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1、 比例环节 比例环节； 惯性环节 惯性环节 积分环节 微分环节 比例+微分环节（PD） 比例+微分环节（PD） 比例+积分环节（PI） 比例+积分环节（PI）实验二有理多项式模型(s-1) (s+1)串联 n1=2 -2;d1=1 3;n2=7 7;d2=1 2 1;G1=tf(n1,d1);G2=tf(n2,d2);G=G1*G2 Transfer function: 14 s2 - 14-s3 + 5 s2 + 7 s + 3 并联 n1=2 -2;d1=1 3;n2=7 7;d2=1 2 1;G1=tf(n1,d1);G2=tf(n2,d2);G1+G2Transfer function
2、:2 s3 + 9 s2 + 26 s + 19- s3 + 5 s2 + 7 s + 3 反馈 n1=2 -2;d1=1 3;n2=7 7;d2=1 2 1; G1=tf(n1,d1);G2=tf(n2,d2);G=feedback(G1,G2,-1)Transfer function:2 s3 + 2 s2 - 2 s - 2-s3 + 19 s2 + 7 s - 11零极点增益模型串联z1=1,p1=-3,k1=2;z2=-1,p2=-1 -1,k2=7;G1=zpk(z1,p1,k1);G2=zpk(z2,p2,k2);G=G1*G2z1 =1p1 =-3z2 =-1p2 =-1 -1
3、Zero/pole/gain:14 (s-1) (s+1)-(s+3) (s+1)2并联z1=1,p1=-3,k1=2;z2=-1,p2=-1 -1,k2=7;G1=zpk(z1,p1,k1);G2=zpk(z2,p2,k2);G=G1+G2z1 =1p1 =-3z2 =-1p2 =-1 -1Zero/pole/gain:2 (s+1) (s2 + 3.5s + 9.5)- (s+3) (s+1)2反馈z1=1,p1=-3,k1=2;z2=-1,p2=-1 -1,k2=7;G1=zpk(z1,p1,k1);G2=zpk(z2,p2,k2);G=feedback(G1,G2,-1)z1 = 1p
4、1 =-3z2 = -1p2 =-1 -1Zero/pole/gain: 2 (s-1) (s+1)-(s+18.59) (s-0.5917)进行2例有理多项式模型和零极点增益模型间的转换。 z=-3;p=-1,-2,-5;k=6; sys=zpk(z,p,k)Zero/pole/gain: 6 (s+3)-(s+1) (s+2) (s+5) num=6,18num = 6 18 den=1 8 17 10den =1 8 17 10 sys=tf(num,den)Transfer function: 6 s + 18-s3 + 8 s2 + 17 s + 10 z,p,k=tf2zp(num
5、,den)z =-3p = -5.0000 -2.0000 -1.0000k =6 num,den=zp2tf(z,p,k)num = 0 0 6 18den =1.0000 8.0000 17.0000 10.0000实验三1. num=1 3 7 den=1 4 6 4 1 step(num,den) grid num=1 3 7 den=1 4 6 4 1 impulse (num,den) grid2.1）绘出，分别取0,0.25,0.5,1.0和2.0时的单位阶跃响应曲线，2）绘制出当=0.25, 分别取1,2,4,6时单位阶跃响应曲线， num1=1; den1=1 0.5 1;
6、step(num1,den1); grid; holdCurrent plot held num2=4; den2=1 1 4; step(num2,den2); num3=16; den3=1 2 16; step(num3,den3); num4=36; den4=1 3 36; step(num4,den4);3. roots(2 1 3 5 10)ans = 0.7555 + 1.4444i 0.7555 - 1.4444i -1.0055 + 0.9331i -1.0055 - 0.9331i特征方程的根具有正实部，因而系统是不稳定的。实验四 num=1; den=1 8 25 0
7、16 0; rlocus (num,den) grid k,r=rlocfind(num,den)Select a point in the graphics windowselected_point = 0.0096k =0.1535r = -4.0970 + 3.0315i -4.0970 - 3.0315i 0.1018 + 0.7783i 0.1018 - 0.7783i -0.0096 num=1 12; den=1 23 242 1220 1000; rlocus (num,den) grid k,r=rlocfind(num,den)Select a point in the g
8、raphics windowselected_point = -1.0326 - 0.0000ik =2.3643r = -5.9870 + 7.9882i -5.9870 - 7.9882i -9.9934 -1.0326 num=0.05 1; den=0.0008568 0.01914 0.1714 1 0; rlocus (num,den) grid k,r=rlocfind(num,den)Select a point in the graphics windowselected_point = 0.0128 - 0.0000ik = 0.0128r = -14.0036 -4.16
9、12 + 8.1179i -4.1612 - 8.1179i -0.0128 2. den=conv(1,2,conv(1,12,100,1,10); num=1,12; G=tf(num,den); rltool(G)实验五 num=36; den=1 1.2 36; bode(num,den) grid num=36; den=1 3.6 36; bode(num,den) grid num=36; den=1 6 36; bode(num,den) grid num=36; den=1 9.6 36; bode(num,den) grid num=36; den=1 24 36; bod
10、e(num,den) grid num=10; den=5 24 -5 0 0 ; z,p,k=tf2zp(num,den); pp = 0 0 -5.0000 0.2000 nyquist(num,den) num=10; den=5 24 -5 0 0 ; bode(num,den) num=10; den=5 24 -5 0 0 ; w=logspace(-1,1,500); mag,phase=nichols(num,den,w); plot(phase,20*log10(mag) ngrid num=8 8; den=1 21 100 150 0 0 ; z,p,k=tf2zp(nu
11、m,den); pp = 0 0 -15.0000 -3.0000 + 1.0000i -3.0000 - 1.0000i nyquist(num,den) num=8 8; den=1 21 100 150 0 0 ; bode(num,den) num=8 8; den=1 21 100 150 0 0 ; w=logspace(-1,1,500); mag,phase=nichols(num,den,w); plot(phase,20*log10(mag) ngrid num=4 12; den=0.0003 0.024 0.21 0 0 ; z,p,k=tf2zp(num,den);
12、pp = 0 0 -70.0000 -10.0000 nyquist(num,den) num=4 12; den=0.0003 0.024 0.21 0 0 ; bode(num,den) num=4 12; den=0.0003 0.024 0.21 0 0 ; w=logspace(-1,1,500); mag,phase=nichols(num,den,w); plot(phase,20*log10(mag) ngrid3. num=1 1; den=0.1 1 0 0; gm,pm,wcg,wcp=margin(num,den); gm,pm,wcg,wcp gm = Infpm = 44.4594wcg = Infwcp =1.2647 实验六1. K=0.12 Ti=140s Td=29.4sKp=18、Td=0.45、Ti=1.6
