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1、控制系统仿真与控制系统仿真与CADCAD实验课程报告实验课程报告一、实验教学目标与基本要求一、实验教学目标与基本要求上机实验是本课程重要的实践教学环节。实验的目的不仅仅是验证理论知识，更重要的是通过上机加强学生的实验手段与实践技能，掌握应用MATLAB/Simulink 求解控制问题的方法，培养学生分析问题、解决问题、应用知识的能力和创新精神，全面提高学生的综合素质。通过对MATLAB/Simulink进行求解，基本掌握常见控制问题的求解方法与命令调用，更深入地认识和了解MATLAB语言的强大的计算功能与其在控制领域的应用优势。上机实验最终以书面报告的形式提交，作为期末成绩的考核内容。二、题目
2、及解答二、题目及解答第一部分：第一部分：MATLABMATLAB 必备基础知识、控制系统模型与转换、线性控制系统的计算必备基础知识、控制系统模型与转换、线性控制系统的计算机辅助分析机辅助分析1. f=inline(-x(2)-x(3);x(1)+a*x(2);b+(x(1)- c)*x(3),t,x,flag,a,b,c);t,x=ode45(f,0,100,0;0;0,0.2,0.2,5.7);plot3(x(:,1),x (:,2),x(:,3),grid,figure,plot(x(:,1),x(:,2),grid2.y=(x)x(1)2-2*x(1)+x(2);ff=optimset;
3、ff.LargeScale=off;ff.TolFun=1e- 30;ff.TolX=1e-15;ff.TolCon=1e- 20;x0=1;1;1;xm=0;0;0;xM=;A=;B=;Aeq=;Beq=;x,f,c,d=fmincon(y,x0,A,B ,Aeq,Beq,xm,xM,wzhfc1,ff) Warning: Options LargeScale = off and Algorithm = trust-region-reflective conflict. Ignoring Algorithm and running active-set algorithm. To run t
4、rust-region-reflective, set LargeScale = on. To run active-set without this warning, use Algorithm = active-set. In fmincon at 456 Local minimum possible. Constraints satisfied. fmincon stopped because the size of the current search direction is less than twice the selected value of the step size to
5、lerance and constraints are satisfied to within the selected value of the constraint tolerance.Active inequalities (to within options.TolCon = 1e-20):lower upper ineqlin ineqnonlin2 x =1.000001.0000f =-1.0000 c =4 d = iterations: 5 funcCount: 20 lssteplength: 1 stepsize: 3.9638e-26 algorithm: medium
6、-scale: SQP, Quasi-Newton, line-search firstorderopt: 7.4506e-09 constrviolation: 0 message: 1x766 char3.(a) s=tf(s);G=(s3+4*s+2)/(s3*(s2+2)*(s2+1)3+2*s+5) G =s3 + 4 s + 2-s11 + 5 s9 + 9 s7 + 2 s6 + 12 s5 + 4 s4 + 12 s3Continuous-time transfer function. (b) z=tf(z,0.1);H=(z2+0.568)/(z-1)*(z2-0.2*z+0
7、.99) H =z2 + 0.568-z3 - 1.2 z2 + 1.19 z - 0.99 Sample time: 0.1 seconds Discrete-time transfer function. 4. A=0 1 0;0 0 1;-15 -4 -13;B=0 0 2;C=1 0 0;D=0;G=ss(A,B,C,D),Gs=tf(G),Gz=zpk(G)G =a = x1 x2 x3x1 0 1 0x2 0 0 1x3 -15 -4 -13b = u1x1 0x2 0x3 2c = x1 x2 x3y1 1 0 0d = u1y1 0 Continuous-time state-
8、space model. Gs =2-s3 + 13 s2 + 4 s + 15Continuous-time transfer function. Gz =2-(s+12.78) (s2 + 0.2212s + 1.174)Continuous-time zero/pole/gain model.5.设采样周期为 0.01s z=tf(z,0.01);H=(z+2)/(z2+z+0.16) H =z + 2-z2 + z + 0.16Sample time: 0.01 seconds Discrete-time transfer function.6. syms J Kp Ki s;G=(s
9、+1)/(J*s2+2*s+5);Gc=(Kp*s+Ki)/s;GG=feedback(G*Gc,1)GG =(Ki + Kp*s)*(s + 1)/(J*s3 + (Kp + 2)*s2 + (Ki + Kp + 5)*s + Ki) 7.(a)s=tf(s);G=(211.87*s+317.64)/(s+20)*(s+94.34)*(s+0.1684);Gc=(169.6*s+40 0)/(s*(s+4);H=1/(0.01*s+1);GG=feedback(G*Gc,H),Gd=ss(GG),Gz=zpk(GG) GG =359.3 s3 + 3.732e04 s2 + 1.399e05
10、 s + 127056-0.01 s6 + 2.185 s5 + 142.1 s4 + 2444 s3 + 4.389e04 s2 + 1.399e05 s + 127056 Continuous-time transfer function.Gd =a = x1 x2 x3 x4 x5 x6x1 -218.5 -111.1 -29.83 -16.74 -6.671 -3.029x2 128 0 0 0 0 0x3 0 64 0 0 0 0x4 0 0 32 0 0 0x5 0 0 0 8 0 0x6 0 0 0 0 2 0b = u1x1 4x2 0x3 0x4 0x5 0x6 0c = x
11、1 x2 x3 x4 x5 x6y1 0 0 1.097 3.559 1.668 0.7573d = u1y1 0 Continuous-time state-space model. Gz =35933.152 (s+100) (s+2.358) (s+1.499)-(s2 + 3.667s + 3.501) (s2 + 11.73s + 339.1) (s2 + 203.1s + 1.07e04) Continuous-time zero/pole/gain model.(b)设采样周期为 0.1s z=tf(z,0.1);G=(35786.7*z2+108444*z3)/(1+4*z)*
12、(1+20*z)*(1+74.04*z);Gc= z/(1-z);H=z/(0.5-z);GG=feedback(G*Gc,H),Gd=ss(GG),Gz=zpk(GG) GG =-108444 z5 + 1.844e04 z4 + 1.789e04 z3-1.144e05 z5 + 2.876e04 z4 + 274.2 z3 + 782.4 z2 + 47.52 z + 0.5Sample time: 0.1 seconds Discrete-time transfer function.Gd =a = x1 x2 x3 x4 x5x1 -0.2515 -0.00959 -0.1095 -0.05318 -0.01791x2 0.25 0 0 0 0x3 0 0.25 0 0 0x4 0 0 0.125 0 0x5 0 0 0 0.03125 0b = u1x1 1x2 0x3 0x4 0x5 0c = x1 x2 x3 x4 x5y1 0.3996 0.6349 0.1038 0.05043 0.01698d = u1y1 -0.9482Sample time: 0.1 seconds Discrete-time state-space model.Gz =-0.94821 z3 (z-0.5) (z+0.33)-
