how can i solve this problem
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syms z kd kp ki a b c;
gs=tf([1369 74],[369600 51080 400 0])
gz=c2d(gs,3,'zoh')
gzz=(0.0004566*z^2+5.817e-06*z-0.0004382)/(z^3-2.933*z^2+2.866*z-0.9332);
f=(kp*(z-kd)*(z-ki))/(z*(z-1));
tzz=gzz*f/(1+gzz*f);
[n,d]=numden(tzz);
d=coeffs(d,z,'all');
d=d/d(1);
pd=(z^2+0.69*z+0.754)*(z^3+a*z^2+b*z+c)
pd=coeffs(pd,z,'all');
prob=pd==d;
sol=solve(prob,[kd ki a b c])
kiv=sol.ki(1);
kdv=sol.kd(1);
av=sol.a(1);
bv=sol.b(1);
cv=sol.c(1);
kpval=0:0.1:600
table=zeros(length(kpval));
for i=1:length(kpval)
table(i,1)=kpval(i);
table(i,2)=double(subs(kiv,kp,kpval(i)));
table(i,3)=double(subs(kdv,kp,kpval(i)));
table(i,4)=double(subs(av,kp,kpval(i)));
table(i,5)=double(subs(bv,kp,kpval(i)));
table(i,6)=double(subs(cv,kp,kpval(i)));
Dz=tf([table(i,1) -table(i,1)*(table(i,3)+table(i,2)) table(i,1)*table(i,2)*table(i,3)],[1 -1 0],3)
Tz=feedback(Dz*Gz,1)
info=stepinfo(Tz)
tablo(i,7)=info.Overshoot;
tablo(i,8)=info.SettlingTime;
end
%%%
Error using symengine
Division by zero.
Error in sym/subs>mupadsubs (line 160)
G = mupadmex('symobj::fullsubs',F.s,X2,Y2);
Error in sym/subs (line 145)
G = mupadsubs(F,X,Y);
Error in Untitled7 (line 23)
table(i,2)=double(subs(kiv,kp,kpval(i)));
2 个评论
KSSV
2020-5-27
Copy paste the code here.....not an image snippet.
madhan ravi
2020-5-28
Don’t use table as a variable name.
采纳的回答
Ameer Hamza
2020-5-28
In the expressions of kiv and kdv, there is kp in the denominator. So, you should start the list of Kp from a non-zero value, for example, change the line to
kpval=0.1:0.1:600 % start from 0.1
also, there appear to be another issue on the line
Tz=feedback(Dz*Gz,1)
Gz is not defined in your code. I guess it should be 'gz'.
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