자동제어 | sensitivity function 구하기 |
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작성자 cemtool 작성일14-09-23 09:54 조회15,385회 댓글2건본문
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");
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