- •Курсовая работа
- •Содержание
- •Введение
- •1. Выбор периода квантования
- •4. Сравнение кчх непрерывного и дискретного объекта
- •5. Расчет настроек непрерывного и дискретного пи-регуляторов
- •5.1. Расчет настроек непрерывного пи-регулятора
- •5.2. Расчет настроек дискретного пи-регулятора методом теории дискретных систем
- •6. Модель системы управления в среде matlab
- •Список литературы
- •Приложение
- •Mathcad – документ
Mathcad – документ
Диапазон частот:
Уравнение для построения КЧХ
Таблица полученных значений:
Таблица 11. Значения КЧХ непрерывного и дискретного объекта.
|
Непрерывный объект |
|
Дискретный объект |
||
ω |
Re(ω) |
Im(ω) |
|
Re(ω) |
Im(ω) |
0.00 |
6.0000 |
0.0000 |
|
6.0000 |
0.0000 |
0.01 |
5.9500 |
-0.6384 |
|
5.9443 |
-0.6890 |
0.02 |
5.8030 |
-1.2555 |
|
5.7806 |
-1.3540 |
0.03 |
5.5677 |
-1.8322 |
|
5.5185 |
-1.9735 |
0.04 |
5.2569 |
-2.3529 |
|
5.1729 |
-2.5298 |
0.05 |
4.8864 |
-2.8065 |
|
4.7614 |
-3.0108 |
0.06 |
4.4732 |
-3.1871 |
|
4.3031 |
-3.4097 |
0.07 |
4.0336 |
-3.4931 |
|
3.8165 |
-3.7248 |
0.08 |
3.5824 |
-3.7267 |
|
3.3183 |
-3.9587 |
0.09 |
3.1320 |
-3.8927 |
|
2.8226 |
-4.1170 |
0.10 |
2.6923 |
-3.9979 |
|
2.3404 |
-4.2073 |
0.11 |
2.2709 |
-4.0497 |
|
1.8802 |
-4.2382 |
0.12 |
1.8728 |
-4.0558 |
|
1.4477 |
-4.2186 |
0.13 |
1.5014 |
-4.0239 |
|
1.0464 |
-4.1569 |
0.14 |
1.1582 |
-3.9607 |
|
0.6783 |
-4.0611 |
0.15 |
0.8439 |
-3.8725 |
|
0.3438 |
-3.9383 |
0.16 |
0.5580 |
-3.7648 |
|
0.0425 |
-3.7946 |
0.17 |
0.2998 |
-3.6423 |
|
-0.2269 |
-3.6355 |
0.18 |
0.0677 |
-3.5088 |
|
-0.4658 |
-3.4653 |
0.19 |
-0.1397 |
-3.3677 |
|
-0.6762 |
-3.2879 |
0.20 |
-0.3241 |
-3.2217 |
|
-0.8601 |
-3.1063 |
0.21 |
-0.4873 |
-3.0731 |
|
-1.0196 |
-2.9231 |
0.22 |
-0.6311 |
-2.9236 |
|
-1.1566 |
-2.7402 |
0.23 |
-0.7570 |
-2.7747 |
|
-1.2732 |
-2.5594 |
0.24 |
-0.8667 |
-2.6274 |
|
-1.3712 |
-2.3819 |
0.25 |
-0.9616 |
-2.4829 |
|
-1.4524 |
-2.2087 |
0.26 |
-1.0432 |
-2.3416 |
|
-1.5184 |
-2.0405 |
0.27 |
-1.1126 |
-2.2041 |
|
-1.5708 |
-1.8780 |
0.28 |
-1.1712 |
-2.0709 |
|
-1.6109 |
-1.7215 |
0.29 |
-1.2200 |
-1.9422 |
|
-1.6400 |
-1.5713 |
0.30 |
-1.2599 |
-1.8181 |
|
-1.6594 |
-1.4276 |
0.31 |
-1.2919 |
-1.6988 |
|
-1.6701 |
-1.2904 |
0.32 |
-1.3168 |
-1.5843 |
|
-1.6730 |
-1.1597 |
0.33 |
-1.3353 |
-1.4747 |
|
-1.6690 |
-1.0356 |
0.34 |
-1.3481 |
-1.3698 |
|
-1.6591 |
-0.9180 |
0.35 |
-1.3558 |
-1.2697 |
|
-1.6438 |
-0.8066 |
0.36 |
-1.3590 |
-1.1741 |
|
-1.6238 |
-0.7014 |
0.37 |
-1.3582 |
-1.0831 |
|
-1.5998 |
-0.6022 |
0.38 |
-1.3538 |
-0.9965 |
|
-1.5723 |
-0.5088 |
0.39 |
-1.3462 |
-0.9141 |
|
-1.5417 |
-0.4210 |
0.40 |
-1.3359 |
-0.8358 |
|
-1.5086 |
-0.3386 |
0.41 |
-1.3231 |
-0.7615 |
|
-1.4733 |
-0.2614 |
0.42 |
-1.3081 |
-0.6910 |
|
-1.4362 |
-0.1893 |
0.43 |
-1.2913 |
-0.6242 |
|
-1.3976 |
-0.1219 |
0.44 |
-1.2728 |
-0.5609 |
|
-1.3578 |
-0.0590 |
0.45 |
-1.2530 |
-0.5010 |
|
-1.3170 |
-0.0006 |
0.46 |
-1.2319 |
-0.4443 |
|
-1.2755 |
0.0537 |
0.47 |
-1.2098 |
-0.3907 |
|
-1.2335 |
0.1041 |
0.48 |
-1.1869 |
-0.3401 |
|
-1.1912 |
0.1506 |
0.49 |
-1.1633 |
-0.2923 |
|
-1.1487 |
0.1936 |
0.50 |
-1.1390 |
-0.2472 |
|
-1.1063 |
0.2331 |
0.51 |
-1.1143 |
-0.2046 |
|
-1.0639 |
0.2694 |
0.52 |
-1.0893 |
-0.1645 |
|
-1.0219 |
0.3027 |
0.53 |
-1.0640 |
-0.1268 |
|
-0.9801 |
0.3330 |
0.54 |
-1.0386 |
-0.0912 |
|
-0.9388 |
0.3606 |
0.55 |
-1.0130 |
-0.0577 |
|
-0.8981 |
0.3856 |
0.56 |
-0.9874 |
-0.0263 |
|
-0.8579 |
0.4082 |
0.57 |
-0.9619 |
0.0032 |
|
-0.8184 |
0.4284 |
0.58 |
-0.9364 |
0.0310 |
|
-0.7796 |
0.4465 |
0.59 |
-0.9111 |
0.0569 |
|
-0.7415 |
0.4624 |
0.60 |
-0.8860 |
0.0813 |
|
-0.7042 |
0.4765 |
0.61 |
-0.8610 |
0.1041 |
|
-0.6677 |
0.4887 |
0.62 |
-0.8363 |
0.1254 |
|
-0.6321 |
0.4992 |
0.63 |
-0.8119 |
0.1454 |
|
-0.5974 |
0.5081 |
0.64 |
-0.7878 |
0.1640 |
|
-0.5635 |
0.5155 |
0.65 |
-0.7641 |
0.1813 |
|
-0.5305 |
0.5214 |
0.66 |
-0.7406 |
0.1974 |
|
-0.4984 |
0.5260 |
0.67 |
-0.7175 |
0.2124 |
|
-0.4673 |
0.5294 |
0.68 |
-0.6948 |
0.2263 |
|
-0.4370 |
0.5316 |
0.69 |
-0.6725 |
0.2392 |
|
-0.4077 |
0.5327 |
0.70 |
-0.6505 |
0.2512 |
|
-0.3793 |
0.5328 |
0.71 |
-0.6290 |
0.2622 |
|
-0.3517 |
0.5320 |
0.72 |
-0.6079 |
0.2723 |
|
-0.3251 |
0.5303 |
0.73 |
-0.5871 |
0.2816 |
|
-0.2994 |
0.5277 |
0.74 |
-0.5668 |
0.2901 |
|
-0.2746 |
0.5244 |
