控制系统分析

n2+2ξhωns+1)=1/(9.45×10-3)s(s260.52+2×0.260.5s+1) 。Р函数方框图,如下图3所示:Р图3 函数方框图Р数学模型为РGk(s)=1/(9.45×10-3)s(s260.52+2×0.260.5s+1)×1.67×10-3s21122+2×0.6112s+1 ×55=9.7196s(s260.52+2×0.260.5s+1)(s21122+2×0.6112s+1)РGBs=9.7196ss260.52+2×0.260.5s+1s21122+2×0.6112s+1+9.7196Р为方便应用MATLAB软件进行控制系统分析,按照如下方式处理: 160.52≈0.0002732 ; 2×0.260.5≈0.00661157 ; 11122≈0.00007972 ; 2×0.6112≈0.0107143 ;ss260.52+2×0.260.5s+1s21122+2×0.6112s+1≈0.0000000217795s5+0.000003454s4+0.00042376s3+0.017326s2+s 。Р2.应用MATLAB软件进行控制系统性能分析Р针对所选定的闭环控制系统,应用MATLAB软件完成以下工作:Р(1)控制系统频域特性分析Р开环奈奎斯特图,如下图4所示:Р图4 开环奈奎斯特图Р程序清单:РG=tf(9.7196,conv([0.0002732,0.00661157,1,0],[0.00007972,0.0107143,1]));Рnyquist(G,'-k');Р开环波德图,如下图5所示:Р图5 开环波德图Р程序清单:РG=tf(9.7196,conv([0.0002732,0.00661157,1,0],[0.00007972,0.0107143,1]));Рbode(G,'-k');Р(2)控制系统稳定性分析Р1.稳定性: