diff options
Diffstat (limited to '3432/CH8')
| -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 | ||||
| -rw-r--r-- | 3432/CH8/EX8.2/Ex8_2.sce | 65 | ||||
| -rw-r--r-- | 3432/CH8/EX8.2/Ex8_2_f0.pdf | bin | 0 -> 17544 bytes | |||
| -rw-r--r-- | 3432/CH8/EX8.2/Ex8_2_f1.pdf | bin | 0 -> 37047 bytes | |||
| -rw-r--r-- | 3432/CH8/EX8.2/Ex8_2_model.xcos | 1 |
8 files changed, 123 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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\ No newline at end of file diff --git a/3432/CH8/EX8.2/Ex8_2.sce b/3432/CH8/EX8.2/Ex8_2.sce new file mode 100644 index 000000000..d5b21520e --- /dev/null +++ b/3432/CH8/EX8.2/Ex8_2.sce @@ -0,0 +1,65 @@ +//Example 8.2 +// Design of a Space Station Attitude Digital Controller using +// Discrete Equivalents + +xdel(winsid())//close all graphics Windows +clear; +clc; +//------------------------------------------------------------------ +// State space representation of continuous time system +s=poly(0,'s'); +num=1; +den=(s^2); +Gs=syslin('c',num/den); +Ds=0.81*(s+0.2)/(s+2); +Ds=syslin('c',Ds); +sysc=Gs*Ds; + +//Root locus +evans(sysc) +zoom_rect([-2 -0.4 0.5 0.4]) +f=gca(); +f.x_location = "origin" +f.y_location = "origin" +h=legend(''); +h.visible = "off" +exec .\fig_settings.sci; //custom script for setting figure properties +title('s-plane locus with respect to K','fontsize',3) +//------------------------------------------------------------------ +//Contonuous time response of the system +figure, +tc=0:0.1:30; +syscl=sysc/(1+sysc) +yc=csim("step",tc,syscl); +plot(tc,yc,'b') +//------------------------------------------------------------------ +// Discretization of the system at +z=poly(0,'z') +// sampling time Ts=1 sec +Ts=1; +Dz1=horner(Ds,2/Ts*(z-1)/(z+1)) +disp(Dz1,"Dz1=","Discrete-time controller with Ts=1 sec.") + +// sampling time Ts=0.5 sec +Ts2=0.5; +Dz2=horner(Ds,2/Ts2*(z-1)/(z+1)) +disp(Dz2,"Dz2=","Discrete-time controller with Ts=0.5 sec.") + +//discrete-time response of the system. + +importXcosDiagram(".\Ex8_2_model.xcos") + //The diagram data structure +xcos_simulate(scs_m,4); +//scs_m.props.context +plot(yt1.time,yt1.values,'m-.') //with Ts=1sec. +plot(yt2.time,yt2.values,'r--') //with Ts=0.5 sec. +//------------------------------------------------------------------------------ + +title('step responses of continous and digital implementations','fontsize',3) + +exec .\fig_settings.sci; // custom script for setting figure properties +xlabel('Time (sec)','fontsize',2) +ylabel('Plant output','fontsize',2) +legend("Continuous design","Discrete equivalent design, T=1 sec."... +,"Discrete equivalent design, T=0.5 sec.",4) +//------------------------------------------------------------------------------ diff --git a/3432/CH8/EX8.2/Ex8_2_f0.pdf b/3432/CH8/EX8.2/Ex8_2_f0.pdf Binary files differnew file mode 100644 index 000000000..58a1e2d85 --- /dev/null +++ b/3432/CH8/EX8.2/Ex8_2_f0.pdf diff --git a/3432/CH8/EX8.2/Ex8_2_f1.pdf b/3432/CH8/EX8.2/Ex8_2_f1.pdf Binary files differnew file mode 100644 index 000000000..614471a7f --- /dev/null +++ b/3432/CH8/EX8.2/Ex8_2_f1.pdf diff --git a/3432/CH8/EX8.2/Ex8_2_model.xcos b/3432/CH8/EX8.2/Ex8_2_model.xcos new file mode 100644 index 000000000..ec561ed0c --- /dev/null +++ b/3432/CH8/EX8.2/Ex8_2_model.xcos @@ -0,0 +1 @@ +<?xml version="1.0" encoding="UTF-8"?><XcosDiagram background="-1" finalIntegrationTime="30.0" title="Ex8_2_model"><!--Xcos - 1.0 - scilab-5.5.2 - 20150331 1318--><mxGraphModel 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