MATLAB CONTROL SYSTEM TOOLBOX 9 Guia do Utilizador descarregar pdf (Página 343)

100

101

LQG Regulation

9-35

Start with the -axis. First specify the model components as transfer function

objects .

% Hydraulic actuator (with input "u-x")

Hx = tf(2.4e8,[1 72 90^2],'inputname','u-x')

% Input thickness/hardness disturbance model

Fix = tf(1e4,[1 0.05],'inputn','w-ix')

% Rolling eccentricity model

Fex = tf([3e4 0],[1 0.125 6^2],'inputn','w-ex')

% Gain from force to thickness gap

gx = 1e–6;

Next build the open-loop model shown in Figure 9-1 above. You could use the

function

connect for this purpose, but it is easier to build this model by

elementary

append and series connections.

% I/O map from inputs to forces f1 and f2

Px = append([ss(Hx) Fex],Fix)

% Add static gain from f1,f2 to outputs ”x-gap” and ”x-force”

Px = [–gx gx;1 1] * Px

% Give names to the outputs:

set(Px,'outputn',{'x-gap' 'x-force'})

Note: To obtain minimal state-space realizations, always convert transfer

function models to state space before connecting them. Combining transfer

functions and then converting to state space may produce nonminimal

state-space models.

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