控制原理实验讲义（MATLAB）_控制原理报告

<html xmlns="http://www.w3.org/1999/xhtml"> <head> <meta charset="utf-8"> <meta name="generator" content="pdf2htmlEX"> <meta http-equiv="X-UA-Compatible" content="IE=edge,chrome=1"> <link rel="stylesheet" href="https://static.pudn.com/base/css/base.min.css"> <link rel="stylesheet" href="https://static.pudn.com/base/css/fancy.min.css"> <link rel="stylesheet" href="https://static.pudn.com/prod/directory_preview_static/628dc8127a0c34728f623b1e/raw.css"> <script src="https://static.pudn.com/base/js/compatibility.min.js"></script> <script src="https://static.pudn.com/base/js/pdf2htmlEX.min.js"></script> <script> try{ pdf2htmlEX.defaultViewer = new pdf2htmlEX.Viewer({}); }catch(e){} </script> <title></title> </head> <body> <div id="sidebar" style="display: none"> <div id="outline"> </div> </div> <div id="pf1" class="pf w0 h0" data-page-no="1"><div class="pc pc1 w0 h0"><img class="bi x0 y0 w1 h1" alt="" src="https://static.pudn.com/prod/directory_preview_static/628dc8127a0c34728f623b1e/bg1.jpg"><div class="t m0 x1 h2 y1 ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x1 h2 y2 ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x1 h2 y3 ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x1 h2 y4 ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x1 h2 y5 ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x2 h3 y6 ff2 fs1 fc0 sc1 ls0 ws0">《控<span class="_ _0"></span>制原理》<span class="_ _0"></span>实验<span class="ls1">讲义</span><span class="ff1 sc0"> </span></div><div class="t m0 x1 h2 y7 ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x1 h2 y8 ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x1 h2 y9 ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x1 h2 ya ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x1 h2 yb ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x1 h2 yc ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x1 h2 yd ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x1 h2 ye ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x1 h2 yf ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x1 h2 y10 ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x1 h2 y11 ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x1 h2 y12 ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x1 h2 y13 ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x1 h2 y14 ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x1 h2 y15 ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x1 h2 y16 ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x1 h2 y17 ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x1 h2 y18 ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x1 h2 y19 ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x3 h4 y1a ff2 fs2 fc0 sc1 ls0 ws0">郑州大<span class="_ _0"></span>学信<span class="_ _0"></span>息工程<span class="_ _0"></span><span class="ls1">学院编</span><span class="ff1 sc0"> </span></div><div class="t m0 x4 h5 y1b ff3 fs3 fc0 sc1 ls2 ws0">201<span class="ls0">8<span class="_ _1"> </span><span class="ff2">年<span class="_ _1"> </span></span>1<span class="_ _1"> </span><span class="ff2">月</span> </span></div><div class="t m0 x1 h2 y1c ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x1 h2 y1d ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x5 h4 y1e ff1 fs2 fc0 sc0 ls0 ws0"> </div></div><div class="pi" data-data='{"ctm":[1.611562,0.000000,0.000000,1.611562,0.000000,0.000000]}'></div></div> </body> </html>

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</span></div><div class="t m0 x5 ha y26 ff6 fs6 fc0 sc1 ls0 ws0">实验一<span class="ff1 sc0 ls4"> </span>典型<span class="_ _0"></span>环节的<span class="_ _4"> </span><span class="ff1 sc0">MA<span class="_ _3"></span>TLAB<span class="_"> </span><span class="ff6 sc1">仿真</span> <span class="_ _5"></span>............................................................................................... <span class="_ _6"></span>1 </span></div><div class="t m0 x5 ha y27 ff6 fs6 fc0 sc1 ls0 ws0">实验二<span class="ff1 sc0 ls4"> </span>线性<span class="_ _0"></span>系统分析方<span class="_ _0"></span>法<span class="ff1 sc0"> <span class="_ _6"></span>............................................................................................................... <span class="_ _6"></span>5 </span></div><div class="t m0 x5 ha y28 ff6 fs6 fc0 sc1 ls0 ws0">实验三<span class="ff1 sc0"> <span class="_"> </span> <span class="_"> </span></span>控制<span class="_ _0"></span>系统的数学<span class="_ _0"></span>模型<span class="ff1 sc0"> <span class="_ _6"></span>......................................................................................................... <span class="_ _6"></span>12 </span></div><div class="t m0 x5 ha y29 ff2 fs6 fc0 sc1 ls0 ws0">实验四<span class="ff1 sc0 ls4"> </span>典型<span class="_ _0"></span>环节的模拟<span class="_ _0"></span>方法及动态<span class="_ _0"></span>特性<span class="ff1 sc0"> <span class="_ _7"></span>..................................................................................... <span class="_ _6"></span>20 </span></div><div class="t m0 x5 ha y2a ff2 fs6 fc0 sc1 ls0 ws0">实验五<span class="ff1 sc0 ls4"> </span>控制<span class="_ _0"></span>系统的时域<span class="_ _0"></span>分析<span class="ff1 sc0"> <span class="_ _6"></span>......................................................................................................... <span class="_ _6"></span>21 </span></div><div class="t m0 x5 ha y2b ff2 fs6 fc0 sc1 ls0 ws0">实验六<span class="ff1 sc0 ls4"> </span>控制<span class="_ _0"></span>系统的根轨<span class="_ _0"></span>迹分析<span class="ff1 sc0"> <span class="_ _6"></span>..................................................................................................... <span class="_ _6"></span>31 </span></div><div class="t m0 x5 ha y2c ff2 fs6 fc0 sc1 ls0 ws0">实验七<span class="ff1 sc0 ls4"> </span>控制<span class="_ _0"></span>系统的频域<span class="_ _0"></span>分析<span class="ff1 sc0"> <span class="_ _6"></span>......................................................................................................... <span class="_ _6"></span>37 </span></div><div class="t m0 x5 ha y2d ff2 fs6 fc0 sc1 ls0 ws0">实验八<span class="ff1 sc0 ls4"> </span>串联<span class="_ _0"></span>校正环节的<span class="_ _0"></span>设计<span class="ff1 sc0"> <span class="_ _6"></span>......................................................................................................... <span class="_ _6"></span>44 </span></div><div class="t m0 x5 ha y2e ff2 fs6 fc0 sc1 ls0 ws0">实验九<span class="ff1 sc0 ls4"> </span>离散<span class="_ _0"></span>控制系统分<span class="_ _0"></span>析<span class="ff1 sc0"> <span class="_ _6"></span>............................................................................................................. <span class="_ _6"></span>47 </span></div><div class="t m0 x5 ha y2f ff6 fs6 fc0 sc1 ls0 ws0">实验十<span class="ff1 sc0"> <span class="_"> </span></span>控制<span class="_ _0"></span>系统装置频<span class="_ _0"></span>率特性测量<span class="ff1 sc0"> <span class="_ _6"></span>............................................................................................... <span class="_ _6"></span>52 </span></div><div class="t m0 x5 hb y30 ff4 fs7 fc0 sc0 ls0 ws0"> </div><div class="t m0 x5 hb y31 ff4 fs7 fc0 sc0 ls0 ws0"> </div><div class="t m0 x5 hb y32 ff4 fs7 fc0 sc0 ls0 ws0"> </div><div class="t m0 x5 hb y33 ff4 fs7 fc0 sc0 ls0 ws0"> </div><div class="t m0 x5 hb y34 ff4 fs7 fc0 sc0 ls0 ws0"> </div><div class="t m0 x5 hb y35 ff4 fs7 fc0 sc0 ls0 ws0"> </div><div class="t m0 x5 hb y36 ff4 fs7 fc0 sc0 ls0 ws0"> </div><div class="t m0 x5 hb y37 ff4 fs7 fc0 sc0 ls0 ws0"> </div><div class="t m0 x5 hb y38 ff4 fs7 fc0 sc0 ls0 ws0"> </div><div class="t m0 x5 hb y39 ff4 fs7 fc0 sc0 ls0 ws0"> </div><div class="t m0 x5 hb y3a ff4 fs7 fc0 sc0 ls0 ws0"> </div><div class="t m0 x5 hb y3b ff4 fs7 fc0 sc0 ls0 ws0"> </div><div class="t m0 x5 hb y3c ff4 fs7 fc0 sc0 ls0 ws0"> </div><div class="t m0 x5 hb y3d ff4 fs7 fc0 sc0 ls0 ws0"> </div><div class="t m0 x5 hb y3e ff4 fs7 fc0 sc0 ls0 ws0"> </div><div class="t m0 x5 hb y3f ff4 fs7 fc0 sc0 ls0 ws0"> </div><div class="t m0 x5 hb y40 ff4 fs7 fc0 sc0 ls0 ws0"> </div><div class="t m0 x5 hb y41 ff4 fs7 fc0 sc0 ls0 ws0"> </div><div class="t m0 x5 hb y42 ff4 fs7 fc0 sc0 ls0 ws0"> </div><div class="t m0 x5 hb y43 ff4 fs7 fc0 sc0 ls0 ws0"> </div><div class="t m0 x5 hb y44 ff4 fs7 fc0 sc0 ls0 ws0"> </div><div class="t m0 x5 hb y45 ff4 fs7 fc0 sc0 ls0 ws0"> </div><div class="t m0 x5 hb y46 ff4 fs7 fc0 sc0 ls0 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<div id="pf3" class="pf w0 h0" data-page-no="3"><div class="pc pc3 w0 h0"><img class="bi x0 y0 w1 h1" alt="" src="https://static.pudn.com/prod/directory_preview_static/628dc8127a0c34728f623b1e/bg3.jpg"><div class="t m0 x8 hc y51 ff6 fs5 fc0 sc0 ls0 ws0">前<span class="ff4"> <span class="_"> </span></span>言<span class="ff4"> </span></div><div class="t m0 x5 hd y52 ff6 fs8 fc0 sc0 ls0 ws0">一、概述<span class="ff4"> </span></div><div class="t m0 x5 hb y53 ff4 fs7 fc0 sc0 ls5 ws0"> <span class="ff2 fs6 ls0">研究一个控制系统的运动，<span class="_ _2"></span>一般采用两种方法来进行研究。<span class="_ _2"></span>一种方法是应用理论分析方法</span></div><div class="t m0 x5 he y54 ff2 fs6 fc0 sc0 ls1 ws0">来分析系统运动的性能，以获得系统设计的<span class="_ _0"></span>依据。另一种方法是通<span class="_ _0"></span>过实验研究，以获得所设</div><div class="t m0 x5 he y55 ff2 fs6 fc0 sc0 ls1 ws0">计系统的运动规律与系统的各项性能。这是<span class="_ _0"></span>通过运动曲线与实验数<span class="_ _0"></span>据来展现的。控制系统的</div><div class="t m0 x5 hf y56 ff2 fs6 fc0 sc0 ls0 ws0">两种研究方法互为补充，互为验证，两者缺一不可。<span class="ff4"> </span></div><div class="t m0 x5 hf y57 ff4 fs6 fc0 sc0 ls4 ws0"> <span class="ff2 ls0">在控制<span class="_ _0"></span>系统<span class="_ _0"></span>的<span class="_ _0"></span>实验<span class="_ _0"></span>研究<span class="_ _0"></span>中，<span class="_ _0"></span>可以在<span class="_ _0"></span>实<span class="_ _0"></span>际物<span class="_ _0"></span>理系<span class="_ _0"></span>统上<span class="_ _0"></span>来进<span class="_ _0"></span>行<span class="_ _0"></span>，也可<span class="_ _0"></span>以<span class="_ _0"></span>通过<span class="_ _0"></span>物理装<span class="_ _0"></span>置<span class="_ _0"></span>模型<span class="_ _0"></span>来</span></div><div class="t m0 x5 he y58 ff2 fs6 fc0 sc0 ls1 ws0">进行研究。当前，由于控制系统的对象规模<span class="_ _0"></span>越来越大，对象结构越<span class="_ _0"></span>来越复杂，对象的种类越</div><div class="t m0 x5 he y59 ff2 fs6 fc0 sc0 ls1 ws0">来越多，因此在控制系统的设计过程中，控<span class="_ _0"></span>制系统的仿真研究也就<span class="_ _0"></span>基本上取代了物理系统的</div><div class="t m0 x5 he y5a ff2 fs6 fc0 sc0 ls1 ws0">实验研究。一般只有到了控制系统设计的最<span class="_ _0"></span>后阶段<span class="_ _0"></span>——<span class="ls0">系统调<span class="_ _0"></span>试阶<span class="_ _0"></span>段<span class="_ _0"></span>，<span class="_ _0"></span>才有可<span class="_ _0"></span>能进<span class="_ _0"></span>行实际<span class="_ _0"></span>系</span></div><div class="t m0 x5 hf y5b ff2 fs6 fc0 sc0 ls0 ws0">统实验。<span class="ff4"> </span></div><div class="t m0 x5 hf y5c ff4 fs6 fc0 sc0 ls4 ws0"> <span class="ff2 ls0">控制系<span class="_ _0"></span>统的<span class="_ _0"></span>仿<span class="_ _0"></span>真研<span class="_ _0"></span>究方<span class="_ _0"></span>法有<span class="_ _0"></span>两种，<span class="_ _0"></span>一<span class="_ _0"></span>种方<span class="_ _0"></span>法是<span class="_ _0"></span>模拟<span class="_ _0"></span>仿真<span class="_ _0"></span>方<span class="_ _0"></span>法，另<span class="_ _0"></span>一<span class="_ _0"></span>种方<span class="_ _0"></span>法是数<span class="_ _0"></span>字<span class="_ _0"></span>仿真<span class="_ _0"></span>。</span></div><div class="t m0 x5 he y5d ff2 fs6 fc0 sc0 ls1 ws0">在自动控制原理综合实验中，我们将分别采<span class="_ _0"></span>用数字仿真的基本原理<span class="_ _0"></span>和模拟仿真的基本原理，</div><div class="t m0 x5 he y5e ff2 fs6 fc0 sc0 ls1 ws0">设计出合理的控<span class="ls0">制系<span class="_ _0"></span>统<span class="_ _0"></span>的仿<span class="_ _0"></span>真试验<span class="_ _0"></span>，为<span class="_ _0"></span>自动<span class="_ _0"></span>控<span class="_ _0"></span>制理<span class="_ _0"></span>论知<span class="_ _0"></span>识的进<span class="_ _0"></span>一步<span class="_ _0"></span>掌<span class="_ _0"></span>握<span class="_ _0"></span>和运用<span class="_ _0"></span>打下<span class="_ _0"></span>坚实<span class="_ _0"></span>的基</span></div><div class="t m0 x5 hf y5f ff2 fs6 fc0 sc0 ls0 ws0">础。<span class="ff4"> </span></div><div class="t m0 x5 hd y60 ff6 fs8 fc0 sc0 ls0 ws0">二、控制原理实<span class="_ _5"></span>验的任务<span class="ff4"> </span></div><div class="t m0 x9 hf y61 ff2 fs6 fc0 sc0 ls0 ws0">控制原理实验是自动控制理论课的一部分。实验任务是：<span class="ff4"> </span></div><div class="t m0 xa hf y62 ff4 fs6 fc0 sc0 ls0 ws0">1.<span class="ff7"> <span class="_ _8"> </span><span class="ff2">通过实<span class="_ _0"></span>验进<span class="_ _0"></span>一<span class="_ _0"></span>步了解<span class="_ _0"></span>和<span class="_ _0"></span>掌握<span class="_ _0"></span>自动控<span class="_ _0"></span>制<span class="_ _0"></span>理论<span class="_ _0"></span>的基<span class="_ _0"></span>本概<span class="_ _0"></span>念、<span class="_ _0"></span>控制<span class="_ _0"></span>系统<span class="_ _0"></span>的分<span class="_ _0"></span>析<span class="_ _0"></span>方法和<span class="_ _0"></span>设计<span class="_ _0"></span>方</span></span></div><div class="t m0 xb hf y63 ff2 fs6 fc0 sc0 ls0 ws0">法。<span class="ff4"> </span></div><div class="t m0 xa hf y64 ff4 fs6 fc0 sc0 ls0 ws0">2.<span class="ff7"> <span class="_ _8"> </span><span class="ff2">学习和掌握控制系统模拟电路的构成和测试技术。</span></span> </div><div class="t m0 xa hf y65 ff4 fs6 fc0 sc0 ls0 ws0">3.<span class="ff7"> <span class="_ _8"> </span><span class="ff2">学习和掌握<span class="_ _9"> </span></span></span>MA<span class="_ _a"></span>TLAB<span class="_"> </span><span class="ff2">语言和<span class="_ _9"> </span></span>SIMULINK<span class="_"> </span><span class="ff2">仿真环境。</span> </div><div class="t m0 xa hf y66 ff4 fs6 fc0 sc0 ls0 ws0">4.<span class="ff7"> <span class="_ _8"> </span><span class="ff2">提高分析问题及解决问题的能力。</span></span> </div><div class="t m0 xa hf y67 ff4 fs6 fc0 sc0 ls0 ws0">5.<span class="ff7"> <span class="_ _8"> </span><span class="ff2">提高动手能力、应用计算机的能力和水平。</span></span> </div><div class="t m0 x5 hd y68 ff6 fs8 fc0 sc0 ls0 ws0">三、对实验学生<span class="_ _5"></span>的要求：<span class="ff4"> </span></div><div class="t m0 xa hf y69 ff4 fs6 fc0 sc0 ls0 ws0">1.<span class="ff7"> <span class="_ _8"> </span><span class="ff2">阅读实<span class="_ _0"></span>验指<span class="_ _0"></span>导<span class="_ _0"></span>书、复<span class="_ _0"></span>习<span class="_ _0"></span>与实<span class="_ _0"></span>验有关<span class="_ _0"></span>的<span class="_ _0"></span>理论<span class="_ _0"></span>知识<span class="_ _0"></span>、明<span class="_ _0"></span>确每<span class="_ _0"></span>次实<span class="_ _0"></span>验的<span class="_ _0"></span>目的<span class="_ _0"></span>，<span class="_ _0"></span>了解实<span class="_ _0"></span>验内<span class="_ _0"></span>容</span></span></div><div class="t m0 xb hf y6a ff2 fs6 fc0 sc0 ls0 ws0">和方法。<span class="ff4"> </span></div><div class="t m0 xa hf y6b ff4 fs6 fc0 sc0 ls0 ws0">2.<span class="ff7"> <span class="_ _8"> </span><span class="ff2">按实验指导书要求进行操作，在实验中注意观察、记录有关数据和图像。</span></span> </div><div class="t m0 xa hf y6c ff4 fs6 fc0 sc0 ls0 ws0">3.<span class="ff7"> <span class="_ _8"> </span><span class="ff2">认真写<span class="_ _0"></span>实验<span class="_ _0"></span>报<span class="_ _0"></span>告、按<span class="_ _0"></span>规<span class="_ _0"></span>定格<span class="_ _0"></span>式做出<span class="_ _0"></span>图<span class="_ _0"></span>表、<span class="_ _0"></span>曲线<span class="_ _0"></span>、并<span class="_ _0"></span>分析<span class="_ _0"></span>实验<span class="_ _0"></span>结果<span class="_ _0"></span>。字<span class="_ _0"></span>迹<span class="_ _0"></span>要清楚<span class="_ _0"></span>，画<span class="_ _0"></span>曲</span></span></div><div class="t m0 xb hf y6d ff2 fs6 fc0 sc0 ls0 ws0">线用坐标纸，结论要明确。<span class="ff4"> </span></div><div class="t m0 xa hf y6e ff4 fs6 fc0 sc0 ls0 ws0">4.<span class="ff7"> <span class="_ _8"> </span><span class="ff2">爱护实验设备、遵守实验室规定。</span></span> </div><div class="t m0 xa hf y6f ff4 fs6 fc0 sc0 ls0 ws0">5.<span class="ff7"> <span class="_ _8"> </span><span class="ff2">按照实验指导书，自带<span class="_ _9"> </span></span></span>U<span class="_"> </span><span class="ff2">盘将各自实验的输出结果拷贝回去整理在报告中。</span> </div></div><div class="pi" data-data='{"ctm":[1.611562,0.000000,0.000000,1.611562,0.000000,0.000000]}'></div></div>

<div id="pf4" class="pf w0 h0" data-page-no="4"><div class="pc pc4 w0 h0"><img class="bi x0 y0 w1 h1" alt="" src="https://static.pudn.com/prod/directory_preview_static/628dc8127a0c34728f623b1e/bg4.jpg"><div class="t m0 x5 h6 y1f ff4 fs4 fc0 sc0 ls0 ws0"> </div><div class="c xc y20 w3 h7"><div class="t m0 x0 h6 y21 ff4 fs4 fc0 sc0 ls0 ws0">1<span class="fc2 sc0"> </span></div></div><div class="t m0 xd h10 y70 ff6 fs2 fc0 sc0 ls0 ws0">实验一<span class="_ _0"></span><span class="ff4 ls6"> </span>典型环节的<span class="_ _b"> </span><span class="ff4">MATLAB<span class="_"> </span></span><span class="ls1">仿真</span><span class="ff4"> </span></div><div class="t m0 x9 ha y71 ff2 fs6 fc0 sc1 ls0 ws0">一、实验目的<span class="ff1 sc0"> </span></div><div class="t m0 xe hb y72 ff4 fs7 fc0 sc0 ls0 ws0">1<span class="ff2">．熟悉<span class="_ _c"> </span></span>MA<span class="_ _a"></span>TLAB<span class="_"> </span><span class="ff2">桌面<span class="_ _5"></span>和命令窗口，<span class="_ _5"></span>初步了<span class="_ _5"></span>解<span class="_ _c"> </span><span class="ff4">SIMULI<span class="_ _5"></span>NK<span class="_"> </span><span class="ff2">功能模块的使用<span class="_ _5"></span>方法。<span class="_ _5"></span><span class="ff4"> </span></span></span></span></div><div class="t m0 xe hb y73 ff4 fs7 fc0 sc0 ls0 ws0">2<span class="ff2">．通过观察典<span class="_ _5"></span>型环节在<span class="_ _5"></span>单位阶跃<span class="_ _5"></span>信号作用下的<span class="_ _5"></span>动态特性，<span class="_ _5"></span>加深对各<span class="_ _5"></span>典型环节响应曲<span class="_ _5"></span>线的理解<span class="_ _5"></span>。<span class="ff4"> </span></span></div><div class="t m0 xe hb y74 ff4 fs7 fc0 sc0 ls0 ws0">3<span class="ff2">．定性了解各<span class="_ _5"></span>参数变化<span class="_ _5"></span>对典型环<span class="_ _5"></span>节动态特性的<span class="_ _5"></span>影响。<span class="ff4"> </span></span></div><div class="t m0 xe h11 y75 ff2 fs7 fc0 sc1 ls0 ws0">二、<span class="ff1 sc0">SIMULINK<span class="_ _c"> </span></span>的使用<span class="_ _5"></span><span class="ff1 sc0"> </span></div><div class="t m0 xe hb y76 ff4 fs7 fc0 sc0 ls0 ws0">MA<span class="_ _a"></span>TLAB<span class="_"> </span><span class="ff2">中<span class="_ _9"> </span></span>SIMUL<span class="_ _5"></span>I<span class="_ _5"></span>NK<span class="_ _9"> </span><span class="ff2">是一个用来<span class="_ _5"></span>对动态系<span class="_ _5"></span>统进行建模、仿<span class="_ _5"></span>真和分析<span class="_ _5"></span>的软件包。<span class="_ _5"></span>利用<span class="_ _c"> </span><span class="ff4">SIMULINK<span class="_"> </span></span>功</span></div><div class="t m0 x5 hb y77 ff2 fs7 fc0 sc0 ls0 ws0">能模块可以快速<span class="_ _5"></span>的建立控<span class="_ _5"></span>制系统的模<span class="_ _5"></span>型，进行仿真<span class="_ _5"></span>和调试。<span class="_ _5"></span><span class="ff4"> </span></div><div class="t m0 xe hb y78 ff4 fs7 fc0 sc0 ls0 ws0">1<span class="ff2">．<span class="_ _7"></span>运行<span class="_ _c"> </span><span class="ff4">MA<span class="_ _a"></span>TLAB<span class="_ _c"> </span><span class="ff2">软件，<span class="_ _d"></span>在命令窗口栏<span class="_ _5"></span><span class="ff8">“>>”<span class="ff2">提示<span class="_ _5"></span>符下键入<span class="_ _c"> </span><span class="ff4">sim<span class="_ _5"></span>ulink<span class="_"> </span><span class="ff2">命令，<span class="_ _d"></span>按<span class="_ _c"> </span><span class="ff4">Enter<span class="_"> </span></span>键或在工<span class="_ _5"></span>具栏单击</span></span></span></span></span></span></span></div><div class="t m0 x5 hb y79 ff2 fs7 fc0 sc0 ls0 ws0">按钮，即可进入<span class="_ _5"></span>如图<span class="_ _c"> </span><span class="ff4">1-1<span class="_"> </span></span>所示<span class="_ _5"></span>的<span class="_ _c"> </span><span class="ff4">SIMULI<span class="_ _5"></span>NK<span class="_"> </span><span class="ff2">仿真环境下。<span class="_ _5"></span><span class="ff4"> </span></span></span></div><div class="t m0 xe hb y7a ff4 fs7 fc0 sc0 ls0 ws0">2<span class="ff2">．选择<span class="_ _c"> </span></span>Fi<span class="_ _5"></span>le<span class="_"> </span><span class="ff2">菜单下<span class="_ _c"> </span></span>New<span class="_"> </span><span class="ff2">下的<span class="_ _c"> </span></span>Model<span class="_"> </span><span class="ff2">命<span class="_ _5"></span>令，新建一<span class="_ _5"></span>个<span class="_ _c"> </span><span class="ff4">simul<span class="_ _5"></span>ink<span class="_"> </span><span class="ff2">仿真环境常规<span class="_ _5"></span>模板。<span class="ff4"> </span></span></span></span></div><div class="t m0 xe hb y7b ff4 fs7 fc0 sc0 ls0 ws0"> </div><div class="t m0 xf hb y7c ff4 fs7 fc0 sc0 ls0 ws0"> </div><div class="t m0 xe hb y7d ff4 fs7 fc0 sc0 ls0 ws0">3<span class="ff2">．在<span class="_ _c"> </span></span>Simul<span class="_ _5"></span>ink<span class="_"> </span><span class="ff2">仿真环境下<span class="_ _5"></span>，创建所需<span class="_ _5"></span>要的系统<span class="ff4"> </span></span></div><div class="t m0 xe hb y7e ff2 fs7 fc0 sc0 ls0 ws0">以图<span class="_ _c"> </span><span class="ff4">1-2<span class="_"> </span></span>所示的<span class="_ _5"></span>系统为例，说明<span class="_ _5"></span>基本设计<span class="_ _5"></span>步骤如下<span class="_ _5"></span>：<span class="ff4"> </span></div><div class="t m0 xe hb y7f ff4 fs7 fc0 sc0 ls0 ws0">1<span class="ff2">）<span class="_ _e"></span>进入线性系统模<span class="_ _5"></span>块库，<span class="_ _e"></span>构<span class="_ _5"></span>建传递函数<span class="_ _5"></span>。<span class="_ _e"></span>点击<span class="_ _c"> </span><span class="ff4">Simul<span class="_ _5"></span>ink<span class="_"> </span><span class="ff2">下的<span class="ff8">“Continuo<span class="_ _5"></span>us”<span class="ff2">，<span class="_ _e"></span>再将右<span class="_ _5"></span>边窗口中<span class="ff8">“<span class="_ _5"></span>T<span class="_ _5"></span>ransfer F<span class="_ _5"></span>en”</span></span></span></span></span></span></div><div class="t m0 x5 hb y80 ff2 fs7 fc0 sc0 ls0 ws0">的图标用左键拖<span class="_ _5"></span>至新建的<span class="_ _5"></span><span class="ff8">“unti<span class="_ _5"></span>tled”<span class="ff2">窗口。<span class="ff4"> </span></span></span></div><div class="t m0 xe hb y81 ff4 fs7 fc0 sc0 ls0 ws0">2<span class="ff2">）<span class="_ _3"></span>改变<span class="_ _5"></span>模块参数<span class="_ _5"></span>。<span class="_ _3"></span>在<span class="_ _c"> </span><span class="ff4">Sim<span class="_ _5"></span>ulink<span class="_"> </span><span class="ff2">仿真环境<span class="ff8">“u<span class="_ _5"></span>ntitl<span class="_ _5"></span>ed”<span class="ff2">窗口中双击该<span class="_ _5"></span>图标，<span class="_ _a"></span>即可改变传递函数<span class="_ _5"></span>。<span class="_ _a"></span>其中方括号</span></span></span></span></span></div><div class="t m0 x5 h12 y82 ff2 fs7 fc0 sc0 ls0 ws0">内的数字分别为传递函数的分子、分母各次幂由高到低的系数，数字之间用<span class="_ _5"></span>空格隔开；设置完成后，选择</div><div class="t m0 x5 hb y83 ff4 fs7 fc0 sc0 ls7 ws0">OK<span class="ff2 ls0">，即完<span class="_ _5"></span>成该模块<span class="_ _5"></span>的设置<span class="_ _5"></span>。<span class="ff4"> </span></span></div><div class="t m0 xe hb y84 ff4 fs7 fc0 sc0 ls0 ws0">3<span class="ff2">）<span class="_ _a"></span>建立其它传递函数<span class="_ _5"></span>模块。<span class="_ _a"></span>按照上述<span class="_ _5"></span>方法，<span class="_ _a"></span>在不同的<span class="_ _c"> </span><span class="ff4">Sim<span class="_ _5"></span>ulink<span class="_"> </span><span class="ff2">的模块<span class="_ _5"></span>库中，<span class="_ _a"></span>建立系统所需的<span class="_ _5"></span>传递函数</span></span></span></div><div class="t m0 x5 hb y85 ff2 fs7 fc0 sc0 ls0 ws0">模块。例：比例<span class="_ _5"></span>环节用<span class="ff8">“M<span class="_ _5"></span>ath”<span class="ff2">右边<span class="_ _5"></span>窗口<span class="ff8">“Gain”</span>的图<span class="_ _5"></span>标。<span class="ff4"> </span></span></span></div><div class="t m0 xe hb y86 ff4 fs7 fc0 sc0 ls0 ws0">4<span class="ff2">）选取阶跃信<span class="_ _5"></span>号输入函<span class="_ _5"></span>数。用鼠<span class="_ _5"></span>标点击<span class="_ _1"> </span><span class="ff4">Sim<span class="_ _5"></span>ulink<span class="_ _1"> </span><span class="ff2">下的<span class="ff8">“Sourc<span class="_ _5"></span>e”<span class="ff2">，将右<span class="_ _5"></span>边窗口中<span class="ff8">“S<span class="_ _5"></span>t<span class="_ _5"></span>ep”<span class="ff2">图标用左键拖<span class="_ _5"></span>至</span></span></span></span></span></span></span></div><div class="t m0 x5 hb y87 ff2 fs7 fc0 sc0 ls0 ws0">新建的<span class="ff8">“untit<span class="_ _5"></span>led”<span class="ff2">窗口，形<span class="_ _5"></span>成一个阶跃<span class="_ _5"></span>函数输入模块<span class="_ _5"></span>。<span class="ff4"> </span></span></span></div><div class="t m0 xe hb y88 ff4 fs7 fc0 sc0 ls0 ws0">5<span class="ff2">）选择输出方<span class="_ _5"></span>式。用鼠<span class="_ _5"></span>标点击<span class="_ _9"> </span><span class="ff4">Simulink<span class="_ _9"> </span></span>下的<span class="ff8">“Sinks”<span class="_ _5"></span><span class="ff2">，就进入输<span class="_ _5"></span>出方式模块库<span class="_ _5"></span>，通常选用<span class="_ _5"></span><span class="ff8">“Scope”<span class="ff2 ls8">的示</span></span></span></span></span></div><div class="t m0 x5 hb y89 ff2 fs7 fc0 sc0 ls0 ws0">波器图标，将其<span class="_ _5"></span>用左键拖<span class="_ _5"></span>至新建的<span class="ff8">“u<span class="_ _5"></span>ntitled”<span class="ff2">窗口。<span class="_ _5"></span><span class="ff4"> </span></span></span></div><div class="c x10 y8a w4 h13"><div class="t m0 x11 hb y8b ff2 fs7 fc0 sc0 ls0 ws0">图<span class="_ _c"> </span><span class="ff4">1-1 <span class="_"> </span> <span class="_"> </span> <span class="_"> </span>SIMULI<span class="_ _5"></span>NK<span class="_"> </span><span class="ff2">仿真界面<span class="_ _5"></span><span class="ff4"> </span></span></span></div></div><div class="c x12 y8c w5 h13"><div class="t m0 x11 hb y8b ff2 fs7 fc0 sc0 ls0 ws0">图<span class="_ _c"> </span><span class="ff4">1-2 <span class="_"> </span> <span class="_"> </span> <span class="_"> </span></span>系统方<span class="_ _5"></span>框图<span class="ff4"> <span class="_"> </span> <span class="_"> </span> <span class="_"> </span> </span></div></div></div><div class="pi" data-data='{"ctm":[1.611562,0.000000,0.000000,1.611562,0.000000,0.000000]}'></div></div>

<div id="pf5" class="pf w0 h0" data-page-no="5"><div class="pc pc5 w0 h0"><img class="bi x0 y0 w1 h1" alt="" src="https://static.pudn.com/prod/directory_preview_static/628dc8127a0c34728f623b1e/bg5.jpg"><div class="t m0 x5 h6 y1f ff4 fs4 fc0 sc0 ls0 ws0"> </div><div class="c xc y20 w3 h7"><div class="t m0 x0 h6 y21 ff4 fs4 fc0 sc0 ls0 ws0">2<span class="fc2 sc0"> </span></div></div><div class="t m0 xe hb y8d ff4 fs7 fc0 sc0 ls0 ws0">6<span class="ff2">）<span class="_ _7"></span>选择反馈形式<span class="_ _5"></span>。<span class="_ _7"></span>为了形<span class="_ _5"></span>成闭环反馈系统<span class="_ _5"></span>，<span class="_ _7"></span>需选择<span class="ff8">“<span class="_ _5"></span>Math” <span class="_"> </span><span class="ff2">模块库<span class="_ _5"></span>右边窗口<span class="ff8">“<span class="_ _5"></span>Sum<span class="_ _5"></span>”<span class="ff2">图标，<span class="_ _7"></span>并用鼠标<span class="_ _5"></span>双击，</span></span></span></span></span></div><div class="t m0 x5 hb y8e ff2 fs7 fc0 sc0 ls0 ws0">将其设置为需要<span class="_ _5"></span>的反馈形<span class="_ _5"></span>式（改变正<span class="_ _5"></span>负号）<span class="_ _e"></span>。<span class="_ _5"></span><span class="ff4"> </span></div><div class="t m0 xe hb y8f ff4 fs7 fc0 sc0 ls0 ws0">7<span class="ff2">）连接各元件<span class="_ _5"></span>，用鼠标<span class="_ _5"></span>划线，构<span class="_ _5"></span>成闭环传递函<span class="_ _5"></span>数。<span class="ff4"> </span></span></div><div class="t m0 xe hb y90 ff4 fs7 fc0 sc0 ls0 ws0">8<span class="ff2">）<span class="_ _6"></span>运行并观察响应<span class="_ _5"></span>曲线。<span class="_ _6"></span>用鼠标单击<span class="_ _5"></span>工具栏中<span class="_ _5"></span>的<span class="ff8">“<span class="_ _f"> </span>”</span>按钮，<span class="_ _6"></span>便能自动运<span class="_ _5"></span>行仿真环境下<span class="_ _5"></span>的系统框<span class="_ _5"></span>图模型。</span></div><div class="t m0 x5 hb y91 ff2 fs7 fc0 sc0 ls0 ws0">运行完之后用鼠<span class="_ _5"></span>标双击<span class="ff8">“S<span class="_ _5"></span>cope”<span class="ff2">元<span class="_ _5"></span>件，即可看到<span class="_ _5"></span>响应曲线。<span class="_ _5"></span><span class="ff4"> </span></span></span></div><div class="t m0 xe h11 y92 ff2 fs7 fc0 sc1 ls0 ws0">三、实验原理<span class="ff1 sc0"> </span></div><div class="t m0 xe hb y93 ff4 fs7 fc0 sc0 ls0 ws0">1<span class="ff2">．比例环节的<span class="_ _5"></span>传递函数<span class="_ _5"></span>为<span class="ff4"> </span></span></div><div class="t m0 x13 hb y94 ff4 fs7 fc0 sc0 ls0 ws0"> </div><div class="c x14 y95 w6 h14"><div class="t m2 x15 h15 y96 ff4 fs9 fc0 sc0 ls9 ws0">22</div><div class="t m2 x16 h15 y97 ff4 fs9 fc0 sc0 lsa ws0">12</div><div class="t m2 x15 h15 y98 ff4 fs9 fc0 sc0 lsb ws0">11</div><div class="t m2 x17 h16 y99 ff4 fsa fc0 sc0 ls0 ws0">(<span class="_ _b"> </span>)<span class="_ _10"> </span>2<span class="_ _11"> </span>100<span class="_ _12"> </span>,<span class="_ _13"> </span>200</div><div class="t m2 x18 h17 y9a ff9 fsa fc0 sc0 lsc ws0">ZR</div><div class="t m2 x19 h17 y99 ff9 fsa fc0 sc0 ls0 ws0">G<span class="_ _1"> </span>s<span class="_ _14"> </span>R<span class="_ _15"> </span>K<span class="_ _16"> </span>R<span class="_ _17"> </span>K</div><div class="t m2 x18 h17 y9b ff9 fsa fc0 sc0 lsd ws0">ZR</div><div class="t m2 x1a h18 y99 ffa fsa fc0 sc0 ls0 ws0"><span class="_ _c"> </span><span class="_ _18"> </span><span class="_ _c"> </span><span class="_ _18"> </span><span class="_ _19"> </span><span class="_ _1a"> </span><span class="_ _1b"> </span></div></div><div class="t m0 x1b hb y94 ff4 fs7 fc0 sc0 ls0 ws0"> </div><div class="t m0 xe hb y9c ff2 fs7 fc0 sc0 ls0 ws0">其对应的模拟电<span class="_ _5"></span>路及<span class="_ _19"> </span><span class="ff4">SIMULINK<span class="_ _19"> </span></span>图形如图<span class="_ _9"> </span><span class="ff4">1-<span class="_ _5"></span>3<span class="_"> </span><span class="ff2 ls8">所示。</span> </span></div><div class="t m0 xe h12 y8 ff3 fs7 fc0 sc0 ls0 ws0"> </div><div class="t m0 xe h12 y9d ff3 fs7 fc0 sc0 ls0 ws0"> </div><div class="t m0 xe h12 y9e ff3 fs7 fc0 sc0 ls0 ws0"> </div><div class="t m0 xe h12 y9f ff3 fs7 fc0 sc0 ls0 ws0"> </div><div class="t m0 xe h12 ya0 ff3 fs7 fc0 sc0 ls0 ws0"> </div><div class="t m0 xe h12 ya1 ff3 fs7 fc0 sc0 ls0 ws0"> </div><div class="t m0 x5 h12 ya2 ff3 fs7 fc0 sc0 ls0 ws0"> </div><div class="t m0 xe hb ya3 ff4 fs7 fc0 sc0 ls0 ws0">2<span class="ff2">．惯性环节的<span class="_ _5"></span>传递函数<span class="_ _5"></span>为<span class="ff4"> </span></span></div><div class="c x1c ya4 w7 h19"><div class="t m3 x1d h1a ya5 ff4 fsb fc0 sc0 ls0 ws0">2</div><div class="t m3 x15 h1a ya6 ff4 fsb fc0 sc0 lse ws0">21</div><div class="t m3 x1e h1a ya7 ff4 fsb fc0 sc0 ls0 ws0">1<span class="_ _1c"> </span>2<span class="_ _1d"> </span>1</div><div class="t m3 x15 h1a ya8 ff4 fsb fc0 sc0 ls0 ws0">1<span class="_ _1e"> </span>2<span class="_ _1f"> </span>1</div><div class="t m3 x1f h1b ya9 ff4 fsc fc0 sc0 ls0 ws0">2</div><div class="t m3 x17 h1b yaa ff4 fsc fc0 sc0 ls0 ws0">(<span class="_ _16"> </span>)<span class="_ _20"> </span>100<span class="_ _21"> </span>,<span class="_ _22"> </span>200<span class="_ _21"> </span>,<span class="_ _23"> </span>1</div><div class="t m3 x10 h1b yab ff4 fsc fc0 sc0 ls0 ws0">1<span class="_ _24"> </span>0.2<span class="_ _25"> </span>1</div><div class="t m3 x20 h1c yac ff9 fsc fc0 sc0 ls0 ws0">R</div><div class="t m3 x18 h1c yad ff9 fsc fc0 sc0 lsf ws0">ZR</div><div class="t m3 x19 h1c yae ff9 fsc fc0 sc0 ls0 ws0">G<span class="_ _b"> </span>s<span class="_ _26"> </span>R<span class="_ _27"> </span>K<span class="_ _16"> </span>R<span class="_ _28"> </span>K<span class="_ _b"> </span>C<span class="_ _29"> </span>uf</div><div class="t m3 x18 h1c yaf ff9 fsc fc0 sc0 ls0 ws0">Z<span class="_ _2a"> </span>R<span class="_ _9"> </span>C<span class="_ _2b"> </span>s</div><div class="t m3 x1a h1d yb0 ffa fsc fc0 sc0 ls0 ws0"><span class="_ _c"> </span><span class="_ _2c"> </span><span class="_ _c"> </span><span class="_ _2d"> </span><span class="_ _c"> </span><span class="_ _2e"> </span><span class="_ _2f"> </span><span class="_ _30"> </span></div><div class="t m3 x9 h1d yab ffa fsc fc0 sc0 ls10 ws0"></div></div><div class="t m0 x21 h12 yb1 ff3 fs7 fc0 sc0 ls0 ws0"> </div><div class="t m0 xe hb yb2 ff2 fs7 fc0 sc0 ls0 ws0">其对应的模拟电<span class="_ _5"></span>路及<span class="_ _19"> </span><span class="ff4">SIMULINK<span class="_ _19"> </span></span>图形如图<span class="_ _9"> </span><span class="ff3">1<span class="_ _5"></span>-4<span class="_ _c"> </span><span class="ff2 ls8">所示。</span> </span></div><div class="t m0 xe h12 yb3 ff3 fs7 fc0 sc0 ls0 ws0"> </div><div class="t m0 x5 h12 yb4 ff3 fs7 fc0 sc0 ls0 ws0"> </div><div class="t m0 x5 h12 yb5 ff3 fs7 fc0 sc0 ls0 ws0"> </div><div class="t m0 x5 h12 yb6 ff3 fs7 fc0 sc0 ls0 ws0"> </div><div class="t m0 x5 h12 yb7 ff3 fs7 fc0 sc0 ls0 ws0"> </div><div class="t m0 x5 h12 yb8 ff3 fs7 fc0 sc0 ls0 ws0"> </div><div class="t m0 x5 h12 yb9 ff3 fs7 fc0 sc0 ls0 ws0"> </div><div class="t m0 x5 h12 yba ff3 fs7 fc0 sc0 ls0 ws0"> </div><div class="t m0 xe hb ybb ff4 fs7 fc0 sc0 ls0 ws0">3<span class="ff2">．积分环节</span>(<span class="_ _5"></span>I)<span class="ff2">的传递函<span class="_ _5"></span>数为<span class="ff4"> </span></span></div><div class="c x22 ybc w8 h1e"><div class="t m4 x23 h1f ybd ff9 fsd fc0 sc0 ls11 ws0">uf<span class="_ _31"></span><span class="ls0">C<span class="_ _32"></span>K<span class="_ _33"></span>R</span></div><div class="t m4 x24 h1f ybe ff9 fsd fc0 sc0 ls0 ws0">s<span class="_ _34"></span>s<span class="_ _35"></span>C<span class="_ _36"></span>R<span class="_ _37"></span>Z</div><div class="t m4 x25 h1f ybf ff9 fsd fc0 sc0 ls0 ws0">Z</div><div class="t m4 x26 h20 yc0 ff9 fsd fc0 sc0 ls0 ws0">s<span class="_ _36"></span>G<span class="_ _38"> </span><span class="ff4">1<span class="_ _39"></span>,<span class="_ _3a"></span><span class="ls11">100</span></span></div><div class="t m4 x27 h20 ybe ff4 fsd fc0 sc0 ls0 ws0">1<span class="_ _3b"></span>.<span class="_ _3b"></span>0</div><div class="t m4 x28 h20 yc1 ff4 fsd fc0 sc0 ls0 ws0">1<span class="_ _3c"></span>1</div><div class="t m4 x29 h20 yc0 ff4 fsd fc0 sc0 ls0 ws0">)<span class="_ _3d"></span>(</div><div class="t m4 x2a h21 yc2 ff4 fse fc0 sc0 ls0 ws0">1<span class="_ _3e"></span>1</div><div class="t m4 xb h21 yc3 ff4 fse fc0 sc0 ls0 ws0">1<span class="_ _3f"></span>1<span class="_ _40"></span>1</div><div class="t m4 x2b h21 yc4 ff4 fse fc0 sc0 ls0 ws0">2</div><div class="t m4 x2c h22 yc5 ffa fsd fc0 sc0 ls0 ws0"><span class="_ _41"></span><span class="_ _42"></span><span class="_ _43"></span><span class="_ _44"></span><span class="_ _43"></span><span class="_ _45"></span><span class="_ _35"></span></div></div><div class="t m0 x2d h12 yc6 ff3 fs7 fc0 sc0 ls0 ws0"> </div><div class="t m0 x5 hb yc7 ff2 fs7 fc0 sc0 ls0 ws0">其对应的模拟电<span class="_ _5"></span>路及<span class="_ _19"> </span><span class="ff4">SIMULINK<span class="_ _19"> </span></span>图形如图<span class="_ _9"> </span><span class="ff3">1<span class="_ _5"></span>-5<span class="_ _c"> </span><span class="ff2 ls8">所示。</span> </span></div><div class="t m0 x5 h12 yc8 ff3 fs7 fc0 sc0 ls0 ws0"> </div><div class="t m0 x5 h12 yc9 ff3 fs7 fc0 sc0 ls0 ws0"> </div><div class="t m0 x5 h12 yca ff3 fs7 fc0 sc0 ls0 ws0"> </div><div class="t m0 x5 h12 ycb ff3 fs7 fc0 sc0 ls0 ws0"> </div><div class="c x2e ycc w9 h23"><div class="t m0 x11 hb ycd ff2 fs7 fc0 sc0 ls0 ws0">图<span class="_ _c"> </span><span class="ff4">1-3 <span class="_"> </span> <span class="_"> </span></span>比例环节的模<span class="_ _5"></span>拟电路及<span class="_ _19"> </span><span class="ff4">SIMULI<span class="_ _5"></span>NK<span class="_"> </span><span class="ff2">图形</span> </span></div></div><div class="c x2f yce wa h24"><div class="t m0 x11 hb ycf ff2 fs7 fc0 sc0 ls0 ws0">图<span class="_ _19"> </span><span class="ff4">1-4 <span class="_"> </span></span>惯性环节的模拟<span class="_ _5"></span>电路及<span class="_ _19"> </span><span class="ff4">SIMULI<span class="_ _5"></span>NK<span class="_ _19"> </span><span class="ff2">图形</span> </span></div></div></div><div class="pi" data-data='{"ctm":[1.611562,0.000000,0.000000,1.611562,0.000000,0.000000]}'></div></div>