SISO Tool
這是matlab一個系統(tǒng)設(shè)計的GUI工具箱，簡要介紹并重新回顧一下根軌跡設(shè)計和頻域設(shè)計
先進行RootLocus設(shè)計
它的本質(zhì)是設(shè)計校正器，進行主導(dǎo)極點配置
首先輸入性能指標(biāo)要求，然后先添加零點（相當(dāng)于PD校正）,我們?yōu)槟阋话阍O(shè)計正則系統(tǒng)，所以添加一個極點，且對系統(tǒng)幾乎動態(tài)響應(yīng)幾乎無影響
記住，一定要將兩個主導(dǎo)極點拖到交點處
如果在頻域里進行設(shè)計，要進行指標(biāo)轉(zhuǎn)化
Pm = 45°，wc = 7.06
Options = pidtuneOptions('PhaseMargin',45);
>> Cs = pidtune(Gs,'pdf',10,Options)
Cs =
?
? ? ? ? ? ? ? ?s? ??
? Kp + Kd * --------
? ? ? ? ? ? ?Tf*s+1?
? with Kp = 31.7, Kd = 9.41, Tf = 0.00435
?
Continuous-time PDF controller in parallel form.
>> Ws = feedback(Cs*Gs,1)
Ws =
?
? ? ? ? ? 2195 s + 7301
? -----------------------------
? s^3 + 231 s^2 + 2425 s + 7301
?
Continuous-time transfer function.
>> step(Ws)
同樣，我們可以用狀態(tài)空間表達式來配置極點
>> A = [0 1;0 -1];
>> B = [0;1];
>> C = [1 0];
>> D = 0;
>> Gs = ss(A,B,C,D)
Gs =
?
? A =?
? ? ? ?x1? x2
? ?x1? ?0? ?1
? ?x2? ?0? -1
?
? B =?
? ? ? ?u1
? ?x1? ?0
? ?x2? ?1
?
? C =?
? ? ? ?x1? x2
? ?y1? ?1? ?0
?
? D =?
? ? ? ?u1
? ?y1? ?0
?
Continuous-time state-space model.
>> zpk(Gs)
ans =
?
? ? ?1
? -------
? s (s+1)
?
Continuous-time zero/pole/gain model.
zeta = 0.707
wn = 4.2/zeta
p1 = -zeta*wn+j*wn*sqrt(1-zeta^2)
p2 = -zeta*wn-j*wn*sqrt(1-zeta^2)
P = [p1;p2];
K = acker(A,B,P)
Ws = ss(A-B*K,B,C,D)
Kd = 1/dcgain(Ws)
step(Kd*Ws)
