matlab 纯迟延_基于Matlab的纯滞后控制系统设计.doc

基于Matlab的纯滞后控制系统设计

实验

一、实验目的

学习。

学习。

二、实验原理

1.

已知被控对象传递函数：

应用Smith预估补偿算法设计控制系统，并采用PID控制。原理图参见课本P127图4-21和P128图4-22。

表1衰减曲线法整定控制器参数经验公式

控制规律增益

积分时间

min 微分时间

min P PI0.830.5PID1.250.30.1

2. Dahlin算法的设计

已知被控对象传递函数：

采样周期为2s，选择期望闭环传递函数中的时间常数分别为Tτ 5s，10s，20s，设计Dahlin控制器。原理图参见课本P129 4.3.2小节。

三、实验内容

按1 建立系统的Simulink模型，建立系统的Simulink模型系统的Simulink模型

图3 同一PID控制器对无滞后的被控对象控制Simulink仿真图

图4 同一PID控制器对无滞后系统的仿真结果。Simulink仿真图如下

仿真图如下：

图5 不带Smith预估补偿器的PID控制系统曲线图

当加入离散控制器和零阶保持器时，观察和比较实验图。

图6 有离散控制器和零阶保持器的Simulink仿真图

图7 离散控制器和零阶保持器的仿真曲线图

3)按建立系统的Simulink模型，不同的仿真结果。按建立

D z

当Tτ 10s，同理可得：

D z 当Tτ 20s，同理可得：

D z

根据控制系统原理框图可得Simulink模型系统的Simulink系统的

a special tool to measure half a point the rotor shaft runout and simultaneous measurement of two coupling flutter testing, it should meet the requirements. Install the coupling housings to ensure embedded rotor coupling within a concave shoulder, and rotor clearance meets the design requirements. 6.4, 6, wearing construction technology of generator rotors demonstration 6.4.6.1 construction preparation and conditions through the stator before loading check and confirm to confirm air tightness test of the stator and stator mechanical, electrical, instrumentation and control and other related work had been completed. Internal cleaning of stator, high power vacuum the surface of the stator. Stator and rotor magnetic Center drainage is complete. In conjunction with the quality, mechanical, electrical and other relevant persons to finally cleaning check the stator, which is clean and free of any debris. Worn rotors check and confirm confirm before loading the rotor air tightness test, electrical test work has been completed. In conjunction with the quality, mechanical, electrical and other relevant persons to finally clean the rotors checked, its interior is clean and free of any debris. By quality, mechanical, electrical and other professionals to conduct an examination of the rotor, confirm the wear condition of the rotor. Special equipment inspect