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PTS - Lab 08 - Sprawozdanie - Jakub - Rzeszutek
PTS - Lab 08 - Sprawozdanie - Jakub - Rzeszutek
29.04.2021 stacjonarne 1
UNIWERSYTET RZESZOWSKI
MECHATRONIKA
SPRAWOZDANIE Z LABORATORIUM NR 8
Współczynnik tłumienia w członach II rzędu, bieguny i zera
Zadanie 1
Rozwiązanie zadania 1:
clear all;
t = [0 : 0.1 : 400]; % wygenerowanie wektora czasu
k = 13; % zdefiniowanie K
T=25; % zdefiniowanie T;
a=T*T % zdefiniowanie a;
b=2*1*T % zdefiniowanie b;
c=1 % zdefiniowanie c;
a1=T*T
b1=2*0.87*T
c1=1
a2=T*T
b2=2*0.71*T
c2=1
k3=88;
a3=T*T
b3=2*0.5*T
c3=1
k4=88;
a4=T*T
b4=2*0*T
c4=1
num1 = [k];
den1 = [a1 b1 c1];
G1 = tf(num1, den1)
num2 = [2];
den2 = [a2 b2 c2];
G2 = tf(num2, den2)
num3 = [k];
den3 = [a3 b3 c3];
G3 = tf(num3, den3)
num4 = [k];
den4 = [a4 b4 c4];
G4 = tf(num4, den4)
ya = step(G, t);
y1a = step(G1, t);
y2a = step(G2, t);
y3a = step(G3, t);
y4a = step(G4, t);
Przypadek 1
k1 = 14
a1 = 14
b1 = 21
c1 = 1
Przypadek 2
k2 = 19
a2 = 138
b2 = 8
c2 = 1
Przypadek 3
k3 = 11
a3 = 6
b3 = 0
c3 = 1
Przypadek 4
k4 = 5
a4 = 10
b4 = -1
c4 = 1
Rozwiązanie zadania 2:
clear all;
clc;
t = [0 : 0.1 : 100]; % wygenerowanie wektora czasu
k1=14
a1=14
b1=21
c1=1
k2=19
a2=138
b2=8
c2=1
k3=11
a3=6
b3=0
c3=1
k4=5
a4=10
b4=-1
c4=1
num2=[k2];
den2=[a2 b2 c2];
G2=tf(num2, den2)
num3=[k3];
den3=[a3 b3 c3];
G3=tf(num3, den3)
num4=[k4];
den4=[a4 b4 c4];
G4=tf(num4, den4)
y1=step(G1,t);
y2=step(G2,t);
y3=step(G3,t);
y4=step(G4,t);
figure(1);
plot(t,y1,t,y2,t,y3,t,y4)
grid on;
legend("G1","G2","G3","G4");
zero_vector1=zero(G1)
pole_vector1=pole(G1)
figure(2);
plot(real(pole_vector1),imag(pole_vector1),"marker","*","markersize",20,"linestyle","none","color","b
");
hold on
zero_vector2=zero(G2)
pole_vector2=pole(G2)
plot(real(pole_vector2),imag(pole_vector2),"marker","*","markersize",20,"linestyle","none","color","r"
);
hold on
zero_vector3=zero(G3)
pole_vector3 = pole(G3)
plot(real(pole_vector3),imag(pole_vector3),"marker","*","markersize",20,"linestyle","none","color","c"
);
hold on
zero_vector4=zero(G4)
pole_vector4=pole(G4)
plot(real(pole_vector4),imag(pole_vector4),"marker","*","markersize",20,"linestyle","none","color","g"
);
hold off
grid on
Czerwony- A
Niebieski ciemny- B
Niebieski jasny- C
Zielony- D
Czerwony- stabilny
Niebieski ciemny- stabilny
Niebieski jasny- niestabilny
Zielony- na granicy stabilności
Wnioski i Uwagi: