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1、控制系统CAD形成性考核册姓 名： 学 号： 得 分： 教师签名： 控制系统CAD作业3第5章一、填空题1. 在控制系统时域分析时，常用的时域动态性能指标有：上升时间tr、 、 和 。（峰值时间tm、调节时间ts、超调量%）2. MATLAB中step()函数是 函数。它可以用来 或求取 。（单位阶跃响应、绘制单位阶跃响应波形图，输出量的数值向量）3. impulse函数不带输出变量时，可在当前窗口中直接绘制出系统的 。（单位冲激响应曲线）4. 在MATLAB 中，欲求取系统的时域性能，可以利用鼠标和菜单的操作，在单位阶跃响应曲线上求取，也可以 求取。（编制简单程序）5. 要判别系统的稳定性，
2、可使用的MATLAB函数有 、 、 和 四个函数。若要直接求出系统闭环特征方程的根，应使用 函数。（roots()、zpkdata()、tf2zp()、pzmap()、roots()）6. 若在Simulink仿真集成环境中分析系统在斜坡信号和阶跃信号作用下系统的稳态误差，在Simulink建模时，可分别选用 和 模块作为系统的输入信号模块。（Step、Ramp）二、写出下列程序（命令）的功能或执行结果1. G=zpk(,-1+3*I,-1-3*i,3) step(G)绘制出的单位阶跃响应曲线2.num=7*1,5;den=conv(1,0,0,conv(1,10,1,1);gm,pm,wg,
3、wc=margin(num,den)求系统的幅值裕度和相角裕度3.num=5*1,5,6;den=1,6,10,8;impulse(num,den);grid on ;求三阶系统的单位阶跃响应和单位冲激响应。三、编程题1. 典型二阶系统传递函数为：，阻尼比的值为0.4，试编制程序绘制出自然振荡角频率n从1变化到10（每次递增2）的单位阶跃响应曲线，并对系统的动态性能的变化作定性分析。clc;clf;clearwn=1,3,5,7,9; % 自然振荡角频率dr=0.4; % 阻尼比t=linspace(0,20,200);% 将时间t在0-20间200等分hold on;% 打开图形叠加功能（同
4、一个坐标上画多条曲线) for j=1:5num=wn(j)2;den=1,2*dr*wn(j),0;% 开环传递函数分母多项式系数Gk=tf(num,den);% 求得开环传递函数Gb=feedback(Gk,1);% 求得闭环传递函数step(Gb);grid;% 画图gtext(strcat(wn=,num2str(j) % 添加鼠标文字注释，strcat()为字符串连接函数end随着自然振荡角频率n的增大，系统的响应速度加快。2. 设单位反馈系统的开环传递函数：，试求系统的单位阶跃响应的性能指标、tS（2误差带）。clc;clearnum=49;den=1 10.5 0;Gk=tf(n
5、um,den)% 求得开环传递函数Gb=feedback(Gk,1,-1)% 求得单位反馈的闭环传递函数y,t=step(Gb);% 求取单位阶跃响应% 计算调节时间Cend=dcgain(Gb);% 求取系统的终值n=length(t); % 求得仿真时间t序列的长度while(y(n)0.98*Cend)&(y(n)num=7 7;den=conv(conv(1 0,1 3),1 4 5);Gk=tf(num,den);Gb=feedback(Gk,1,-1)Transfer function: 7 s + 7-s4 + 7 s3 + 17 s2 + 22 s + 7r=roots(1 7
6、 17 22 7)r = -4.0287 -1.2632 + 1.5198i -1.2632 - 1.5198i -0.4449闭环特征根的实部均为负，系统稳定。rss=tf(1 0,0 1); Kv=dcgain(rss*Gk) essv=1/Kvessv = 2.1429第6章一、填空题1. 所谓根轨迹，是指控制系统开环传递函数的某一参数（如开环增益）从 变化到 时， 在s平面上移动的轨迹。（零、无穷大、闭环特征根）2. 根轨迹法的实质就是依据反馈系统中开、闭环 间的关系，由 的零、极点直接寻求 的总体规律。（传递函数、开环传递函数、闭环根轨迹）3. 根据给定的根轨迹增益向量k，绘制系统s
7、ys的部分根轨迹的MATLAB函数是 。（rlocus(sys,k)）4. 计算与根轨迹上任一闭环极点相对应的根轨迹增益的MATLAB函数是 。（rlocfind ()）二、编程分析题1. 已知单位反馈系统的开环传递函数，试用MALAB编程绘出系统根轨迹。 (2) (1)num=1;den=conv(conv(1 0,0.2 1),0.5 1)sys=tf(num,den);rlocus(sys);(2)num=1 2;den=conv(1 0,2 1)sys=tf(num,den);rlocus(sys);2. 已知控制系统的开环传递函数为，试用MALAB分析该系统的根轨迹的起点和终点。nu
8、m=1 1 0 4;den=1 3 7 0;G=tf(num,den);rlocus(G)；p=roots(den)z=roots(num)p = 0 -1.5000 + 2.1794i-1.5000 - 2.1794iz =-2.00000.5000 + 1.3229i0.5000 - 1.3229i图中显示了该系统的根轨迹。可以看到，该系统有3个开环极点和3个开环零点，因此根轨迹有3个分支，它们的起点是开环极点0,-1.5+2.18j和-1.5-2.18j，终点是开环零点-2,0.5+1.32和0.5-1.32j，根轨迹的一个分支从极点0开始，终于零点-2；另两条分支分别从极点-1.5+2
9、.18j和-1.5-2.18j开始，从圆弧变化，最后分别终于零点0.5+1.32和0.5-1.32j。3. 已知单位负反馈控制系统的开环函数为，请利用MATLAB分析该系统临界稳定时的K值与系统的闭环极点，并求根轨迹与虚轴交点处的根轨迹增益。 num=1 den=conv(conv(1 0,1 6),1 3) G=tf(num,den); rlocus(G); k=0:0.1:100; k p=rlocfind(G)Select a point in the graphics windowselected_point = 0.0533 + 4.2391ik = 163.6757p = -9.0
10、169 0.0084 + 4.2605i0.0084 - 4.2605i请您删除一下内容，O(_)O谢谢！【Chinas 10 must-see animations】The Chinese animation industry has seen considerable growth in the last several years. It went through a golden age in the late 1970s and 1980s when successively brilliant animation work was produced. Here are 10 mus
11、t-see classics from Chinas animation outpouring that are not to be missed. Lets recall these colorful images that brought the country great joy. Calabash Brothers Calabash Brothers (Chinese: 葫芦娃) is a Chinese animation TV series produced byShanghaiAnimationFilmStudio. In the 1980s the series was one
12、 of the most popular animations in China. It was released at a point when the Chinese animation industry was in a relatively downed state compared to the rest of the international community. Still, the series was translated into 7 different languages. The episodes were produced with a vast amount of
13、 paper-cut animations. Black Cat Detective Black Cat Detective (Chinese: 黑猫警长) is a Chinese animation television series produced by the Shanghai Animation Film Studio. It is sometimes known as Mr. Black. The series was originally aired from 1984 to 1987. In June 2006, a rebroadcasting of the origina
14、l series was announced. Critics bemoan the series violence, and lack of suitability for childrens education. Proponents of the show claim that it is merely for entertainment. Effendi Effendi, meaning sir andteacher in Turkish, is the respectful name for people who own wisdom and knowledge. The heros
15、 real name was Nasreddin. He was wise and witty and, more importantly, he had the courage to resist the exploitation of noblemen. He was also full of compassion and tried his best to help poor people. Adventure of Shuke and Beita【舒克与贝塔】 Adventure of Shuke and Beita (Chinese: 舒克和贝塔) is a classic anim
16、ation by Zheng Yuanjie, who is known as King of Fairy Tales in China. Shuke and Beita are two mice who dont want to steal food like other mice. Shuke became a pilot and Beita became a tank driver, and the pair met accidentally and became good friends. Then they befriended a boy named Pipilu. With th
17、e help of PiPilu, they co-founded an airline named Shuke Beita Airlines to help other animals. Although there are only 13 episodes in this series, the content is very compact and attractive. The animation shows the preciousness of friendship and how people should be brave when facing difficulties. E
18、ven adults recalling this animation today can still feel touched by some scenes. Secrets of the Heavenly Book Secrets of the Heavenly Book, (Chinese: 天书奇谈)also referred to as Legend of the Sealed Book or Tales about the Heavenly Book, was released in 1983. The film was produced with rigorous dubbing
19、 and fluid combination of music and vivid animations. The story is based on the classic literature Ping Yao Zhuan, meaning The Suppression of the Demons by Feng Menglong. Yuangong, the deacon, opened the shrine and exposed the holy book to the human world. He carved the books contents on the stone w
20、all of a white cloud cave in the mountains. He was then punished with guarding the book for life by the jade emperor for breaking heavens law. In order to pass this holy book to human beings, he would have to get by the antagonist fox. The whole animation is characterized by charming Chinesepainting
21、, including pavilions, ancient architecture, rippling streams and crowded markets, which fully demonstrate the unique beauty of Chinas natural scenery. Pleasant Goat and Big Big Wolf【喜洋洋与灰太狼】 Pleasant Goat and Big Big Wolf (Chinese:喜羊羊与灰太狼) is a Chinese animated television series. The show is about
22、a group of goats living on the Green Pasture, and the story revolves around a clumsy wolf who wants to eat them. It is a popular domestic animation series and has been adapted intomovies. Nezha Conquers the Dragon King（Chinese: 哪吒闹海）is an outstanding animation issued by the Ministry of Culture in 19
23、79 and is based on an episode from the Chinese mythological novel Fengshen Yanyi. A mother gave birth to a ball of flesh shaped like a lotus bud. The father, Li Jing, chopped open the ball, and beautiful boy, Nezha, sprung out. One day, when Nezha was seven years old, he went to the nearby seashore
24、for a swim and killed the third son of the Dragon King who was persecuting local residents. The story primarily revolves around the Dragon Kings feud with Nezha over his sons death. Through bravery and wit, Nezha finally broke into the underwater palace and successfully defeated him. The film shows
25、various kinds of attractive sceneries and the traditional culture of China, such as spectacular mountains, elegant sea waves and exquisite ancient Chinese clothes. It has received a variety of awards. Havoc in Heaven The story of Havoc in Heaven（Chinese: 大闹天宫）is based on the earliest chapters of the
26、 classic storyJourney to the West. The main character is Sun Wukong, aka the Monkey King, who rebels against the Jade Emperor of heaven. The stylized animation and drums and percussion accompaniment used in this film are heavily influenced byBeijingOpera traditions. The name of the movie became a co
27、lloquialism in the Chinese language to describe someone making a mess. Regardless that it was an animated film, it still became one of the most influential films in all of Asia. Countless cartoon adaptations that followed have reused the same classic story Journey to the West, yet many consider this
28、 1964 iteration to be the most original, fitting and memorable, The Golden Monkey Defeats a Demon【金猴降妖】 The Golden Monkey Defeats a Demon (Chinese: 金猴降妖), also referred as The Monkey King Conquers the Demon, is adapted from chapters of the Chinese classics Journey to the West, or Monkey in the Weste
29、rn world. The five-episode animation series tells the story of Monkey King Sun Wukong, who followed Monk Xuan Zangs trip to the West to take the Buddhistic sutra. They met a white bone evil, and the evil transformed human appearances three times to seduce the monk. Twice Monkey King recognized it an
30、d brought it down. The monk was unable to recognize the monster and expelled Sun Wukong. Xuan Zang was then captured by the monster. Fortunately Bajie, another apprentice of Xuan Zang, escaped and persuaded the Monkey King to come rescue the monk. Finally, Sun kills the evil and saves Xuan Zang. The
31、 outstanding animation has received a variety of awards, including the 6th Hundred Flowers Festival Award and the Chicago International Childrens Film Festival Award in 1989. McDull【麦兜】 McDull is a cartoon pig character that was created inHong Kongby Alice Mak and Brian Tse. Although McDull made his
32、 first appearances as a supporting character in the McMug comics, McDull has since become a central character in his own right, attracting a huge following in Hong Kong. The first McDull movie McMug Story My Life as McDull documented his life and the relationship between him and his mother.The McMug Story My Life as McDull is also being translated into French and shown in France. In this version, Mak Bing is the mother of McDull, not his father. - 9 -
