Курсовая работа: Проектирование системы автоматического управления

end

Cx=(1/sqrt(N)*H)*f';%спектр эталонного выхода

for k=1:m

a4=Ce(k)*Tm(k)*ta(k);

a3=(Ky(k)*Jp(k)*Kd*ta(k)+Ce(k)*Tm(k)+Ce(k)*ta(k));

a2=(Ce(k)*Ky(k)*Jp(k)^2*K0(k)*ta(k)+Ky(k)*Jp(k)*Kd+Ky(k)*Jp(k)*Kp*ta(k)+Ce(k));

a1=(Ce(k)*Ky(k)*Jp(k)^2*K0(k)*al(k)+Ky(k)*Jp(k)*Ku*ta(k)+Ky(k)*Jp(k)*Kp);

a0=Ky(k)*Jp(k)*Ku;

b3=Ky(k)*Jp(k)*Kd*ta(k);

b2=(Ky(k)*Jp(k)*Kp*ta(k)+Ky(k)*Jp(k)*Kd);

b1=(Ky(k)*Jp(k)*Ku*ta(k)+Ky(k)*Jp(k)*Kp);

b0=Ky(k)*Jp(k)*Ku;

E=(a4*I+a3*Int+a2*Int*Int+a1*Int*Int*Int+a0*Int*Int*Int*Int)*Cx-(b3*Int+b2*Int*Int+b1*Int*Int*Int+b0*Int*Int*Int*Int)*Cy;

E1(k)=E'*E;

end

I=sum(E1(k));

X=[0.05189976146807 0.39467280591765 0.00047228019868];

Kp=X(1);

Ku=X(2);

Kd=X(3);

m=100;

K0=0.2*(0.8+0.4*rand(m,1));

Ky=100*(0.8+0.4*rand(m,1));

Ce=0.0105*(0.8+0.4*rand(m,1));

Jp=165*(0.8+0.4*rand(m,1));

ta=0.05*(0.8+0.4*rand(m,1));

al=0.2*(0.8+0.4*rand(m,1));

Tm=0.25*(0.8+0.4*rand(m,1));

for k=1:m