¤µ‡½¹® ˆ¸µƒ·...

download ¤µ‡½¹® ˆ¸µƒ· •³±ƒ¯±‚

of 7

  • date post

    16-Apr-2017
  • Category

    Documents

  • view

    61
  • download

    3

Embed Size (px)

Transcript of ¤µ‡½¹® ˆ¸µƒ·...

  • :

    :

    , 2016

  • [1]

    ,

    , 1 .

    ONOMA: :

    Nominal Model Uncertainty #1 (2nd

    order)

    Gain: =2723

    Pole 1: p1=-2.1

    Pole 2: p1 -1.4

    Damping ratio, : zita= 0.1

    Nat. frequency, n (rad/s): Wn= 4

    Specifications Parametric Uncertainty

    Bandwidth, BW (rad/s): 0.78

    Control Input, u:

  • [2]

    1.2. H /

    s nmix y matlab HK .

    bandwidth, 0.78B (rad/s).

    , wb ,

    B . 1.9M 0.95wb bandwidth 0.7810B (rad/s).

    uW , 1.

    , (P NS).

    1.3.

    ,

    ( ) .

    /. zpk(T)

    command window matlab .

    zpk(T),

    ,

    (S) , .

  • [3]

    1.4.

    : 1pW S .

    . bode 1

    p

    SW

    .

    pW S bode ,

    1. .

    Figure 2 Figure 3

    .

    Figure 2: Bode diagram of S , pW

    Figure 3: Bode diagram of * pS W

    1.5.

    Figure 4 , .

    , , Tr=1.76sec s=3.07 sec

  • [4]

    Figure 4: Step Response of closed-loop nominal system

    2. :

    ,

    (RP) .

    , 1

    2.1.

    , .

    ureal

    .

    , bode ,

    Figure 5. (4rad/sec),

    .

  • [5]

    Figure 5: Bode diagram, Total uncertainty

    2.2.

    robustperf HK

    , . :

    2.3.

    robustperf HK

    , ,

    . report .

    :