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1、SHANGHAIUNIVERSITYPrincipleofAutomaticControlPracticalReportAcademySchoolofMechatronicEngineeringandAutomationMajorElectricalEngineeringandAutomationMembers11122240林勇111成沖1111111張旭09365060PrincipleofAutomaticControl(1)PracticalReport(WinterSemester2013-2014)GroupNo.StudentIDNameContribution%Cont
2、ributionofworkSignatureFinalMark林勇33.33theory,report成沖33.33material,report張旭33.33matlabPracticalproblem:Inthefollowingfigure,letanda.Calculatethesteady-stateerrorduetoacommandinputwith.b.VerifytheresultofPartausingSimulink.c.Calculatethesteady-stateerrorduetoadisturbanceinputwith.d.Verifytheresu
3、ltofPartcusingSimulink.e.Calculatethetotalsteady-stateerrorduetoacommandinputandadisturbanceappliedsimultaneously.f.VerifytheresultofParteusingSimulink.Analysis：FromthefigureweknowitisafeedbacksysetemwithadisturbanceD(s).Asitshows,thefirstblockisthecontroller,G(s),andthesecondistheplantC(s).R(s)
4、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.(
5、1)intoEq.(2)andsolvingforE(s),weobtainByapplyingfinalvaluetheorem,weobtainthegeneralformulaof,(3)ofwhich,andCase1:a.Calculatethesteady-stateerrorduetoacommandinputwith.b.VerifytheresultofPartausingSimulink.Solution:Calculatethesteady-stateerrortheoretically.Applyingandintotheequ(3),iseliminated,
6、hence==0.1622Verifytheresultofsteady-stateerrorusingSimulink.Simulinkblockdiagramdesign:parametersetting:experimentalresult:Inputis3,Outputis2.8360att->∞,sothesteady-stateerroris3-2.8360=0.1640Case2:c.Calculatethesteady-stateerrorduetoadisturbanceinputwithR(s)=0.d.VerifytheresultofPartcusingSimu
7、link.Solution:Calculatethesteady-stateerrortheoretically.Whenand,iseliminated,henceVerifytheresultofsteady-stateerrorusingSimulink.Simulinkblockdiagramdesign:parametersetting:experimentalresult:Inputis0,Outputis-0.1894att->∞
