菏泽学院本科课程设计 目录一. 摘要.1二. 关键词.1三. Abstract.1四. Keywords.1五. 课程设计的目的.4六. 课程设计用的仪器与器件.4七. 课程设计的具体内容.4八. 心得体会.16九. 参考文献.17十. 附录（程序）.17 控制系统建模、分析、设计和仿真 自动化学生 安国杰 指导老师 侯建华摘要：本次课程实践为设计两个控制器分别为最小拍无波纹和最小拍有波纹控制器。通过这次实践可以进一步对所学的计算机控制技术有进一步的了解，并对Matlab软件的操作有一定程度的熟悉，为以后的工作或研究作基础。 Matlab最初主要用于矩阵数值的计算，随着它的版本功能来越来强大，应用范围内也越来越广阔。如今，Matlab已经发展成为国际上非常好的生产潜力这与工程计算机语言之一，它使用方便、输入快捷、运算高效、内容丰富，是高等院校理工科学和科研中必不可少的工具之一，掌握Matlab已经成为相关专业课大学生，研究生和教师的必备技能。 Matlab在我国的应用已有十多年的历史上，而自动控制器则是其最重要的应用领域之一，自动控制系统的建模、分析、设计及应用等都离不开Matlab 4.0开始，就一直将应用教学和科研工作中。对于自动化专业的本科生来说，Matlab是一种必须掌握的现代计算工工具。关键词： MALAB ； 仿真 。 Computer Simulation Course Design Student majoring in automation anguojie Tutor hooujianhuaSummary:The course of practice for the design of two controllers are the minimum ripple and minimum film shot there is no ripple controller. Through this practice can be further learned the computer-controlled technology have a better understanding, and the operation of the software matlab have a certain degree of familiarity, for future work or study as a basis. Matlab was originally mainly used for numerical calculation of the matrix, with its version of the feature to increasingly powerful, increasingly broad range of applications. Today, Matlab has become a very good production potential in the international engineering computer language which one it easy to use, enter the fast, efficient computing, content-rich, scientific and research institutions of higher learning Polytechnic indispensable tool , Matlab has become a master professional courses related to college students, graduate students and teachers the necessary skills. Matlab application in China for more than ten years of history, while the automatic controller is the most important areas of application, and automatic control systems modeling, analysis, design and application are all inseparable from Matlab 4.0 starting has been the application of teaching and research work. For the automation of the undergraduates, Matlab is a need to master work of modern computing tools.Keywords: MATLAB ； simulation。1课程设计的目的（1）学习并掌握MATLAB软件的程序编写与调试，以及计算机仿真技术的应用。（2）运用MATLAB 软件处理和仿真,分析所建立的控制系统模型的可行性。（3）学会运用Simulink对动态系统进行建模、仿真和分析。2课程设计用的仪器与器件硬件： PC计算机 软件： MATLAB7.03课程设计的具体内容 2号题 控制系统建模、分析、设计和仿真设连续被控对象的实测传递函数为：用零阶保持器离散化，采样周期取0.2秒，分别设计一单位加速度信号输入时的最少拍有波纹控制器Dy(z)和一单位速度信号输入时的最少拍无波纹控制器Dw(z)。具体要求见（二）。1、求被控对象传递函数G(s)的MATLAB描述。 z=-2 -6;p=0 0 -1 -5 -8;k=668; Gs=zpk(z,p,k)Zero/pole/gain: 668 (s+2) (s+6)-s2 (s+1) (s+5) (s+8)2、求被控对象脉冲传递函数G(z)。 Gz=c2d(Gs,0.2,zoh) Zero/pole/gain:0.68436 (z+2.904) (z-0.6703) (z-0.3011) (z+0.1908)- (z-1)2 (z-0.8187) (z-0.3679) (z-0.2019) Sampling time: 0.23、转换G(z)为零极点增益模型并按z-1形式排列。 a,b,c=zpkdata(Gz)a = 4x1 double b = 5x1 double c = 0.6844 Gz=zpk(a,b,c,0.2,variable,z-1) Zero/pole/gain:0.68436 z-1 (1+2.904z-1) (1-0.6703z-1) (1-0.3011z-1) (1+0.1908z-1)- (1-z-1)2 (1-0.8187z-1) (1-0.3679z-1) (1-0.2019z-1) Sampling time: 0.24、确定误差脉冲传递函数Ge(z)形式,满足单位加速度信号输入时闭环稳态误差为零和实际闭环系统稳定的要求。 syms z b0 b1 a0 a1 a2 a3 Gez=(1-z-1)3*(1+b0*z-1) Gez = (1-1/z)3*(1+b0/z)5、确定闭环脉冲传递函数Gc(z)形式，满足控制器Dy(z)可实现、最少拍和实际闭环系统稳定的要求。 Gcz=z-1*(1+2.904*z-1)*(a0+a1*z-1+a2*z-2) Gcz = 1/z*(1+363/125/z)*(a0+a1/z+a2/z2)6、根据4、5、列写方程组，求解Gc(z)和Ge(z)中的待定系数并最终求解Gc(z)和Ge(z) 。 f1=subs(Gcz,z,1)-1 f1 = 488/125*a0+488/125*a1+488/125*a2-1 f2=subs(diff(Gcz,1),z,1) f2 = -851/125*a0-1339/125*a1-1827/125*a2 f3=subs(diff(Gcz,2),z,1) f3 = 2428/125*a0+5106/125*a1+1752/25*a2 a0j a1j a2j=solve(f1,f2,f3) a0j = 150061125/116214272 a1j = -94337625/58107136 a2j = 68382125/116214272 A=double(a0j a1j a2j)A =1.2912 -1.6235 0.5884 Gcz=subs(Gcz,a0 a1 a2,A) Gcz =1/z*(1+363/125/z)*(5815251560779019/4503599627370496-7311647450616351/4503599627370496/z+5299963719925943/9007199254740992/z2) Gez=(1-z-1)3*(1+b0*z-1) Gez = (1-1/z)3*(1+b0/z) f4=subs(Gez,z,-2.904)-1 f4 = 68382125/47832147-14526784000/17363069361*b0 boj=solve(f4) boj = 198581691/116214272 B=double(boj)B =1.7088 Gez=subs(Gez,1 b0,1 boj) Gez = (1-1/z)3*(1+198581691/116214272/z)7、求针对单位加速度信号输入的最少拍有波纹控制器Dy(z)并说明Dy(z)的可实现性。 Gz=0.68436*z-1*(1+2.904*z-1)*(1-0.