控制系统数字仿真与CAD-第四次实验-附完整代码
最编程
2024-02-06 17:11:26
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1. function [result]=fun4(Kn)
2. tn=0.03;
3. Ki=0.269;
4. ti=0.067;
5. Ks=76;
6. Ts=0.00167;
7. R=6.58;
8. Tl=0.018;
9. Tm=0.25;
10. Ce=0.031;
11. Alpha=0.00337;
12. Beta=0.4;
13. A=[0 0 1 1 0];
14. B=[tn ti Ts Tl Tm*Ce];
15. C=[Kn Ki Ks 1/R R];
16. D=[Kn*tn Ki*ti 0 0 0];
17. c=8;
18. r=1;
19. W=[0 0 0 0 -Alpha;
20. 1 0 0 -Beta 0;
21. 0 1 0 0 0;
22. 0 0 1 0 -Ce;
23. 0 0 0 1 0];
24. W0=[1 0 0 0 0 ]';
25. block_num=5;
26. h=0.001;
27. t_end=0.5;
28. t=0:h:t_end;
29. for k=1:block_num
30. if (A(k)==0) %求积分或积分比例环节各系数
31. FI(k)=1;
32. FIM(k)=h*C(k)/B(k);
33. FIJ(k)=h*h*C(k)/B(k)/2;
34. FIC(k)=1;
35. FID(k)=0;
36. if(D(k)~=0) %若为积分比例，修正fai d
37. FID(k)=D(k)/B(k);
38. end
39. else
40. FI(k)=exp(-h*A(k)/B(k)); % 求惯性或惯性比例环节各系数
41. FIM(k)=(1-FI(k))*C(k)/A(k);
42. FIJ(k)=h*C(k)/A(k)-FIM(k)*B(k)/A(k);
43. FIC(k)=1;
44. FID(k)=0;
45. if(D(k)~=0)
46. FIC(k)=C(k)/D(k)-A(k)/B(k);
47. FID(k)=D(k)/B(k);
48. end
49. end
50. end
51. Y0=[0 0 0 0 0]';
52. n=length(t);
53. Y=Y0;
54. X=zeros(block_num,1);
55. result=Y;
56. Uk=zeros(block_num,1);
57. Ub=Uk;
58. for m=1:(n-1)
59. Ub=Uk;
60. Uk=W*Y+W0*r;
61. Uf=2*Uk-Ub;
62. Udot=(Uk-Ub)/h;
63. % X=FI'.*X+FIM'.*Uk;
64. % Y=FIC'.*X+FID'.*Uf;
65. X=FI'.*X+FIM'.*Uk+FIJ'.*Udot;
66. Y=FIC'.*X+FID'.*Uf;
67. Y(1)=satur(Y(1),c);
68. result=[result,Y];
69. end
70.
71. end