβ=ξ,过原点做倾角为180-β的直线，与系统根轨迹的交点即为系统主导极点。代码如下：%%绘制跟轨迹和主导极点所在位置%hold on;num=[1]; dun=[1,10,25,0]; rlocus(num,dun)t=-4:0.001:0;y1=-t*tan(46.37/57.3);y2=-t*tan(66.19/57.3);y3=-t*tan(77.555/57.3);plot(t,y1,t,y2,t,y3);3.求解K值由模值方程可解K计算机仿真1. 实验程序①四阶龙格库塔计算函数：RgKta.m%RgKta.m%功能：进行龙格库塔计算。（A，B，C，D）为系统的系数矩阵，x0为输入，h为仿真步长，%r为输入信号幅值，t0为仿真的起始时间，tf为终止时间;t为仿真时间，y为系统输出function [t,y]=RgKta(A,B,C,D,x0,h,r,v,t0,tf); x=x0; y=0; t=t0;for i=1:tf/h K1=A*x+B*r; K2=A*(x+h*K1/2)+B*r; K3=A*(x+h*K2/2)+B*r; K4=A*(x+h*K3)+B*r; x=x+h*(K1+2*K2+2*K3+K4)/6; y=[y;C*x]; t=[t;t(i)+h]; end②stepspecs.mfunction [os,ts,tr]=stepspecs(t,y,yss,sp) %STEPSPECS System Step Response Specifications.% [OS,Ts,Tr]=STEPSPECS(T,Y,Yss,Sp) returns the percent overshoot OS, % settling time Ts, and rise time Tr from the step response data contained % in T and Y.% Y is a vector containing the system response at the associated time % points in the vector T. Yss is the steady state or final value of the % response.% If Yss is not given, Yss=Y(end) is assumed. Sp is the settling time % percentage.% If Sp is not given, Sp = 5% is assumed. The settling time is the time it % takes the response to converge within +-Sp percent of Yss. % The rise time is assumed to be the time for the response to initially % travel from 10% to 90% of the final value Yss. % D.C. Hanselman, University of Maine, Orono, ME 04469 % Mastering MATLAB 7 % 2005-03-20 %-------------------------------------------------------------------------- N=length(y); if y(1)0 y1=mean(y(1:floor(0.01*N))); y=y-y1; endifnargin2 error(At Least Two Input Arguments are Required.) endifnumel(t)~=length(t) || numel(y)~=length(y) error(T and Y Must be V