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%gain statique
k=5;
t1=0.5;
t2=2;
t3=5;
num=[5];
den1=[t1 1];
den2=[t2 1];
den3=[t3 1];
H1=tf(num,den1);
H2=tf(num,den2);
H3=tf(num,den3);
>> H1=tf(num,den1)
Transfer function:
5
---------
0.5 s + 1
>> H2=tf(num,den2)
Transfer function:
5
-------
2 s + 1
>> H3=tf(num,den3)
Transfer function:
5
-------
5 s + 1
step(H1,H2,H3) ;
reponce indicelle a un echelon d'amplitude 2
5
4.5
3.5
3
Amplitude
2.5
1.5
0.5
0
0 5 10 15 20 25 30
Time (sec)
num=[5*2];
step(H1,H2,H3) ;
Step Response
10
6
Amplitude
0
0 5 10 15 20 25 30
Time (sec)
impulse(H1,H2,H3)
Impulse Response
20
H1
18
H2
16 H3
14
12
Amplitude
10
0
0 5 10 15 20 25 30
Time (sec)
bode(H1,H2,H3)
Bode Diagram
20
0
Magnitude (dB)
-20
-40
0
-45
Phase (deg)
-90
-2 -1 0 1 2
10 10 10 10 10
Frequency (rad/sec)
Nyquist Diagram
5
1
Imaginary Axis
-1
-2
-3
-4
-5
-2 0 2 4 6 8 10
Real Axis
nichols(H1,H2,H3)
Nichols Chart
20
15
10
5
Open-Loop Gain (dB)
-5
-10
-15
-90 -60 -30 0
Open-Loop Phase (deg)
Tp 2 : Etude de système de deuxième ordre
%gain statique
k=1;
m1=0.01;
m2=0.5;
m3=0.707;
m4=1;
m5=1.2;
wn=200;
reponse indic
2
1.8
1.6
1.4
1.2
Amplitude
0.8
0.6
0.4
0.2
0
0 0.5 1 1.5 2 2.5 3
Time (sec)
h2=tf([k*wn^2],[1 2*m2*wn wn^2]);
1.2
0.8
Amplitude
0.6
0.4
0.2
0
0 0.01 0.02 0.03 0.04 0.05 0.06
Time (sec)
1.2
1
Amplitude
0.8
0.6
0.4
0.2
0
0 0.005 0.01 0.015 0.02 0.025 0.03 0.035 0.04 0.045 0.05
Time (sec)
h4=tf([k*wn^2],[1 2*m4*wn wn^2]);
0.9
0.8
0.7
0.6
Amplitude
0.5
0.4
0.3
0.2
0.1
0
0 0.005 0.01 0.015 0.02 0.025 0.03 0.035 0.04
Time (sec)
0.9
0.8
0.7
Amplitude
0.6
0.5
0.4
0.3
0.2
0.1
0
0 0.01 0.02 0.03 0.04 0.05 0.06 0.07
Time (sec)
Les lieux de bode
Bode Diagram
40
20
0
Magnitude (dB)
-20
-40
-60
-80
0
-45
Phase (deg)
-90
-135
-180
0 1 2 3 4
10 10 10 10 10
Frequency (rad/sec)
H1 :
Nyquist Diagram
50
0 dB
40
30
20
Imaginary Axis
10
2 dB -2 dB
0
-10
-20
-30
-40
-50
-30 -20 -10 0 10 20 30
Real Axis
H2 :
Nyquist Diagram
1.5
2 dB 0 dB -2 dB
-4 dB
1
4 dB
-6 dB
6 dB
0.5
10 dB -10 dB
Imaginary Axis
20 dB -20 dB
0
-0.5
-1
-1.5
-1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8 1
Real Axis
H3 :
Nyquist Diagram
1
2 dB 0 dB -2 dB -4 dB
4 dB
0.8
-6 dB
0.6 6 dB
0.4 10 dB -10 dB
0.2
Imaginary Axis
20 dB -20 dB
-0.2
-0.4
-0.6
-0.8
-1
-1 -0.5 0 0.5 1 1.5
Real Axis
H4 :
Nyquist Diagram
0.8
4 dB 2 dB 0 dB -2 dB -4 dB -6 dB
0.6 6 dB
0.4 -10 dB
10 dB
0.2
Imaginary Axis
20 dB -20 dB
-0.2
-0.4
-0.6
-0.8
-1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8 1
Real Axis
H5 :
Nyquist Diagram
0.8
4 dB 2 dB 0 dB -2 dB -4 dB -6 dB
0.6 6 dB
0.4 -10 dB
10 dB
0.2
Imaginary Axis
20 dB -20 dB
-0.2
-0.4
-0.6
-0.8
-1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8 1
Real Axis
Les lieux de black-nichols
Nichols Chart
40
0 dB
0.25 dB
0.5 dB
20 1 dB -1 dB
3 dB
6 dB -3 dB
0 -6 dB
Open-Loop Gain (dB)
-12 dB
-20 -20 dB
-40 -40 dB
-60 -60 dB
-80 dB
-80
-360 -315 -270 -225 -180 -135 -90 -45 0
Open-Loop Phase (deg)
d1=exp(-m1*pi/sqrt(1-m1^2))
d1 = 0.9691
d2=exp(-m1*pi/sqrt(1-m2^2))
d2 = 0.9644
d3=exp(-m1*pi/sqrt(1-m3^2))
d3 = 0.9566
d4=exp(-m1*pi/sqrt(1-m4^2))
d4 = 0
d5=exp(-m1*pi/sqrt(1-m5^2))
d5 = 0.9989 + 0.0473i