自动控制原理课程实践报告

SHANGHAIUNIVERSITYPrincipleofAutomaticControlPracticalReportAcademySchoolofMechatronicEngineeringandAutomationMajorElectricalEngineeringandAutomationMembers11122240林勇111成冲1111111张旭09365060PrincipleofAutomaticControl(1)PracticalReport(WinterSemester2013-2014)GroupNo.StudentIDNameContribution%ContributionofworkSignatureFinalMark林勇33.33theory,report成冲33.33material,report张旭33.33matlabPracticalproblem:Inthefollowingfigure,let5Gsand72Pssa.Calculatethesteady-stateerrorduetoacommandinput3Rsswith0Ds.b.VerifytheresultofPartausingSimulink.c.Calculatethesteady-stateerrorduetoadisturbanceinput1Dsswith0Rs.d.VerifytheresultofPartcusingSimulink.e.Calculatethetotalsteady-stateerrorduetoacommandinput3Rssandadisturbance1Dssappliedsimultaneously.f.VerifytheresultofParteusingSimulink.Analysis：FromthefigureweknowitisafeedbacksysetemwithadisturbanceD(s).Asitshows,thefirstblockisthecontroller,G(s),andthesecondistheplantC(s).R(s)andD(s)aretheinputandoutput,respectively.Theproblemasksustogetthesteadystateerrorofthissystemin3differentcases.So,ifwewanttocompletethisproblem,weshouldgettheformulafromchapter7.Attheverybeginning,wecangetC(s)=R(s)-E(s)(1)Acordingthefirgure,wealsoknowC(s)=[E(s)*G(s)+D(s)]*P(s)(2)SubstitutingEq.(1)intoEq.(2)andsolvingforE(s),weobtain)()()(1)()()()(11)(sDsPsGsPsRsPsGSEByapplyingfinalvaluetheorem,weobtainthegeneralformulaof)(e)()()(1)()()()(1)(limlim00sDsPsGssPsRsPsGsess,(3)ofwhich)()()(1)(lim0sRsPsGsesR,and)()()(1)()(lim0sDsPsGssPesDCase1:a.Calculatethesteady-stateerrorduetoacommandinput3Rsswith0Ds.b.VerifytheresultofPartausingSimulink.Solution:○1Calculatethesteady-stateerrortheoretically.Applying3Rssand0Dsintotheequ(3),)(Deiseliminated,hence)(e=00()lim()lim()1()()RSssesEsRsGsPs=0.1622○2Verifytheresultofsteady-stateerrorusingSimulink.Simulinkblockdiagramdesign:parametersetting:experimentalresult:Inputis3,Outputis2.8360att-∞,sothesteady-stateerroris3-2.8360=0.1640Case2:c.Calculatethesteady-stateerrorduetoadisturbanceinput1()DsswithR(s)=0.d.VerifytheresultofPartcusingSimulink.Solution:○1Calculatethesteady-stateerrortheoretically.When1Dssand0Rs,)(Reiseliminated,hence1892.0377)27)(1(27*51lim)()()()(1lim)(lim)(e000sssssPsDsPsGsssEsssd○2Verifytheresultofsteady-stateerrorusingSimulink.Simulinkblockdiagramdesign:parametersetting:experimentalresult:Inputis0,Outputis-0.1894att-∞,sothesteady-stateerroris0-(-0.1894)=0.1894Case3:e.Calculatethetotalsteady-stateerrorduetoacommandinput3(s)Rsandadisturbance1()Dssappliedsimultaneously.f.VerifytheresultofParteusingSimulink.Solution:○1Calculatethesteady-stateerrortheoretically.When1Dssand0Rs,)(Reiseliminated,hence3514.03713)27)1(3(2751lim))()()(()()(1lim)(lim)(e000ssssssPsDsRsPsGsssEsss○2Verifytheresultofsteady-stateerrorusingSimulink.Simulinkblockdiagramdesign:parametersetting:experimentalresult:Inputis3,Outputis2.6468att-∞,sothesteady-stateerroris3-2.6468=0.3532summary：compareallthevaluefrommatlabandthetheoryvaluewecanconcludetheyareequalinthemarginoferror.