diff options
Diffstat (limited to '3432/CH8/EX8.1')
| -rw-r--r-- | 3432/CH8/EX8.1/Ex8_1.sce | 56 | ||||
| -rw-r--r-- | 3432/CH8/EX8.1/Ex8_1_f0.pdf | bin | 0 -> 27021 bytes | |||
| -rw-r--r-- | 3432/CH8/EX8.1/Ex8_1_f1.pdf | bin | 0 -> 28141 bytes | |||
| -rw-r--r-- | 3432/CH8/EX8.1/Ex8_1_model.xcos | 1 |
4 files changed, 57 insertions, 0 deletions
diff --git a/3432/CH8/EX8.1/Ex8_1.sce b/3432/CH8/EX8.1/Ex8_1.sce new file mode 100644 index 000000000..015f64896 --- /dev/null +++ b/3432/CH8/EX8.1/Ex8_1.sce @@ -0,0 +1,56 @@ +///Example 8.1 +// Digital Controller using tustin approximation. + +xdel(winsid())//close all graphics Windows +clear; +clc; +//------------------------------------------------------------------ +//Cntroller +s=poly(0,'s'); +numD=s/2+1; +denD=s/10+1; +D=10*numD/denD; +Ds=syslin('c',D); +//sampling freq. = 25 times bandwidth +Wbw=10; +Ws=25*Wbw; +fs=Ws/2/%pi; +T=1/fs; //sampling time +a=1;b=-1; +c=1;d=1; +//Digital controller +z=poly(0,'z'); +Dz=horner(Ds,2/T*(a*z+b)/(c*z+d)); +disp(Dz,'Digital Controller : ') + +//------------------------------------------------------------------ +//step response and control efforts. +figure(0); +importXcosDiagram(".\Ex8_1_model.xcos") + //The diagram data structure +xcos_simulate(scs_m,4); +scs_m.props.context +plot(yt.time,yt.values(:,1),'r--') +plot(yt.time,yt.values(:,2),2) + +xlabel('Time (sec.)'); +ylabel('Position, y'); +title(["Comparison between digital and continuous controller step... + response";"with a sample rate 25 times bandwidth";"(a) Position "],... + 'fontsize',3); +exec .\fig_settings.sci; // custom script for setting figure properties + +//control effort + +figure(1); +plot(ut.time,ut.values(:,1),'r--') +plot2d2(ut.time,ut.values(:,2),2) + +xlabel('Time (sec.)'); +ylabel('Control, u'); +title(["Comparison between digital and continuous controller step... + response";"with a sample rate 25 times bandwidth";"(b) Control "],... + 'fontsize',3); +exec .\fig_settings.sci; // custom script for setting figure properties +//------------------------------------------------------------------ + diff --git a/3432/CH8/EX8.1/Ex8_1_f0.pdf b/3432/CH8/EX8.1/Ex8_1_f0.pdf Binary files differnew file mode 100644 index 000000000..18b813926 --- /dev/null +++ b/3432/CH8/EX8.1/Ex8_1_f0.pdf diff --git a/3432/CH8/EX8.1/Ex8_1_f1.pdf b/3432/CH8/EX8.1/Ex8_1_f1.pdf Binary files differnew file mode 100644 index 000000000..ab9cb8c82 --- /dev/null +++ b/3432/CH8/EX8.1/Ex8_1_f1.pdf diff --git a/3432/CH8/EX8.1/Ex8_1_model.xcos b/3432/CH8/EX8.1/Ex8_1_model.xcos new file mode 100644 index 000000000..258e4be83 --- /dev/null +++ b/3432/CH8/EX8.1/Ex8_1_model.xcos @@ -0,0 +1 @@ +<?xml version="1.0" encoding="UTF-8"?><XcosDiagram background="-1" finalIntegrationTime="2.0" title="Ex8_1_model"><!--Xcos - 1.0 - scilab-5.5.2 - 20150331 1318--><mxGraphModel as="model"><root><mxCell id="-2dd55334:14dcbdd0183:-7fd2"/><mxCell id="-2dd55334:14dcbdd0183:-7fd3" parent="-2dd55334:14dcbdd0183:-7fd2"/><BasicBlock dependsOnT="1" id="-2dd55334:14dcbdd0183:-7f98" interfaceFunctionName="CLR" ordering="1" parent="-2dd55334:14dcbdd0183:-7fd3" simulationFunctionName="csslti4" simulationFunctionType="C_OR_FORTRAN" style="CLR;flip=false;mirror=false"><ScilabString as="exprs" height="2" width="1"><data column="0" line="0" value="1"/><data column="0" line="1" 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