matlab tf离散,求matlab离散化程序对于一个二阶传函,求其在MATLAB中的离散化程序.抱歉,没办法写清楚传函表达式.我试试：Gp(...

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clear all;

close all;

ts=0.001;

J=1/147;

q=22/147;

sys=tf(1,[J,q,0]);

dsys=c2d(sys,ts,'z');

[num,den]=tfdata(dsys,'v');

r_1=0;r_2=0;

u_1=0;u_2=0;

y_1=0;y_2=0;

error_1=0;

ei=0;

for k=1:1:1000

time(k)=k*ts;

S=1;

if S==1 %Step Signal

rin(k)=1.0;

elseif S==2 %Sine Signal

rin(k)=1.0*sin(1*2*pi*k*ts);

end

yout(k)=-den(2)*y_1-den(3)*y_2+num(2)*u_1+num(3)*u_2;

error(k)=rin(k)-yout(k);

derror(k)=(error(k)-error_1)/ts;

ap=22;bp=8.0;cp=0.8;

kp(k)=ap+bp*(1-sech(cp*error(k)));

ad=0.5;bd=2.5;cd=6.5;dd=0.30;

kd(k)=ad+bd/(1+cd*exp(dd*error(k)));

ai=1;ci=1;

ki(k)=ai*sech(ci*error(k));

ei=ei+error(k)*ts;

u(k)=kp(k)*error(k)+kd(k)*derror(k)+ki(k)*ei;

%Update Parameters

r_2=r_1;r_1=rin(k);

u_2=u_1;u_1=u(k);

y_2=y_1;y_1=yout(k);

error_1=error(k);

end

figure(1);

plot(time,rin,'k',time,yout,'k');

xlabel('time(s)');ylabel('rin,yout');

figure(2);

plot(time,rin-yout,'k');ylabel('error');

xlabel('time(s)');ylabel('error');

figure(3);

plot(time,derror,'k');

xlabel('time(s)');ylabel('derror');

M=1;

if M==1

figure(4);

subplot(311);

plot(error,kp,'k');xlabel('error');ylabel('kp');

subplot(312);

plot(error,kd,'k');xlabel('error');ylabel('kd');

ad+bd/(1+cd)

subplot(313);

plot(error,ki,'k');xlabel('error');ylabel('ki');

elseif M==2

figure(5);

subplot(311);

plot(time,kp,'k');xlabel('time(s)');ylabel('kp');

subplot(312);

plot(time,kd,'k');xlabel('time(s)');ylabel('kd');

subplot(313);

plot(time,ki,'k');xlabel('time(s)');ylabel('ki');

end

1年前

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