控制系统仿真实验三报告.docxVIP

实验三采样系统的仿真

一实验目的

1．掌握理解数字控制系统的仿真技术。

2．掌握理解增量式PID数字控制器的实现方法。

二实验内容1

根据上面的各式，编写仿真程序。

取KP=1.89，Ti=30s,Td=7.5s，T=10s，H2set_percent=80，tend=700,

进行仿真实验，绘制仿真曲线。

clc

clearall

A=2;

ku=0.1/0.5;

H10=1.5;

H20=1.4;

alpha12=0.25/sqrt(H10);

alpha2=0.25/sqrt(H20);

R12=2*sqrt(H10)/alpha12;

R2=2*sqrt(H20)/alpha2;

H1SpanLo=0;

H2SpanLo=0;

H1SpanHi=2.52;

H2SpanHi=2.52;

Kp=1.89;

Ti=30;

Td=10;

ad=1/(A*R12);

a1=1/(A*R12);

a2=1/(A*R2);

Kc=Kp/Ti;

bc=Ti;

Kd=1/A;

K1=ku/A;

K2=1/(A*R12);

beta1=1/(a1*a2);

beta3=beta1*a1/(a2-a1);

beta2=-beta1-beta3;

u(1)=0;u(2)=0;u(3)=0;

y(1)=0;y(2)=0;y(3)=0;

nCounter=70;

T=10;

k=2;

deltuU=0;

e(1)=0;e(2)=0;e(3)=0;

uc(1)=0;

H20_percent=(H20-H2SpanLo)/(H2SpanHi-H2SpanLo)*100;

H2set_percent=80;

tend=nCounter*T;

fort=2*T:T:tend

k=k+1;

e(3)=(H2set_percent-(y(k-1)+H20-H2SpanLo)/(H2SpanHi-H2SpanLo)*100)/100;

deltaU=Kp*(e(3)-e(2))+Kp*T/Ti*e(3)+Kp*Td/T*[e(3)-2*e(2)+e(1)];

e(1)=e(2);

e(2)=e(3);

u(k)=u(k-1)+deltaU;

y(k)=(exp(-a1*T)+exp(-a2*T))*y(k-1)-exp(-(a1+a2)*T)*y(k-2)+K1*K2*(beta1+beta2+beta3)*u(k)-...

K1*K2*(beta1*(exp(-a1*T)+exp(-a2*T))+beta2*(1+exp(-a2*T))...

+beta3*(1+exp(-a1*T)))*u(k-1)+K1*K2*(beta1*exp(-(a1+a2)*T)+beta2*exp(-a2*T)+...

beta3*exp(-a1*T))*u(k-2);

y(k-2)=y(k-1);

y(k-1)=y(k);

u(k-2)=u(k-1);

u(k-1)=u(k);

end

y=(y+H20-H2SpanLo)/(H2SpanHi-H2SpanLo)*100;

y2sp=H2set_percent*ones(size(y));

u=(u+0.5)*100;

Hlevel(:,1)=y;

Hlevel(:,2)=y;

y1=y;

y2=y;

textPositionH1=max(Hlevel(:,1));

textPositionH2=max(Hlevel(:,2));

H2Steady=Hlevel(size(Hlevel(:,1),1),1)*ones(size(y1));

xmax=max(0:T:tend);

xmin=0;

ymax=90;

ymin=50;

scrsz=get(0,ScreenSize);

gca=figure(Position,[510scrsz(3)-10scrsz(4)-90])

%gca=figure(Position,[510scrsz(3)/2scrsz(4)/1.5])

set(gca,Color,w);

plot(0:T:tend,Hlevel(:,1),b,LineWidth,2)

holdon

plot(0:T:tend,y2sp,k,LineWid