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1、东南大学能源与环境学院实验报告课程名称：实验名称：院(系)：专 业：姓 名： 杨康 学 号：实验室：实验组别：同组人员： 实验时间：年 月 日评定成绩：审阅教师：目录一 .实验目的 3二 .实验内容 3三 .实验步骤 3四 .实验分析 12实验二Smith预估控制实验指导书一实验目的通过实验掌握Smith预估控制的方法及程序编制及调试。二实验内容1 . Smith预估控制系统如图所示，图一对象 G(S)= K es / (1+T iS) ,K = 1, T1 = 10 s , r = 5 s ,Wc(z)采用数字PI控制规律。2 . 对象扰动实验画出 U(t) = u0 - 1(t)时，y(t
2、)曲线。3 . Smith预估控制(1)构造 W(S),求出 W(Z)。(2) 整定 Wc(s)( 按什么整定？ )(3) 按图仿真，并打印曲线。(4)改变W(S)中K, P (对象不变)，进行仿真比较，观察它们对调节 过程的影响。三 实验步骤1、对象扰动实验( 1 )差分方程如附录。( 2 )源程序如下：#includeiostream.h#includemath.h#includefstream.hvoid main()fstream outfile(data1.xls,ios:out);double t;double u0;coutt;coutu0;double ee=pow(2.718
3、,(-t/10.0);int N;int i;double u100,y100;for(i=0;i100;i+)ui=u0;yi=0.0;N=1+5/t;for(i=N;i100;i+)yi=(1-ee)*ui-N+yi-1*ee;for(i=0;i*t100;i+)coutyit;for(i=0;i*t100;i+)outfilei*tt;outfilen;for(i=0;i*t100;i+)outfileyit;outfile.close();（ 3）输出结果：当采样周期T=1,阶跃幅值为1时:Y（ t ）输出数据：0 0 0.0951532 0.1812520.2591590.32965
4、20.3934380.6670910.8172840.4511540.6987680.834670.5033790.7274310.8504020.5506340.7533670.8646370.5933920.7768350.8775170.6320820.798070.8891720.8997170.944960.9697920.983420.9092590.9501970.9726660.9849980.9178940.9549360.9752670.9864250.9257060.9592240.977620.9877170.9327760.9631040.979750.9888860
5、.9391720.9666150.9816770.9899430.9909 0.9917660.992550.9932590.9939 0.994480.9950060.9963 0.9966520.9969710.9972590.9954810.997520.9986390.9992530.999590.9997750.9998760.9959110.9977560.9987680.9993240.9996290.9997960.9998880.9979690.9988850.9993880.9996640.9998160.9998990.9981620.9989910.9994460.99
6、96960.9998330.9999080.9983370.9990870.9994990.9997250.9998490.9999170.9984960.9991740.9995470.9997510.999863阶跃响应曲线如下2、 Smith 预估控制（ 1 ）差分方程见附录：（ 2 ）源程序如下：#includeiostream.h #includemath.h#includefstream.h void main()fstream outfile(data1.xls,ios:out);double t,kp,ki;int t1,k;coutk;coutt1;coutt;coutkp;
7、coutki;double ee=pow(2.718,(-t/10.0);int N,N1;int i;double r100,e1100,e2100,cm100,q100,u100,y100;for(i=0;i100;i+)ri=1.0;e1i=0.0;e2i=0.0;ui=0.0;yi=0.0;cmi=0.0;qi=0.0;N=1+5/t;N1=t1/t;coutNtN1endl;for(i=0;i0&i=N)yi=(1-ee)*ui-N+yi-1*ee;if(i=N1)e1i=ri-yi-1;cmi=ee*cmi-1+k*(1-ee)*ui-1;qi=cmi-cmi-N1;e2i=e1i
8、-qi;ui=ui-1+kp*(e2i-e2i-1)+ki*e2i;if(i=N)yi=(1-ee)*ui-N+yi-1*ee;for(i=0;i*t100;i+)coutyit;for(i=0;i*t100;i+)outfilei*tt;outfilen;for(i=0;i*t100;i+)outfileyit;outfile.close();（ 3）输出结果：以下所涉及到的采样周期均为 T=1， PI 控制器的参数均为 Kp=1， Ki=1 ；当Smith预估器中的K=1,延迟时间p =5时（即与对象的特性完全符合）Y（ t ）输出数据：0 0 0.1903060.4214410.6636
9、410.8917551.086761.236391.371281.471041.5311 1.549551.527610.9872460.7419550.9964021.469560.899810.7652511.040111.389310.8287990.8012571.076311.293440.7769830.8462171.189830.7456530.8962231.1035 1.1209 1.128481.085670.7345240.947451.126831.117080.9849190.9418161.005111.100790.9664630.9491011.014481.
10、079730.9522530.9588951.021861.055810.9427440.9702791.026981.030930.9380320.9823331.029781.00680.937890.9941951.030321.028821.025611.021081.015691.009871.004060.9986270.9938930.9900860.987350.9857450.9852490.9857710.9871630.9892380.9917830.9945810.997421.000111.0025 1.004451.0059 1.0068 1.007151.0071
11、.006411.005471.004281.002931.001551.000220.9990270.9980280.9972690.996773扰动曲线如下：图三当Smith预估器中的K=1,延迟时间=2时（即与对象的特性不完全符合）Y（ t ）输出数据如下：0 0 0 00 0 0.1903060.4214410.6636410.9279711.210952.601231.59989-0.963966-0.9776331.506192.638891.18774-1.25121-0.5477141.810532.595620.740093-1.440442.085772.465640.277
12、571-1.51579-0.0112532 0.6107652.314632.25095-0.176632-1.46621.291642.489891.95893-0.598368-1.286421.999962.700933.358 3.934554.395884.711034.854644.808624.563514.119523.487122.687151.750360.716479-0.367272-1.44817-2.47036-3.37751-4.11571-4.63639-4.89916-4.87439-4.54543-3.91026-2.98249-1.79168-0.382781.185242.8415 4.5062 6.094087.518558.696037.3
