m4 - M odu le:B ode ,N yqu ist&Loop shap ingM...

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Unformatted text preview: M odu le:B ode ,N yqu ist&Loop shap ingM ethod s M odu le:B ode ,N yqu ist&Loop shap ing M ethod s . O verv iew F requencydom a inm ethod s( in troducedbyB ode ,N yqu istandN icho ls)have beenu sed forS ISO con tro ldes igns incethe s .Evenw ithcom pu tersava il- ab leforperform ingtheca lcu lat ion s ,thesem ethod sarest illverygood forcon tro l des ign .Chap tero fthetex tcoversm osto fthefrequencyrespon sem ethod s . Y ouw illndthatitiso ftenhe lp fu ltoa lsoapp lysom eo fyou rrootlocu sknow l- edgetothesep rob lem s .Them orew ay sthatyouhaveo fdea lingw ithap rob lem them orelike lyyouaretoarr iveatagoodso lu t ion .A sa lw ay s ,checkou ta ll aspectso fap rospect iveso lu t ion(po lepos it ion s ,steprespon se ,no iseam p lica- t ion ,actuatoreort ,steadystatecharacter ist ics ,sen s it iv ityandcom p lem en tary sen s it iv ity funct ion s ,...)toen su rethatyou rdes ignrea lly isv iab le .Thentry u s ing itontherea lsy stem andbep reparedtohavetom akechanges . Th ism odu lecon ta in sth reeexam p les .Therstisaga inandphasem arg inca l- cu lat ion .S tab ilitym arg in sared iscu ssed inSect ion.o fthetex t .Thesecond exam p leapp liestheB odem ethod stothedes igno fas ate llitecon tro lsy stem . Thesedes ignm ethod sarecovered inSect ion s.th rough.o fthetex t . The na lexam p lestud iesanau tom ot iveem iss ion scon tro lp rob lem insom edeta il. Theideao fanuncerta inorpertu rbedsy stem isin troducedandthedes ignu ses atechn iqueknownasloop shap ing .Sy stem uncerta in t iesand loop shap ing ideas arecovered inSect ion.o fthetex t .Th isapp roach ,ands im ilar lym ot ivated , m orecom p lexapp roaches ,iso ftenu sed intheaerospaceindu stry for igh tcon- tro lsy stem s .M oredeta ilcanbefound inthebook , \F e e db ack Contr ol The ory," byJohnD oy le ,B ruceF ranc isandA llenT annenbaum (M acm illan , ) . . M odu le:L ist ingandG raph ics /begin{verbatim} clg;axis([,,,]);axis; echoon %--------------------------------------------------------- % % Dept.ofElectrical&ComputerEng. % UniversityofCalifornia,SantaBarbara. % % ECE A:FeedbackControlSystems % % module: Bodemethods&loopshaping % ECE a :(F a ll ) M atlab C om pu terM odu les %------------------------------------------------- %Thefirstexamplewillshowhowtocheckthegainand %phasemarginsofagivenloop.Considerthe %followingsystem; P=ndsys(,[,,,]); w=logspace(-,,); P_w=frsp(P,w); %ABodeplotisfirstshown.Unitygainand- degrees %phasearealsoplottedforreference. subplot(); vplot('liv,lm',P_w,'-',,'--') title('P(s):Bodeplot') xlabel('freq:rad/sec') ylabel('magnitude') subplot(); vplot('liv,p',P_w,'-',--eps*j,'--')%-eps*jresolves+- ambiguity title('P(s):Bodeplot') xlabel('freq:rad/sec') ylabel('phase') %AndalsoaNyquistplot,withthe-pointindicated. subplot(); axis('square'); axis([-,,-,]); vplot('nyq',P_w,'-',-,'*') title('P(s):Nyquist') xlabel('real') ylabel('imaginary') grid; axis('normal'); axis; %metamodfig M odu le:B ode ,N yqu ist&Loop shap ingM ethod s 10-6 10-3 10 10 3 10-1 10 10 1 10 2 P(s):...
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m4 - M odu le:B ode ,N yqu ist&Loop shap ingM...

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