=[3.71];den1=[115.741];Gs1=tf(num1,den1);Gs2=series(Gs,Gs1);sys=feedback(Gs2,1);t=0:0.01:5;step(sys,t);xlabel('t')ylabel('Gf')title('已校正系统阶跃响应图')分析系统阶跃响应的性能指标:Tp=1s;Ts=2.8s超调量=36.5%且采用校正装置后系统稳定,系统的阻尼程度适中。um=[101];den=conv([10],conv([0.11],[0.21]));Gs=tf(num,den);bode(Gs);margin(Gs);title('系统开环传函的bode图')由图可得:校正后Gm=17.3dB;Pm=-41.9度;由此可知Pm=-41.9度<40度系统不稳定。需加入校正环节改善系统。选定校正方案采用串联滞后校正系统由r'=r-6度,r为要求的40有r'=46度r'(wc)=46度得wc=2.7rad/sL(wc)=29.920lgb+l(wc)=0得b=0.0324.1/bT=0.1wc得T=115.74s校正装置的传递函数G’=(3.7s+1)/(115.74s+1)um=[101];den=conv([10],conv([0.11],[0.21]));Gs=tf(num,den);num1=[3.71];den1=[115.741];Gs1=tf(num1,den1);Gs2=series(Gs,Gs1);bode(Gs,'b-',Gs2,'g-');r'=40.5度>40度,符合要求。um=[101];den=conv([10],conv([0.11],[0.21]));Gs=tf(num,den);num1=[3.71];den1=[115.741];Gs1=tf(num1,den1);Gs2=series(Gs,Gs1);
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