pensator')% task 2.4
Results of the program:
Tf of compensation unitfunction:
.01323 s + 0.2558
.0001 s + 1of compensatorfunction:
.01323 s + 0.2558
.0001 s + 1
. 7
III. Analysis of compensated system:
) build in Simulink the compensated system;
В
Fig. 8
2) determine settling time and overshoot of the compensated system using transient process received in Simulink;
В
Fig. 9
time - 2.4; overshoot - 23.4%.
3) calculate the transfer function of the whole compensated system;
Program code:
disp ('Tf of open-loop compensated system') = series (Wolun, Wcomp) ('Tf of closed-loop compensated system') = feedback (Wolcomp, W5, - 1)% task 3.3
Results of the program:
Tf of open-loop compensated systemfunction:
.8334 s + 16.12
.0001 s ^ 3 + 1.001 s ^ 2 + 6 sof closed-loop compensated systemfunction:
.08334 s ^ 2 + 0.7781 s + 16.12
e-005 s ^ 4 + 0.1002 s ^ 3 + 1.601 s ^ 2 + 5.167 s + 16.12
4) plot the step response for uncompensated and compensated system; the responses should be produced in one window of figure graphic object using command < i> hold on ;
Program code:
figure (7) (Wclcomp), grid on, on, step (Wclun), ('Closed-loop compensated', 'Closed-loop uncompensated')% task 3.4
Results of the program:
. 10
5) check whether the system is stable or not using sufficient condition of stability;
Program code:
disp ('Poles of closed-loop compensated system') (Wclcomp), (8) (Wclcomp), grid on% task 3.5
Results of the program:
Poles of closed-loop copmensated system =
.0 e +003 *
.0000
.0130
.0015 + 0.0032i
.0015 - 0.0032i
. 11
