자동제어 | root locus |
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작성자 cemtool 작성일14-09-19 10:09 조회19,364회 댓글4건본문
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);
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