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자동제어 | root locus |

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작성자 cemtool 작성일14-09-11 09:28 조회7,367회 댓글0건

본문

다음 그림과 같은 시스템을 생각하자. 여기서 control law에 integral term을 추가할 경우와 extra lead network를 추가할 경우에 장단점을 논의하시오.


ex5_47.cem
/*
  Exercise 5.47(i)*/
 
del *;
"**************************"
"**                      **"
"**   Exercise 5.47(i)   **"
"**                      **"
"**************************"
" "
sleep(2);
" "
"                             Mp"
"                Elevator     |        Aircraft"
"     +           servo   Me  | +      dynamics"
" theta_r-->o-->[K/(s+10)]--->o--->[(s+3)/(s^2+4s+5)]--->[1/s]--->y"
"          -|                                         |        |"
"           |                         Rate gyro       |        |"
"           |              KT*theta <---[KT]-----------        |"
"           |   Attitude                                       |"
"           |    sensor                                        |"
"           -----[H(s)]-----------------------------------------"
" "
sleep(2);
 
// with integral term
"with integral term"
" "
sleep(2);
"parameters"
" "
sleep(2);
"CEMTool>> Ki = 20;"
"CEMTool>> KI = .2;"
" "
sleep(2);
 
Ki = 20;
KI = .2;
numi1 = convo([1 3],[1 KI]);
deni1 = convo(convo([1 0],[1 0]),convo([1 10],[1 4 5]));
"figure(1) : root locus"
" "
sleep(1);
 
figure(1);
rlocus(numi1,deni1);
figure(2);
"figure(2): closed loop의 roots"
" "
sleep(1);
rootCLI1 = rlocus(numi1,deni1,Ki)'
 
// with integrator and lead compensation
" "
"with integrator and lead compensation"
" "
sleep(2);
"parameters"
" "
sleep(2);
"CEMTool>> zl = 2;"
"CEMTool>> pl = zl*6;"
"CEMTool>> Kl = pl/zl;"
" "
sleep(2);
 
zl = 2;
pl = zl*6;
Kl = pl/zl;
numi2 = convo([1 zl],Ki*numi1);
deni2 = convo([1 pl],deni1);
"figure(2): root locus"
" "
sleep(1);
 
rlocus(numi2,deni2);
figure(3);
"closed loop의 roots"
" "
sleep(1);
 
rootCLi2 = rlocus(numi2,deni2,Kl)'
kill
ex5_47-1.gif
5_47_1_figure.png



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