自动控制原理课程实践研究报告.docVIP

个人收集整理 仅供参考学习 个人收集整理 仅供参考学习 PAGE / NUMPAGES 个人收集整理 仅供参考学习 SHANGHAI UNIVERSITY Principle of Automatic Control Practical Report AcademySchool of Mechatronic Engineering and Automation b5E2RGbCAP MajorElectrical Engineering and Automation Members 林勇 111 成冲 1111111 张旭Principle of Automatic Control (1) Practical Report (Winter Semester 2013-2014)p1EanqFDPw Group No. Student ID Name Contribution % Contribution of work Signature Final Mark 林勇 33.33 theory ,report 成冲 33.33 material ,report 张旭 33.33 matlab Practical problem: In the following figure, let and DXDiTa9E3d a. Calculate the steady-state error due to a command input with .RTCrpUDGiT b. Verify the result of Part a using Simulink. c. Calculate the steady-state error due to a disturbance input with .5PCzVD7HxA d. Verify the result of Part c using Simulink. e. Calculate the total steady-state error due to a command input and a disturbance applied simultaneously.jLBHrnAILg f. Verify the result of Part e using Simulink. Analysis：From the figure we know it is a feedback sysetem with a disturbancexHAQX74J0X D(s). As it shows, the first block is the controller ,G(s), and the second is the plant C(s). R(s) and D(s) are the input and output ,respectively.The problem asks us to get the steady state error of this system in 3 different cases.LDAYtRyKfE So, if we want to complete this problem, we should get the formula from chapter 7.Zzz6ZB2Ltk At the very beginning, we can get C(s)=R(s)-E(s) (1) Acording the firgure,we also know C(s)=[E(s)*G(s)+D(s)]*P(s) (2) Substituting Eq.(1) into Eq.(2) and solving for E(s), we obtain dvzfvkwMI1 By applying final value theorem, we obtain the general formula of rqyn14ZNXI , (3) of which, and Case1: a. Calculate the steady-state error due to a command inputwith.EmxvxOtOco b. Verify the result of Part a using Simulink. Solution: eq \o\ac(○,1)Calculate the steady-state error theoretically.SixE2yXPq5 Applying and into t