基于状态空间方程和置根法的汽车的匀速巡航控制教案.docVIP

基于状态空间方程和置根法的汽车的匀速巡航控制 框图如下： 传递函数为： 利用置根法的Matlab 程序 求 反馈系数矩阵 K，并输出响应结果： m = 1000; b = 50; t = 0:0.1:10; r = ones(size(t)); A = [-b/m]; B = [1/m]; C = [1]; D = [0]; sys = ss(A,B,C,D); x0 = [0]; p1 = -1.5; K = place(A,B,[p1]) sys_cl = ss(A-B*K,B,C,D); lsim(sys_cl,r,t,x0); axis([0 10 0 0.35]) 加比例系数补偿 稳态误差： 求补偿系数的函数如下： function[Nbar] = rscale(a,b,c,d,k) % Given the single-input linear system: % . % x = Ax + Bu % y = Cx + Du % and the feedback matrix K, % % the function rscale(sys,K) or rscale(A,B,C,D,K) % finds the scale factor N which will % eliminate the steady-state error to a step reference % for a continuous-time, single-input system % with full-state feedback using the schematic below: % % /---------\ % R + u | . | % --- N ---() ---- | X=Ax+Bu |-- y = Cx --- y % -| \---------/ % | | % |---- K ----| % % 8/21/96 Yanjie Sun of the University of Michigan % under the supervision of Prof. D. Tilbury % 6/12/98 John Yook, Dawn Tilbury revised error(nargchk(2,5,nargin)); % --- Determine which syntax is being used --- nargin1 = nargin; if (nargin==2), % System form [A,B,C,D] = ssdata(a); K=b; elseif (nargin==5), % A,B,C,D matrices A=a; A = a; B = b; C = c; D = d; K = k; else error(Input must be of the form (sys,K) or (A,B,C,D,K)) end; % compute Nbar s = size(A,1); s = size(A,1); Z = [zeros([1,s]) 1]; N = inv([A,B;C,D])*Z; Nx = N(1:s); Nu = N(1+s); Nbar = Nu + K*Nx; 加入控制系统得到： Nbar = rscale(sys,K); sys_cl = ss(A-B*K,B*Nbar,C,D); rnew = r *10； lsim(sys_cl,rnew,t,x0); axis([0 10 0 11]) 直流电机的速度控制 建模： (J) 转子的惯性常量 0.01 kg.m^2 (b) 电机摩擦系数 0.1 N.m.s (Ke) 电生电动势常数 0.01 V/rad/sec (Kt) 力矩常数 0.01 N.m/Amp (R) 电阻 1 Ohm (L) 电感 0.5 H