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자동제어 | root locus |

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작성자 cemtool 작성일14-09-19 10:09 조회10,712회 댓글3건

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배의 조종 시스템이 다음과 같은 전달함수로 주어진다.

이때 다음과 같은 조건을 만족시키도록 하는 compensator를 설계하고 설계가 완성된 시스템에 대해서 K에 관한 root locus를 그리시오.

● 속도 상수 Kv = 2

● PM≥50°

● 무조건적인 안정성(unconditional stability) - PM>0이고 모든 주파수에서 (crossover 주파수)

ex6_56.cem
/*
  Exercise 6.56*/
 
del *;
"************************"
"**                    **"
"**   Exercise 6.56    **"
"**                    **"
"************************"
" "
sleep(2);
 
// plant
"plant"
"G(s) = K[-(s/0.142)+1]/s(s/0.325+1)(s/0.0362+1)"
" "
sleep(2);
 
numG = [-1/.142 1];
denG = convo([1/.325 1 0],[1/.0362 1]);
 
// bode plot"bode plot"
" "
sleep(1);
 
K = 2;
w = logspace(-5, 0, 1000);
bode(K*numG,denG,w);
 
// Compensator
"compensator"
"D(s) = (s/8.51e-4+1)/(s/7.59e-6+1)"
" "
sleep(2);
 
numD = [1/8.51e-4 1];
denD = [1/7.59e-6 1];
num = convo(numG,numD);
den = convo(denG,denD);
 
"bode plot of compensated system"
" "
sleep(1) 
holdon;
bode(num,den,w);
 
"graph 설명"
"figure(1). 빨강색: bode plot of original system"
"figure(1). 파랑색: bode plot of compensated system"
 
// root locus
"figure(2). root locus"
" "
sleep(1);
 
figure(2);
rlocus(num,den);
6_56_1_figure.png




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