tut8 - - 035188 2011 - 8 )) + Loop Shaping . ( ) 2 , . . :...

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Unformatted text preview: - 035188 2011 - 8 )) + Loop Shaping . ( ) 2 , . . : 2 . 2 : : - : 035188 2011 - . . . : : 1. 2. 3. . . . : 1. : - 2. 035188 2011 - : . 3. , : : PI. (Loop Shaping) "" . . : - 035188 2011 - - 035188 2011 - . : : : Nichols Chart 0 dB 0.25 dB 0.5 dB 1 dB 3 dB 6 dB System P : P hase M argin (deg): 21.4 Delay M argin (sec): 0.547 At frequency (rad/sec): 0.682 Closed Loop Stable? Yes 20 Open-Loop Gain (dB) 0 System P : Gain M argin (dB): 6.02 At frequency (rad/sec): 1 Closed Loop Stable? Yes -20 -40 -60 -80 -315 -270 -225 -180 -135 -90 -45 Open-Loop P hase (deg) : . . - 035188 2011 - , - . , - . grid on * -M - 035188 2011 - (Low Pass Filter) " : : - 035188 2011 - Notch Filter : - 035188 2011 - notch filter -skewed notch filter -skewed notch filter : -notch . - 035188 2011 - . , : - , . , . . : , " . " , . . "" - . - - . - - . . - 035188 2011 - . 2 "" , ,. 1 : : Nichols Chart 60 40 20 Open-Loop Gain (dB) 0 -20 -40 -60 -80 -100 -120 -360 0.25 dB 0.5 dB 1 dB 3 dB 6 dB 0 dB -1 dB -3 dB -6 dB -12 dB -20 dB -40 dB -60 dB -80 dB -100 dB -120 dB -315 -270 -225 -180 -135 -90 -45 0 Open-Loop P hase (deg) - 035188 2011 - Nichols Chart 40 20 0 -20 Open-Loop Gain (dB) -40 -60 -80 -100 -120 -140 -360 0.25 dB 0.5 dB 1 dB 3 dB 6 dB 0 dB -1 dB -3 dB -6 dB -12 dB -20 dB -40 dB -60 dB -80 dB -100 dB -120 dB -140 dB -315 -270 -225 -180 -135 -90 -45 0 Open-Loop Phase (deg) . Step Response 1.4 1.2 1 0.8 Amplitude 0.6 0.4 0.2 0 0 2 4 6 8 10 Time (sec) 12 14 16 18 20 ) : , C=0.1) - 035188 2011 - - Open-Loop Nichols E ditor for Open Loop 1 (OL1) 40 0 dB 0.25 dB 0.5 dB 1 dB 3 dB 6 dB 0 035188 2011 - 20 -1 dB -3 dB -6 dB -12 dB -20 Open-Loop Gain (dB) -20 dB -40 -40 dB -60 -60 dB -80 -80 dB -100 -100 dB -120 -140 -360 -120 dB G.M.: 14 dB @ 8.42 rad/sec P .M.: 27.5 deg @ 3.59 rad/sec Stable loop -140 dB -315 -270 -225 -180 -135 Open-Loop P hase (deg) -90 -45 0 Step Response 1.5 1 Amplitude 0.5 0 0 1 2 3 Time (sec) 4 5 6 7 . : - 035188 2011 - Step Response 1.8 1.6 1.4 1.2 1 0.8 0.6 0.4 0.2 0 Amplitude 0 0.5 Time (sec) 1 1.5 . Nichols Chart 80 60 Open-Loop Gain (dB) 40 0 dB 0.25 dB 20 0.5 dB 1 dB 3 dB 6 dB 0 -20 -225 -180 Open-Loop Phase (deg) -135 -90 ( ) : - 035188 2011 - ( ) . 2 : " DC . . . : - 035188 2011 - .- . . : - 035188 2011 - . ) 2- .(: . . - 035188 2011 - ) : - ) . : - 035188 2011 - "" . : : - 035188 2011 - sisotool loop shaping . sisotool. " ? : P = zpk(,[0 -1 -2],10); sisotool(P) - 035188 2011 - . -TAB Compensator Editor. -TAB Graphical tuning ) ) - 035188 2011 - (root locus, bode, nichols). . "" . , , notch, . -TAB Analysis Plots ,) ). - 035188 2011 - " . ( ) . . - 035188 2011 - ...
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