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자동제어 | sensitivity function 구하기 |

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작성자 cemtool 작성일14-09-23 09:54 조회8,540회 댓글1건

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다음과 같은 unity feedback 시스템에서 sensitivity function, complementary sensitivity function, control sensitivity function을 구하고, 주파수에 대한 그들의 크기를 그리시오.

ex6_68.cem
/*
  Exercise 6.68*/
 
del *;
"************************"
"**                    **"
"**   Exercise 6.68    **"
"**                    **"
"************************"
" "
sleep(2);
 
// plant
"plant"
"G(s) = 0.036(s+25)/s^2(s+0.02±1j)"
" "
sleep(1);
 
numG = .036*[1 25];
denG = [convo([1 .02+j],[.02-j]) 0 0];
 
// compensator
"compensator"
"D(s) = 0.5*(1.4s+1)*((s/0.9)^2+1)/[(s/25)+1]^2"
" "
sleep(2);
 
numD = .5*convo([1.4 1],[1/.9^2 0 1]);
denD = [1/25^2 0 1];
 
num = convo(numG,numG);
den = convo(denG,denD);
 
// bode plot"figure(1). bode plot"
" "
sleep(1);
 
w = logspace(-2, 3, 1000);
bode(num,den,w);
 
// sensitivity function"figure(2). sensitivity function"
" "
sleep(1);
 
numS = [convo(convo([1 .02+j],[1 .02-j]),convo([1 25],[1 25])) 0 0];
denS = convo(convo([1 25],[1 24.2]),convo(convo([1 .1472+.9473j],[1 .1472-.9472j]),convo([1 .2616+.6609j],[1 .2616-.6609j])));
figure(2);
bode(numS,denS,w);
title("Sensitivity function");
 
// complementary sensitivity function"figure(3). complementary sensitivity function"
" "
sleep(1);
 
numCS = 540.12*convo(convo([1 0 0],[1 .7143]),convo(convo([1 .02+j],[1 .02-j]),convo([1 .9j],[1 -.9j])));
denCS = denS;
figure(3);
bode(numCS,denCS,w);
title("Complementary sensitivity function");
6_68_1_figure.png
6_68_2_figure.png




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