www.gusucode.com > control_featured 案例源码程序 matlab代码 > control_featured/GettingStartedWithTheControlSystemDesignerExample.m
%% Getting Started with the Control System Designer % This example shows how to tune compensators for a feedback control system % using Control System Designer. % % Copyright 1986-2012 The MathWorks, Inc. %% % Using Control System Designer you can: % % 1) Define control design requirements on time, frequency, and % pole/zero response plots. % % 2) Tune compensators using: % % * Automated design methods, such as PID tuning, IMC, and LQG. % * Graphically tune poles and zeros on design plots, such as Bode and root % locus. % * Optimization-based control design to meet time-domain and % frequency-domain requirements using Simulink(R) Design Optimization(TM). % % 3) Visualize closed-loop and open-loop responses that dynamically update % to display the control system performance. % %% Compensator Design Problem % For this example, design a compensator for the system %% % $$ G(s) = \frac{1}{s+1} $$ % % with the following design requirements: % % * Zero steady-state error with respect to a step input. % * 80% rise time less than 1 second. % * Settling time less than 2 seconds. % * Maximum overshoot less than 20%. % * Open-loop crossover frequency less than 5 rad/s. %% Open Control System Designer % Use the standard feedback structure with the controller in the forward % path. This structure is the default Control System Designer architecture. %% % Open Control System Designer with the specified plant. % % controlSystemDesigner(tf(1,[1,1])) % % <<../GSControlSystemDesignerStep1.png>> %% % On the *Control System* tab, you can select a compensator tuning method, % and create response plots for analyzing your controller performance. You % can also store, compare, and export different control system designs. %% % For this example, graphically tune your compensator using the *Root Locus % Editor* and open-loop *Bode Editor*, and validate the design using the % closed-loop *Step Response*. By default, Control System Designer displays % these responses when it opens. To add additional response plots, click % *New Plot*. %% Add Design Requirements % Add the time-domain design requirements to the *Step Response* plot. % Right-click the plot area, and select *Design Requirements > New*. In the % *Design requirmeent type* drop-down list, select |Step response bound|. % Enter the time-domain design requirements. % % <<../GSControlSystemDesignerStepConstraint.png>> % % Click *OK*. The app adds the design requirement to the step response plot % as a shaded exclusion region. To meet the requirement, the step response % must remain outside of this region. % % <<../GSControlSystemDesignerStep2.png>> %% % To specify the frequency-domain crossover requirement, right-click the % *Bode Editor* plot area, and select *Design Requirements > New*. In the % *Design requirement type* drop-down list, select |Upper gain limit|, and % specify the design requirement. % % <<../GSControlSystemDesignerCrossOverConstraint.png>> % % Click *OK*. %% Tune Compensator % To meet the zero steady-state error design requirement, add an integrator % to the compensator. Right-click the *Root Locus Editor* plot area, and % select *Add Pole/Zero > Integrator*. %% % To create a desirable shape for the root locus plot,add a real zero near % -2. Right-click the root locus plot aream and select *Add Pole/Zero > % Real Zero*. In the root locus plot, left-click the real axis near -2. %% % To create a faster response by increasing the compensator gain, in the % *Bode Editor*, drag the magnitude response upward. To satisfy the % crossover frequency requirement, keep the response below the exclusion % region in the Bode editor. %% % <<../GSControlSystemDesignerStep3.png>> %% % To view the compensator, right-click in the *Bode Editor* or *Root Locus % Editor* plot area, and select *Edit Compensator*. % % <<../GSControlSystemDesignerStep4.png>> % % You can also tune the compensator parameters using the Compensator Editor % dialog box. %% Automated Compensator Tuning % In addition to graphical tuning, you can also use automated % tuning methods. To select an automated tuning method, click *Tuning % Methods*. % % * *PID Tuning*, *IMC Tuning*, and *LQG Synthesis* - Compute initial % compensator parameters based on tuning specifications such as % closed-loop time constants. See the example % <docid:control_examples.example-ex97751919>. % * *Optimization-Based Tuning* - Optimize compensators using both % time-domain and frequency-domain design requirements (requires Simulink % Design Optimization). See the example % <docid:sldo_examples.example-dcmotor_demopad>. % * *Loop Shaping* - Specify a desired target loop shape (requires Robust % Control Toolbox(TM)). %