Điều khiển số, báo cáo, thí nghiệm, báo cáo điều khiển số, TN điều khiển số
Sinh viên :Mai Thế Hòa MSSV:20081090 Lớp :TDH1-K53 Bài Thực Hành Số 1 Tìm mô hình gián đoạn của ĐCMC >> Ra=0.25;La=0.004;J=0.012;ke=236.8;km=38.2;fi=0.04; >> Ta=La/Ra; >> Wh=1/Ra *tf(1,[Ta 1])*km*fi*tf(1,[2*3.14*J 0]) Transfer function: 6.112 ------------------------ 0.001206 s^2 + 0.07536 s >> Wk=feedback(Wh,ke*fi) Transfer function: 6.112 -------------------------------- 0.001206 s^2 + 0.07536 s + 57.89 >> step(Wk) 1 >> Wz1=c2d(Wk,0.1e-3) Transfer function: 2.529e-005 z + 2.524e-005 ------------------------- z^2 - 1.993 z + 0.9938 Sampling time: 0.0001 >> step(Wz1) 2 >> Wz2=c2d(Wk,0.01e-3) Transfer function: 2.534e-007 z + 2.533e-007 ------------------------- z^2 - 1.999 z + 0.9994 Sampling time: 1e-005 >> step(Wz2) 3 Cách chuyển sang miền rời rạc tính bằng tay: 4 5 >> Wz3=c2d(Wk,0.1e-3,'zoh') Transfer function: 2.529e-005 z + 2.524e-005 ------------------------- z^2 - 1.993 z + 0.9938 Sampling time: 0.0001 >> step(Wz3) >> Wz4=c2d(Wk,0.01e-3,'zoh') Transfer function: 2.534e-007 z + 2.533e-007 ------------------------- z^2 - 1.999 z + 0.9994 Sampling time: 1e-005 >> step(Wz4) 6 >> Wz5=c2d(Wk,0.1e-3,'foh') Transfer function: 8.435e-006 z^2 + 3.369e-005 z + 8.409e-006 ------------------------------------------ z^2 - 1.993 z + 0.9938 Sampling time: 0.0001 >> step(Wz5) 7 >> Wz6=c2d(Wk,0.01e-3,'foh') Transfer function: 8.447e-008 z^2 + 3.378e-007 z + 8.444e-008 ------------------------------------------ z^2 - 1.999 z + 0.9994 Sampling time: 1e-005 >> step(Wz6) 8 >> Wz7=c2d(Wk,0.1e-3,'tustin') Transfer function: 1.263e-005 z^2 + 2.526e-005 z + 1.263e-005 ------------------------------------------ z^2 - 1.993 z + 0.9938 Sampling time: 0.0001 >> step(Wz7) 9 >> Wz8=c2d(Wk,0.01e-3,'tustin') Transfer function: 1.267e-007 z^2 + 2.534e-007 z + 1.267e-007 ------------------------------------------ z^2 - 1.999 z + 0.9994 Sampling time: 1e-005 >> step(Wz8) 10 . a = x1 x2 x1 -62.49 -4.8e+004 x2 1 0 b = u1 x1 1 x2 0 12 c = x1 x2 y1 0 5068 d = u1 y1 0 Sampling time: 1e-005 Discrete-time model. Bài Thực Hành Số 2. viên :Mai Thế Hòa MSSV:200 810 90 Lớp :TDH1-K53 Bài Thực Hành Số 1 Tìm mô hình gián đoạn của ĐCMC >> Ra=0.25;La=0.004;J=0. 012 ;ke=236.8;km=38.2;fi=0.04;