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1、SHANGHAIUNIVERSITYPrincipleofAutomaticControlPracticalReportAcademySchoolofMechatronicEngineeringandAutomationb5E2RGbCAPMajorElectricalEngineeringandAutomationMembers11122240林勇111成沖1111111張旭09365060PrincipleofAutomaticControl(1>PracticalReport(WinterSemester2018-2018>p1EanqFDPwGroupNo.Stu
2、dentIDNameContribution%ContributionofworkSignatureFinalMark林勇33.33theory,report成沖33.33material,report張旭33.33matlabPracticalproblem:Inthefollowingfigure,letandDXDiTa9E3da.Calculatethesteady-stateerrorduetoacommandinputwith.RTCrpUDGiTb.VerifytheresultofPartausingSimulink.c.Calculatethestead
3、y-stateerrorduetoadisturbanceinputwith.5PCzVD7HxAd.VerifytheresultofPartcusingSimulink.e.Calculatethetotalsteady-stateerrorduetoacommandinputandadisturbance8/8appliedsimultaneously.jLBHrnAILgf.VerifytheresultofParteusingSimulink.Analysis：Fromthefigureweknowitisafeedbacksysetemwithadisturb
4、ancexHAQX74J0XD(s>.Asitshows,thefirstblockisthecontroller,G(s>,andthesecondistheplantC(s>.R(s>andD(s>aretheinputandoutput,respectively.Theproblemasksustogetthesteadystateerrorofthissystemin3differentcases.LDAYtRyKfESo,ifwewanttocompletethisproblem,weshouldgettheformulafromchapter7.Zzz6ZB2
5、LtkAttheverybeginning,wecangetC(s>=R(s>-E(s>(1>Acordingthefirgure,wealsoknowC(s>=[E(s>*G(s>+D(s>]*P(s>(2>SubstitutingEq.(1>intoEq.(2>andsolvingforE(s>,weobtaindvzfvkwMI1Byapplyingfinalvaluetheorem,weobtainthegeneralformulaofrqyn14ZNXI,(3>8/8ofwhich,andCase1:a.Calculatethesteady-stateerror
6、duetoacommandinputwith.EmxvxOtOcob.VerifytheresultofPartausingSimulink.Solution:Calculatethesteady-stateerrortheoretically.SixE2yXPq5Applyingandintotheequ(3>,iseliminated,hence6ewMyirQFL==0.1622Verifytheresultofsteady-stateerrorusingSimulink.kavU42VRUsSimulinkblockdiagramdesign:parameters
7、etting:8/8experimentalresult:Inputis3,Outputis2.8360att->∞,sothesteady-stateerroris3-2.8360=0.1640y6v3ALoS89Case2:c.Calculatethesteady-stateerrorduetoadisturbanceinputwithR(s>=0.M2ub6vSTnPd.VerifytheresultofPartcusingSimulink.Solution:Calculatethesteady-stateerrorth
