直升機(jī)飛行控制實(shí)驗(yàn)

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1、直升機(jī)飛行控制實(shí)驗(yàn)2030910304程嬌嬌030910301劉瀟雅030910305欒婷030910307沈星星030910310李曉曉1.在Simulink中實(shí)現(xiàn)狀態(tài)空間模型oWorkspace2.開(kāi)環(huán)仿真(1)通道1-40-60-8010°012345678910(2)通道2(3)通道380604020-20012345678910(4)通道42.分成四個(gè)通道，分別求傳遞函數(shù)(1)通道1Al=[-O.97570;10]Bl二[-5.5627;0]Cl=eye(2);Dl=zcros(2,1)sys=ss(Al,Bl,Cl,Dl)

2、tf(sys)傳遞函數(shù)：Transferfunctionfrominputtooutput...-5.563#1:s+0.9757-5.563#2:s2+0.9757s(1)通道2A2=[2.97090.0002;10]B2=[18.402;0]C2=eye(2);D2二zeros(2,1)sys二ss(A2,B2,C2,D2)tf(sys)傳遞函數(shù)：Transferfunctionfrominputtooutput...1&4s#1：sJ-2.971s-0.000218.4#2:sJ-2.971s-0.0002(2)通道3A3=[-

3、0.5581]B3=[-0.06181]C3=eye(l);D3=zcros(1,1)sys=ss(A3,B3,C3,D3)tf(sys)傳遞函數(shù)：Transferfunction:-0.06181s+0.5581(3)通道4A4=[0.09180;10]B4=[8.4545;0]C4=eye(2);D4=zcros(2,1)sys=ss(A4,B4,C4,D4)tf(sys)傳遞函數(shù)output..Transfcrfunctionfrominput8.454#1：s-0.0918&454#2:s2-0.0918s3?用LTI工具箱設(shè)

4、計(jì)參數(shù)(1)通道1：原階躍響應(yīng):-2-4①pn-=dlu<-12-14-16-180.20.30.40.50.6Time(sec)校止后根軌跡:s_xv6elu_-8-12-?<-2-4■6-10-8-6-4-2RealAxis024RootLocusEditor(C)6421.4System:ClosedLoop:rtoyI/O:rtoyPeakamplitude:1.21Overshoot(%):19.3Attime(sec):4.590.40.201015Time(sec)System:QosedLoop:rtoykO:rtoy

5、SettlingTime(sec):10.5<0.6System:ClosedLoop:rtoylzO:rtoyAnalValue:1.02System:QosedLoop:rtoylzO:rtoyRiseTime(sec):1.98校止后閉環(huán)波特圖:50System:OosedLoop:rtoyJodeDiagramVO:rtoyPeakgain(dB):1.82Atfrequency(rad/sec):0.618I-50■IIIIII—-

6、]j.-_亠■ii(ifSystem:ClosedLoop:rtoyGainMargin(d

7、B):14.9Atfrequency(rad/sec):1.92ClosedLoopStable?YesIIIIIIiiiiiIIIII.-L-L-I-IiiIlli-1500(6①p)①send-2701021010°Frequency(rad/sec)10190■84—102①pn-=dlu<-5-1000.20.4校正后根軌跡：0.60.81Time(sec)RootLocusEditor(C)1.21.41.6s_xv6eE_05-X05o■2-20-10-5RealAxisSystem:OosedLoop:rtoyStepR

8、esponse1?4I/O：rtoy―>11Peakamplitude:1.15Overshoot(%):14.71-2Attime(sec)：0933System:QosedLoop:rtoy?lzO:rtoyFinalValue:10.8①pn=_duj<0.6System:ClosedLoop:rtoyI/O:rtoyRiseTime(sec):0.651System:ClosedLoop:rtoyI/O:rtoySettlingTime(sec):3410.40.2QIIIIIIIIII05010015020025030035

9、0400450500Time(sec)校正后閉環(huán)波特圖：10.丄L1S1LUBodeDagrammp)①pn=u6B乏I1111111(rul1111111111ISystem:ClosedLoop:rtoyI/O:rt