微機控制原理與技術(shù)實驗指導(dǎo)書(參考版)
2025-07-16 23:14本頁面
【正文】 t=0::2。num=[Kd Kp Ki]。Ki=300。step(num,den,t)Run this mfile in the Matlab mand window, and you should get the following plot. We have reduced the proportional gain (Kp) because the integral controller also reduces the rise time and increases the overshoot as the proportional controller does (double effect). The above response shows that the integral controller eliminated the steadystate error. ProportionalIntegralDerivative controlNow, let39。den=[1 10 20+Kp Ki]。Ki=70。s take a look at a PI control. From the table, we see that an integral controller (Ki) decreases the rise time, increases both the overshoot and the settling time, and eliminates the steadystate error. For the given system, the closedloop transfer function with a PI control is: Let39。 t=0::2。num=[Kd Kp]。s take a look at a PD control. From the table shown above, we see that the derivative controller (Kd) reduces both the overshoot and the settling time. The closedloop transfer function of the given system with a PD controller is: Let Kp equals to 300 as before and let Kd equals 10. Enter the following mands into an mfile and run it in the Matlab mand window. Kp=300。t=0::2。Kp=300。 step(num,den,t)Running this mfile in the Matlab mand window should gives you the following plot. Note: The Matlab function called cloop can be used to obtain a closedloop transfer function directly from the openloop transfer function (instead of obtaining closedloop transfer function by hand). The following mfile uses the cloop mand that should give you the identical plot as the one shown above. num=1。 den=[1 10 20+Kp]。s design a controller that will reduce the rise time, reduce the settling time, and eliminates the steadystate error. Proportional controlFrom the table shown above, we see that the proportional controller (Kp) reduces the rise time, increases the overshoot, and reduces the steadystate error. The closedloop transfer function of the above system with a proportional controller is: Let the proportional gain (Kp) equals 300 and change the mfile to the following: Kp=300。den=[1 10 20]。 No steadystate error Openloop step responseLet39。 Fast rise time k = 20 N/m M = 1kg Kd = Derivative gain First, let39。 Kp = Proportional gain 附件IntroductionThis tutorial will show you the characteristics of the each of proportional (P), the integral (I), and the derivative (D) controls, and how to use them to obtain a desired response. In this tutorial, we will consider the following unity f
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