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Compensator Design for a Set of Plant Models

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此示例显示了如何使用多种工厂模型设计和分析控制器Control System Designer.

Acquire a Set of Plant Models

For a typical feedback problem, the controller,C, is designed to satisfy some performance objective.

通常，植物的动态，G, are not known exactly and can vary based on operating conditions. For example, the system dynamics can vary:

  • Due to manufacturing tolerances that are typically defined as a range about the nominal value. For example, resistors have a specified tolerance range, such as 5 ohms +/- 1%.

  • Operating conditions. For example, aircraft dynamics change based on altitude and speed.

在为这些类型的系统设计控制器时，必须对系统的所有变体满足性能目标。

You can model such systems as a set of LTI models stored in an LTI array. You can then use Control System Designer to design a controller for a nominal plant from the array and analyze the controller design for the entire set of plants.

以下列表显示了创建LTI模型数组的命令：

控制系统工具箱™:

Simulink® Control Design™:

Robust Control Toolbox™:

  • Functions:uss（强大的控制工具箱）,usample（强大的控制工具箱）,usubs（强大的控制工具箱）.

System Identification Toolbox™:

  • Functions:pem（系统识别工具箱）,OE.（系统识别工具箱）,arx（系统识别工具箱）.

Create LTI Array

In this example, the plant model is the second-order system:

$$ g（s）= \ frac {\ oomega_n ^ 2} {s ^ 2 +2 \ zeta \ oomega_n s + \ oomega_n ^ 2} $$

where

$$ \ omega_n =（1,1.5,2）$$和$$ \ zeta =（.2，.5，.8）$$.

Construct an LTI array for the combinations of$\zeta$和\ omega_n美元.

wn = [1,1.5,2]; zeta = [.2,.5,.8]; ct = 1;forct1 = 1:length(wn)forct2 = 1:length(zeta) zetai = zeta(ct2); wni = wn(ct1); G(1,1,ct) = tf(wni^2,[1,2*zetai*wni,wni^2]); ct = ct+1;endendsize(G)
9x1 array of transfer functions. Each model has 1 outputs and 1 inputs.

开放控制系统设计师

Start the Control System Designer.

controlSystemDesigner(G)

The app opens with Bode and root locus open-loop editors open along with a step response plot.

By default, the nominal model used for design is the first element in the LTI array.

  • The root locus editor displays the root locus for the nominal model and the closed-loop pole locations associated with the set of plants.

  • Bode编辑器显示该组植物的标称模型响应和响应。

使用这些编辑器，您可以交互地调整补偿器的增益，杆和零，同时可视化对植物集的影响。

Change the Nominal Model

To change the nominal model, in the app, clickMultimodel Configuration.

To select the fifth model in the array as the nominal model, in the Multimodel Configuration dialog box, set theNominal Model Indexto5. The app response plots update automatically.

Options for Plotting Responses

The response plots always show the response of the nominal model. To view the other model responses, right-click the plot area and select:

  • Multimodel Display > Individual Responsesto view the response for each model.

  • Multimodel Display > Boundsto view an envelope that encapsulates all of the responses.

See Also

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