根轨迹法的两个工程设计实例.ppt

* (a) Design an autopilot so that the response to a step elevator input has a rise time of 1 sec or less and an overshoot less than 10%. (b) Design an autopilot that will command the trim so as to drive the steady state value of to zero for an arbitrary constant moment as well as meet the specifications in part (a). * [solution] (a) First, we try proportional control to look at the system characteristics. - + * Draw the root locus with respect to parameter . MATLAB program a = [ 1, 2.5 ] ; b = [ 1, 0.7 ] ; c = [ 1, 5, 40 ] ; d = [ 1, 0.03, 0.06 ] ; G = tf ( conv ( a, b ), conv ( c, d ) ) ; rlocus ( G ) ; axis ( [ -5, 1, -10, 10 ] ) ; * Original Root Locus -5 -4 -3 -2 -1 0 1 -10 -8 -6 -4 -2 0 2 4 6 8 10 * The ideal closed-loop dominant poles are: Obviously, the dominant poles are not on the original root locus. * -5 -4 -3 -2 -1 0 1 -10 -8 -6 -4 -2 0 2 4 6 8 10 Original Root Locus the dominant poles * Draw the unit step response curve with . MATLAB program a = [ 1, 2.5 ]; b = [ 1, 0.7 ]; c = [ 1, 5, 40 ]; d = [ 1, 0.03, 0.06 ]; kc = 0.3; G = tf ( 160 * conv (a, b), conv (c,d) ); Fai = feedback ( kc * G, 1, -1 ); step ( Fa i); grid; * 0 1 2 3 4 5 6 0 0.2 0.4 0.6 0.8 1 1.2 1.4 Time (sec) Amplitude (degree) Unit step response with P control * Proportional feedback will not be acceptable because of the bad dynamic response. * Now we choose lead compensation. - + * Through some trial and error, we finally choose The open-loop transfer function becomes * For with lead compensation, draw the root locus with respect to parameter . MATLAB program: a = [ 1, 2.5 ] ; b = [ 1, 0.7 ] ; c = [ 1, 3 ] ; num = conv ( conv ( a, b ), c ) ; d = [ 1, 5, 40 ] ; e = [ 1, 0.03, 0.06 ] ; f = [ 1, 20 ] ; den = conv ( conv ( d, e ), f ) ; G = tf ( num, den ) ; rlocus ( G ) ; axis ( [ -20, 0, -15, 15 ] ) ; * -20 -18 -16 -14 -12 -10 -8 -6 -4 -2 0 -15 -10 -5 0 5 10 15 -3 * Draw the unit step response curve for lead compensation wi