matlab을 이용한 자동제어 설계 프로젝트
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matlab을 이용한 자동제어 설계 프로젝트입니다.목차
- I n d e x -1.
I n t r o
•
DP 6.6에 대한 분석
•
제어의 목표와 방향을 설정
2.
System Analysis 1
•
P-Controller
•
PI-Controller
•
PD-Controller
•
PID-Controller
3.
System Analysis 2
•
Compensator
3.
Conclusion
•
Controller 확인 및 Simulation
•
최초 설정한 제어의 목표치와 결과 비교
4.
Epilogue
본문내용
모터사이클에 장착된 로봇이 모터사이클의 조향장치를 제어하는 것에 대해서 인터넷에서 검색을 해봤으나, 이렇다 할 만한 예나 실제 모델을 찾기 어려웠다. 개인적인 생각으로는 조향장치의 방향각 제어의 경우, Overshoot는 어느정도 용인되어도 좋으나, 로봇에서 처리를 하는 것이기 때문에 Input에 대한 Output의 반응이 빨라야 하므로 Rise Time은 되도록 빠르게 설정하기로 하였다. 그리하여 Overshoot는 5% 이내, Rise Time은 0.1초, Settling Time은 2초 미만으로 설정하기로 한다. 조향장치의 방향각 제어에서 90˚를 제어한다고 할 경우 Overshoot가 최대 5%가 발생하여도 94.5˚이고, 모터사이클 특성상 5% 정도의 각도차이는 그렇게 큰 문제나 사고를 유발하지 않을 것이라 생각되므로, 오버슈트는 다른 시스템에 비하여 꽤 큰 폭으로 잡아주었다.2. System Analysis
◎ 아래에 주어진 전달함수를 이용하여 Matlab Simulation을 시행한다.
참고 자료
없음압축파일 내 파일목록
Compensator/Compensator.m
Compensator/Compensator_Total.xls
Compensator/Compensator_k=10_z=0.1.xls
Compensator/Compensator_k=10_z=0.2.xls
Compensator/Compensator_k=10_z=0.3.xls
Compensator/Compensator_k=10_z=0.4.xls
Compensator/Compensator_k=10_z=0.5.xls
P-Controller/P_Ctrl_kp=10.xls
P-Controller/P_Ctrl_kp=100.xls
P-Controller/P_Ctrl_kp=15.xls
P-Controller/P_Ctrl_kp=20.xls
P-Controller/P_Ctrl_kp=30.xls
P-Controller/P_Ctrl_kp=50.xls
P-Controller/P_Ctrl_kp=70.xls
P-Controller/P_Total.xls
PD-Controller/Kp=10/PD_Total(Kp=10).xls
PD-Controller/Kp=10/PD_ctrl(Kp=10)(Kd=1).xls
PD-Controller/Kp=10/PD_ctrl(Kp=10)(Kd=10).xls
PD-Controller/Kp=10/PD_ctrl(Kp=10)(Kd=100).xls
PD-Controller/Kp=10/PD_ctrl(Kp=10)(Kd=15).xls
PD-Controller/Kp=10/PD_ctrl(Kp=10)(Kd=20).xls
PD-Controller/Kp=10/PD_ctrl(Kp=10)(Kd=30).xls
PD-Controller/Kp=10/PD_ctrl(Kp=10)(Kd=5).xls
PD-Controller/Kp=10/PD_ctrl(Kp=10)(Kd=50).xls
PD-Controller/Kp=100/PD_Total(Kp=100).xls
PD-Controller/Kp=100/PD_ctrl(Kp=100)(Kd=1).xls
PD-Controller/Kp=100/PD_ctrl(Kp=100)(Kd=10).xls
PD-Controller/Kp=100/PD_ctrl(Kp=100)(Kd=100).xls
PD-Controller/Kp=100/PD_ctrl(Kp=100)(Kd=15).xls
PD-Controller/Kp=100/PD_ctrl(Kp=100)(Kd=20).xls
PD-Controller/Kp=100/PD_ctrl(Kp=100)(Kd=30).xls
PD-Controller/Kp=100/PD_ctrl(Kp=100)(Kd=5).xls
PD-Controller/Kp=100/PD_ctrl(Kp=100)(Kd=50).xls
PD-Controller/Kp=15/PD_Total(Kp=15).xls
PD-Controller/Kp=15/PD_ctrl(Kp=15)(Kd=1).xls
PD-Controller/Kp=15/PD_ctrl(Kp=15)(Kd=10).xls
PD-Controller/Kp=15/PD_ctrl(Kp=15)(Kd=100).xls
PD-Controller/Kp=15/PD_ctrl(Kp=15)(Kd=15).xls
PD-Controller/Kp=15/PD_ctrl(Kp=15)(Kd=20).xls
PD-Controller/Kp=15/PD_ctrl(Kp=15)(Kd=30).xls
PD-Controller/Kp=15/PD_ctrl(Kp=15)(Kd=5).xls
PD-Controller/Kp=15/PD_ctrl(Kp=15)(Kd=50).xls
PD-Controller/Kp=20/PD_Total(Kp=20).xls
PD-Controller/Kp=20/PD_ctrl(Kp=20)(Kd=1).xls
PD-Controller/Kp=20/PD_ctrl(Kp=20)(Kd=10).xls
PD-Controller/Kp=20/PD_ctrl(Kp=20)(Kd=100).xls
PD-Controller/Kp=20/PD_ctrl(Kp=20)(Kd=15).xls
PD-Controller/Kp=20/PD_ctrl(Kp=20)(Kd=20).xls
PD-Controller/Kp=20/PD_ctrl(Kp=20)(Kd=30).xls
PD-Controller/Kp=20/PD_ctrl(Kp=20)(Kd=5).xls
PD-Controller/Kp=20/PD_ctrl(Kp=20)(Kd=50).xls
PD-Controller/Kp=30/PD_Total(Kp=30).xls
PD-Controller/Kp=30/PD_ctrl(Kp=30)(Kd=1).xls
PD-Controller/Kp=30/PD_ctrl(Kp=30)(Kd=10).xls
PD-Controller/Kp=30/PD_ctrl(Kp=30)(Kd=100).xls
PD-Controller/Kp=30/PD_ctrl(Kp=30)(Kd=15).xls
PD-Controller/Kp=30/PD_ctrl(Kp=30)(Kd=20).xls
PD-Controller/Kp=30/PD_ctrl(Kp=30)(Kd=30).xls
PD-Controller/Kp=30/PD_ctrl(Kp=30)(Kd=5).xls
PD-Controller/Kp=30/PD_ctrl(Kp=30)(Kd=50).xls
PD-Controller/Kp=50/PD_Total(Kp=50).xls
PD-Controller/Kp=50/PD_ctrl(Kp=50)(Kd=1).xls
PD-Controller/Kp=50/PD_ctrl(Kp=50)(Kd=10).xls
PD-Controller/Kp=50/PD_ctrl(Kp=50)(Kd=100).xls
PD-Controller/Kp=50/PD_ctrl(Kp=50)(Kd=15).xls
PD-Controller/Kp=50/PD_ctrl(Kp=50)(Kd=20).xls
PD-Controller/Kp=50/PD_ctrl(Kp=50)(Kd=30).xls
PD-Controller/Kp=50/PD_ctrl(Kp=50)(Kd=5).xls
PD-Controller/Kp=50/PD_ctrl(Kp=50)(Kd=50).xls
PD-Controller/pd_controller.m
PI-Controller/PI_Ctrl_kp=15_ki=0.1.xls
PI-Controller/PI_Ctrl_kp=15_ki=0.5.xls
PI-Controller/PI_Ctrl_kp=15_ki=1.xls
PI-Controller/PI_Ctrl_kp=15_ki=2.xls
PI-Controller/PI_Ctrl_kp=15_ki=4.xls
PI-Controller/PI_Total.xls
PI-Controller/pi_controller.m
PID-Controller/(kp=100)(kd=100)/PID_Ctrl(Kp=100)(Kd=100)(Ki=1).xls
PID-Controller/(kp=100)(kd=100)/PID_Ctrl(Kp=100)(Kd=100)(Ki=10).xls
PID-Controller/(kp=100)(kd=100)/PID_Ctrl(Kp=100)(Kd=100)(Ki=100).xls
PID-Controller/(kp=100)(kd=100)/PID_Ctrl(Kp=100)(Kd=100)(Ki=30).xls
PID-Controller/(kp=100)(kd=100)/PID_Ctrl(Kp=100)(Kd=100)(Ki=5).xls
PID-Controller/(kp=100)(kd=100)/PID_Ctrl(Kp=100)(Kd=100)(Ki=50).xls
PID-Controller/(kp=100)(kd=100)/PID_Total.xls
PID-Controller/Tuning/D-Tuning/D_Tuning.xls
PID-Controller/Tuning/D-Tuning/PID_Ctrl(Kp=140)(Kd=100)(Ki=100).xls
PID-Controller/Tuning/D-Tuning/PID_Ctrl(Kp=140)(Kd=70)(Ki=100).xls
PID-Controller/Tuning/D-Tuning/PID_Ctrl(Kp=140)(Kd=80)(Ki=100).xls
PID-Controller/Tuning/D-Tuning/PID_Ctrl(Kp=140)(Kd=90)(Ki=100).xls
PID-Controller/Tuning/I-Tuning/I_Tuning.xls
PID-Controller/Tuning/I-Tuning/PID_Ctrl(Kp=140)(Kd=90)(Ki=100).xls
PID-Controller/Tuning/I-Tuning/PID_Ctrl(Kp=140)(Kd=90)(Ki=120).xls
PID-Controller/Tuning/I-Tuning/PID_Ctrl(Kp=140)(Kd=90)(Ki=140).xls
PID-Controller/Tuning/I-Tuning/PID_Ctrl(Kp=140)(Kd=90)(Ki=160).xls
PID-Controller/Tuning/P-Tuning/PID_Ctrl(Kp=100)(Kd=100)(Ki=100).xls
PID-Controller/Tuning/P-Tuning/PID_Ctrl(Kp=120)(Kd=100)(Ki=100).xls
PID-Controller/Tuning/P-Tuning/PID_Ctrl(Kp=140)(Kd=100)(Ki=100).xls
PID-Controller/Tuning/P-Tuning/PID_Ctrl(Kp=160)(Kd=100)(Ki=100).xls
PID-Controller/Tuning/P-Tuning/P_Tuning.xls
PID-Controller/PID_Ctrl(kp=kd=ki=100)_step(0.001).xls
PID-Controller/PID_Final.m
PID-Controller/PID_Final.xls
PID-Controller/PID_Para.xls
PID-Controller/PID_ParaInput.asv
PID-Controller/PID_ParaInput.m
PID-Controller/PID_Ramp.xls
PID-Controller/PID_RampInput.m
PID-Controller/pid_controller.m
PID-Controller/pid_tuning_kd.m
PID-Controller/pid_tuning_ki.m
PID-Controller/pid_tuning_kp.asv
PID-Controller/pid_tuning_kp.m
0596064.ppt
Thumbs.db
자동제어프로젝트.hwp
Compensator/Compensator_Total.xls
Compensator/Compensator_k=10_z=0.1.xls
Compensator/Compensator_k=10_z=0.2.xls
Compensator/Compensator_k=10_z=0.3.xls
Compensator/Compensator_k=10_z=0.4.xls
Compensator/Compensator_k=10_z=0.5.xls
P-Controller/P_Ctrl_kp=10.xls
P-Controller/P_Ctrl_kp=100.xls
P-Controller/P_Ctrl_kp=15.xls
P-Controller/P_Ctrl_kp=20.xls
P-Controller/P_Ctrl_kp=30.xls
P-Controller/P_Ctrl_kp=50.xls
P-Controller/P_Ctrl_kp=70.xls
P-Controller/P_Total.xls
PD-Controller/Kp=10/PD_Total(Kp=10).xls
PD-Controller/Kp=10/PD_ctrl(Kp=10)(Kd=1).xls
PD-Controller/Kp=10/PD_ctrl(Kp=10)(Kd=10).xls
PD-Controller/Kp=10/PD_ctrl(Kp=10)(Kd=100).xls
PD-Controller/Kp=10/PD_ctrl(Kp=10)(Kd=15).xls
PD-Controller/Kp=10/PD_ctrl(Kp=10)(Kd=20).xls
PD-Controller/Kp=10/PD_ctrl(Kp=10)(Kd=30).xls
PD-Controller/Kp=10/PD_ctrl(Kp=10)(Kd=5).xls
PD-Controller/Kp=10/PD_ctrl(Kp=10)(Kd=50).xls
PD-Controller/Kp=100/PD_Total(Kp=100).xls
PD-Controller/Kp=100/PD_ctrl(Kp=100)(Kd=1).xls
PD-Controller/Kp=100/PD_ctrl(Kp=100)(Kd=10).xls
PD-Controller/Kp=100/PD_ctrl(Kp=100)(Kd=100).xls
PD-Controller/Kp=100/PD_ctrl(Kp=100)(Kd=15).xls
PD-Controller/Kp=100/PD_ctrl(Kp=100)(Kd=20).xls
PD-Controller/Kp=100/PD_ctrl(Kp=100)(Kd=30).xls
PD-Controller/Kp=100/PD_ctrl(Kp=100)(Kd=5).xls
PD-Controller/Kp=100/PD_ctrl(Kp=100)(Kd=50).xls
PD-Controller/Kp=15/PD_Total(Kp=15).xls
PD-Controller/Kp=15/PD_ctrl(Kp=15)(Kd=1).xls
PD-Controller/Kp=15/PD_ctrl(Kp=15)(Kd=10).xls
PD-Controller/Kp=15/PD_ctrl(Kp=15)(Kd=100).xls
PD-Controller/Kp=15/PD_ctrl(Kp=15)(Kd=15).xls
PD-Controller/Kp=15/PD_ctrl(Kp=15)(Kd=20).xls
PD-Controller/Kp=15/PD_ctrl(Kp=15)(Kd=30).xls
PD-Controller/Kp=15/PD_ctrl(Kp=15)(Kd=5).xls
PD-Controller/Kp=15/PD_ctrl(Kp=15)(Kd=50).xls
PD-Controller/Kp=20/PD_Total(Kp=20).xls
PD-Controller/Kp=20/PD_ctrl(Kp=20)(Kd=1).xls
PD-Controller/Kp=20/PD_ctrl(Kp=20)(Kd=10).xls
PD-Controller/Kp=20/PD_ctrl(Kp=20)(Kd=100).xls
PD-Controller/Kp=20/PD_ctrl(Kp=20)(Kd=15).xls
PD-Controller/Kp=20/PD_ctrl(Kp=20)(Kd=20).xls
PD-Controller/Kp=20/PD_ctrl(Kp=20)(Kd=30).xls
PD-Controller/Kp=20/PD_ctrl(Kp=20)(Kd=5).xls
PD-Controller/Kp=20/PD_ctrl(Kp=20)(Kd=50).xls
PD-Controller/Kp=30/PD_Total(Kp=30).xls
PD-Controller/Kp=30/PD_ctrl(Kp=30)(Kd=1).xls
PD-Controller/Kp=30/PD_ctrl(Kp=30)(Kd=10).xls
PD-Controller/Kp=30/PD_ctrl(Kp=30)(Kd=100).xls
PD-Controller/Kp=30/PD_ctrl(Kp=30)(Kd=15).xls
PD-Controller/Kp=30/PD_ctrl(Kp=30)(Kd=20).xls
PD-Controller/Kp=30/PD_ctrl(Kp=30)(Kd=30).xls
PD-Controller/Kp=30/PD_ctrl(Kp=30)(Kd=5).xls
PD-Controller/Kp=30/PD_ctrl(Kp=30)(Kd=50).xls
PD-Controller/Kp=50/PD_Total(Kp=50).xls
PD-Controller/Kp=50/PD_ctrl(Kp=50)(Kd=1).xls
PD-Controller/Kp=50/PD_ctrl(Kp=50)(Kd=10).xls
PD-Controller/Kp=50/PD_ctrl(Kp=50)(Kd=100).xls
PD-Controller/Kp=50/PD_ctrl(Kp=50)(Kd=15).xls
PD-Controller/Kp=50/PD_ctrl(Kp=50)(Kd=20).xls
PD-Controller/Kp=50/PD_ctrl(Kp=50)(Kd=30).xls
PD-Controller/Kp=50/PD_ctrl(Kp=50)(Kd=5).xls
PD-Controller/Kp=50/PD_ctrl(Kp=50)(Kd=50).xls
PD-Controller/pd_controller.m
PI-Controller/PI_Ctrl_kp=15_ki=0.1.xls
PI-Controller/PI_Ctrl_kp=15_ki=0.5.xls
PI-Controller/PI_Ctrl_kp=15_ki=1.xls
PI-Controller/PI_Ctrl_kp=15_ki=2.xls
PI-Controller/PI_Ctrl_kp=15_ki=4.xls
PI-Controller/PI_Total.xls
PI-Controller/pi_controller.m
PID-Controller/(kp=100)(kd=100)/PID_Ctrl(Kp=100)(Kd=100)(Ki=1).xls
PID-Controller/(kp=100)(kd=100)/PID_Ctrl(Kp=100)(Kd=100)(Ki=10).xls
PID-Controller/(kp=100)(kd=100)/PID_Ctrl(Kp=100)(Kd=100)(Ki=100).xls
PID-Controller/(kp=100)(kd=100)/PID_Ctrl(Kp=100)(Kd=100)(Ki=30).xls
PID-Controller/(kp=100)(kd=100)/PID_Ctrl(Kp=100)(Kd=100)(Ki=5).xls
PID-Controller/(kp=100)(kd=100)/PID_Ctrl(Kp=100)(Kd=100)(Ki=50).xls
PID-Controller/(kp=100)(kd=100)/PID_Total.xls
PID-Controller/Tuning/D-Tuning/D_Tuning.xls
PID-Controller/Tuning/D-Tuning/PID_Ctrl(Kp=140)(Kd=100)(Ki=100).xls
PID-Controller/Tuning/D-Tuning/PID_Ctrl(Kp=140)(Kd=70)(Ki=100).xls
PID-Controller/Tuning/D-Tuning/PID_Ctrl(Kp=140)(Kd=80)(Ki=100).xls
PID-Controller/Tuning/D-Tuning/PID_Ctrl(Kp=140)(Kd=90)(Ki=100).xls
PID-Controller/Tuning/I-Tuning/I_Tuning.xls
PID-Controller/Tuning/I-Tuning/PID_Ctrl(Kp=140)(Kd=90)(Ki=100).xls
PID-Controller/Tuning/I-Tuning/PID_Ctrl(Kp=140)(Kd=90)(Ki=120).xls
PID-Controller/Tuning/I-Tuning/PID_Ctrl(Kp=140)(Kd=90)(Ki=140).xls
PID-Controller/Tuning/I-Tuning/PID_Ctrl(Kp=140)(Kd=90)(Ki=160).xls
PID-Controller/Tuning/P-Tuning/PID_Ctrl(Kp=100)(Kd=100)(Ki=100).xls
PID-Controller/Tuning/P-Tuning/PID_Ctrl(Kp=120)(Kd=100)(Ki=100).xls
PID-Controller/Tuning/P-Tuning/PID_Ctrl(Kp=140)(Kd=100)(Ki=100).xls
PID-Controller/Tuning/P-Tuning/PID_Ctrl(Kp=160)(Kd=100)(Ki=100).xls
PID-Controller/Tuning/P-Tuning/P_Tuning.xls
PID-Controller/PID_Ctrl(kp=kd=ki=100)_step(0.001).xls
PID-Controller/PID_Final.m
PID-Controller/PID_Final.xls
PID-Controller/PID_Para.xls
PID-Controller/PID_ParaInput.asv
PID-Controller/PID_ParaInput.m
PID-Controller/PID_Ramp.xls
PID-Controller/PID_RampInput.m
PID-Controller/pid_controller.m
PID-Controller/pid_tuning_kd.m
PID-Controller/pid_tuning_ki.m
PID-Controller/pid_tuning_kp.asv
PID-Controller/pid_tuning_kp.m
0596064.ppt
Thumbs.db
자동제어프로젝트.hwp