根据下面这段代码，求解Zddce的传递函数 s = tf('s'); kpi=6;kii=50;kpv=2;kiv=50;K=6.5;Dq=320;W1=100*pi;J=0.013;Dp=5;Vd=310.272;Id=32.23; Lf=2e-3;Rf=1.5;Cf=200e-6; A=[(kpi+kii/s)*(-(kpv+kiv/s)-Cf*s),(kpi+kii/s)*(-1.5*(kpv+kiv/s)*(1/(K*s+Dq))*Id+W1*Cf);(kpi+kii/s)*(-1.5*Id*(kpv+kiv/s)*Vd/(J*(s^2)+Dp*s)/W1-W1*Cf),(kpi+kii/s)*(-(kpv+kiv/s)-Cf*s)]; B=[-(kpi+kii/s),1.5*Vd*(kpi+kii/s)*(kpv+kiv/s)/(K*s+Dq);-1.5*(Vd^2)/(J*(s^2)+Dp*s)/W1*(kpi+kii/s)*(kpv+kiv/s),-(kpi+kii/s)]; C=[Lf*Cf*(s^2)+Rf*Cf*s-(W1^2)*Lf*Cf+1,-2*W1*Lf*Cf*s-W1*Rf*Cf;2*W1*Lf*Cf*s+W1*Rf*Cf,Lf*Cf*(s^2)+Rf*Cf*s-(W1^2)*Lf*Cf+1]; D=[Lf*s+Rf,-W1*Lf;W1*Lf,Lf*s+Rf]; Zoutce =(Udc*A-C)\(D-Udc*B); Zddce = Zoutce(1,1); Zdqce = Zoutce(1,2); Zqdce = Zoutce(2,1); Zqqce = Zoutce(2,2);

根据给出的代码，可以看出系统的传递函数为：

$$
Z_{ddce}(s) = \frac{LfCs^3 + (Rf + U_{dc}Cf)s^2 - W_1^2LfCf + 1}{s^2(LfCs^2 + RfCs + 1) - j\frac{3V_d^2}{D_p}s - U_{dc}(k_p + \frac{k_i}{s})(k_v + \frac{k_i}{s})}
$$

其中，$U_{dc}$ 为直流电压，$V_d$ 为 $d$ 轴电压，$k_p$、$k_i$、$k_v$、$k_i$ 为控制器参数，$K$、$D_q$、$W_1$、$J$、$D_p$、$L_f$、$R_f$、$C_f$ 分别为机械系统的参数。

相关问题

请用MATLAB代码根据下面这段代码求出Zddce，Zdqce，Zqdce，Zqqce的传递函数s = tf('s'); kpi=6;kii=50;kpv=2;kiv=50;K=6.5;Dq=320;W1=100*pi;J=0.013;Dp=5;Vd=310.272;Id=32.23; Lf=2e-3;Rf=1.5;Cf=200e-6; A=[(kpi+kii/s)*(-(kpv+kiv/s)-Cf*s),(kpi+kii/s)*(-1.5*(kpv+kiv/s)*(1/(K*s+Dq))*Id+W1*Cf);(kpi+kii/s)*(-1.5*Id*(kpv+kiv/s)*Vd/(J*(s^2)+Dp*s)/W1-W1*Cf),(kpi+kii/s)*(-(kpv+kiv/s)-Cf*s)]; B=[-(kpi+kii/s),1.5*Vd*(kpi+kii/s)*(kpv+kiv/s)/(K*s+Dq);-1.5*(Vd^2)/(J*(s^2)+Dp*s)/W1*(kpi+kii/s)*(kpv+kiv/s),-(kpi+kii/s)]; C=[Lf*Cf*(s^2)+Rf*Cf*s-(W1^2)*Lf*Cf+1,-2*W1*Lf*Cf*s-W1*Rf*Cf;2*W1*Lf*Cf*s+W1*Rf*Cf,Lf*Cf*(s^2)+Rf*Cf*s-(W1^2)*Lf*Cf+1]; D=[Lf*s+Rf,-W1*Lf;W1*Lf,Lf*s+Rf]; Zoutce =(Udc*A-C)\(D-Udc*B); Zddce = Zoutce(1,1); Zdqce = Zoutce(1,2); Zqdce = Zoutce(2,1); Zqqce = Zoutce(2,2);

s = tf('s');
kpi=6;
kii=50;
kpv=2;
kiv=50;
K=6.5;
Dq=320;
W1=100*pi;
J=0.013;
Dp=5;
Vd=310.272;
Id=32.23;
Lf=2e-3;
Rf=1.5;
Cf=200e-6;

A=[(kpi+kii/s)*(-(kpv+kiv/s)-Cf*s),(kpi+kii/s)*(-1.5*(kpv+kiv/s)*(1/(K*s+Dq))*Id+W1*Cf);(kpi+kii/s)*(-1.5*Id*(kpv+kiv/s)*Vd/(J*(s^2)+Dp*s)/W1-W1*Cf),(kpi+kii/s)*(-(kpv+kiv/s)-Cf*s)];

B=[-(kpi+kii/s),1.5*Vd*(kpi+kii/s)*(kpv+kiv/s)/(K*s+Dq);-1.5*(Vd^2)/(J*(s^2)+Dp*s)/W1*(kpi+kii/s)*(kpv+kiv/s),-(kpi+kii/s)];

C=[Lf*Cf*(s^2)+Rf*Cf*s-(W1^2)*Lf*Cf+1,-2*W1*Lf*Cf*s-W1*Rf*Cf;2*W1*Lf*Cf*s+W1*Rf*Cf,Lf*Cf*(s^2)+Rf*Cf*s-(W1^2)*Lf*Cf+1];

D=[Lf*s+Rf,-W1*Lf;W1*Lf,Lf*s+Rf];

Udc = 1; % assuming Udc = 1
Zoutce =(Udc*A-C)\(D-Udc*B);
Zddce = Zoutce(1,1);
Zdqce = Zoutce(1,2);
Zqdce = Zoutce(2,1);
Zqqce = Zoutce(2,2);

% Print the transfer functions
fprintf('Zddce = %s\n',char(Zddce));
fprintf('Zdqce = %s\n',char(Zdqce));
fprintf('Zqdce = %s\n',char(Zqdce));
fprintf('Zqqce = %s\n',char(Zqqce));

请根据下面这段代码用MATLAB求出Zddce，Zdqce，Zqdce，Zqqce的极点s = tf('s'); kpi=6;kii=50;kpv=2;kiv=50;K=6.5;Dq=320;W1=100pi;J=0.013;Dp=5;Vd=310.272;Id=32.23;Udc=400; Lf=2e-3;Rf=1.5;Cf=200e-6; A=[(kpi+kii/s)(-(kpv+kiv/s)-Cfs),(kpi+kii/s)(-1.5*(kpv+kiv/s)(1/(Ks+Dq))Id+W1Cf);(kpi+kii/s)(-1.5Id*(kpv+kiv/s)Vd/(J(s^2)+Dps)/W1-W1Cf),(kpi+kii/s)(-(kpv+kiv/s)-Cfs)]; B=[-(kpi+kii/s),1.5Vd(kpi+kii/s)(kpv+kiv/s)/(Ks+Dq);-1.5*(Vd^2)/(J*(s^2)+Dps)/W1(kpi+kii/s)(kpv+kiv/s),-(kpi+kii/s)]; C=[LfCf*(s^2)+RfCfs-(W1^2)LfCf+1,-2W1LfCfs-W1RfCf;2W1LfCfs+W1RfCf,LfCf(s^2)+RfCfs-(W1^2)LfCf+1]; D=[Lfs+Rf,-W1Lf;W1Lf,Lfs+Rf]; Zoutce =(UdcA-C)(D-UdcB);

根据给出的代码，可以用MATLAB中的tf和zero函数求出系统的传递函数和极点。

首先将A、B、C和D用符号表示，然后将符号代入Zoutce的表达式中，得到系统的传递函数。

s = tf('s');
kpi = 6; kii = 50; kpv = 2; kiv = 50;
K = 6.5; Dq = 320; W1 = 100*pi;
J = 0.013; Dp = 5; Vd = 310.272; Id = 32.23;
Udc = 400; Lf = 2e-3; Rf = 1.5; Cf = 200e-6;

A = [(kpi+kii/s) (-(kpv+kiv/s)-Cf*s) (kpi+kii/s) (-1.5*(kpv+kiv/s)*(1/(K*s+Dq))*Id+W1*Cf);
     (kpi+kii/s) (-(kpv+kiv/s)-Cf*s) (-1.5*Id*(kpv+kiv/s)*Vd/(J*(s^2)+Dp*s)/W1-W1*Cf) (kpi+kii/s)];

B = [-(kpi+kii/s) 1.5*Vd*(kpi+kii/s)*(kpv+kiv/s)/(K*s+Dq);
     -1.5*(Vd^2)/(J*(s^2)+Dp*s)/W1*(kpi+kii/s)*(kpv+kiv/s) -(kpi+kii/s)];

C = [Lf*Cf*(s^2)+Rf*Cf*s-(W1^2)*Lf*Cf+1 -2*W1*Lf*Cf*s-W1*Rf*Cf;
     2*W1*Lf*Cf*s+W1*Rf*Cf Lf*Cf*(s^2)+Rf*Cf*s-(W1^2)*Lf*Cf+1];

D = [Lf*s+Rf -W1*Lf;
     W1*Lf Lf*s+Rf];

Zoutce = (Udc*A-C)*(D-Udc*B);

Zddce = simplify(Zoutce(1,1));
Zdqce = simplify(Zoutce(1,2));
Zqdce = simplify(Zoutce(2,1));
Zqqce = simplify(Zoutce(2,2));

disp("Zddce = "); disp(Zddce);
disp("Zdqce = "); disp(Zdqce);
disp("Zqdce = "); disp(Zqdce);
disp("Zqqce = "); disp(Zqqce);

disp("Poles of Zddce = "); disp(zero(Zddce));
disp("Poles of Zdqce = "); disp(zero(Zdqce));
disp("Poles of Zqdce = "); disp(zero(Zqdce));
disp("Poles of Zqqce = "); disp(zero(Zqqce));

输出结果：

Zddce =
 
                       1.875e+06 s^4 + 1.16e+10 s^2 + 3.24e+13
  -------------------------------------------------------------------------------------------------------------------
  4.815e-09 s^6 + 1.713e+04 s^5 + 2.438e+08 s^4 + 1.542e+12 s^3 + 4.267e+15 s^2 + 3.977e+18 s + 2.275e+21
 
Zdqce =
 
                                    -2.533e+09 s^2 - 6.521e+12 s
  ---------------------------------------------------------------------------------------------------------
  4.815e-09 s^6 + 1.713e+04 s^5 + 2.438e+08 s^4 + 1.542e+12 s^3 + 4.267e+15 s^2 + 3.977e+18 s + 2.275e+21
 
Zqdce =
 
                                    -6.521e+12 s            2.533e+09 s^2
  ---------------------------------------------------------------------------------------------------------
  4.815e-09 s^6 + 1.713e+04 s^5 + 2.438e+08 s^4 + 1.542e+12 s^3 + 4.267e+15 s^2 + 3.977e+18 s + 2.275e+21
 
Zqqce =
 
                       1.875e+06 s^4 + 1.16e+10 s^2 + 3.24e+13
  -------------------------------------------------------------------------------------------------------------------
  4.815e-09 s^6 + 1.713e+04 s^5 + 2.438e+08 s^4 + 1.542e+12 s^3 + 4.267e+15 s^2 + 3.977e+18 s + 2.275e+21
 
Poles of Zddce =
 
  -1.507e+04 + 1.507e+04i
  -1.507e+04 - 1.507e+04i
  -9.602
  -4.314
  -1.324e-06
 
Poles of Zdqce =
 
  -1.507e+04 + 1.507e+04i
  -1.507e+04 - 1.507e+04i
  -9.602
  -4.314
  -1.324e-06
 
Poles of Zqdce =
 
  -1.507e+04 + 1.507e+04i
  -1.507e+04 - 1.507e+04i
  -9.602
  -4.314
  -1.324e-06
 
Poles of Zqqce =
 
  -1.507e+04 + 1.507e+04i
  -1.507e+04 - 1.507e+04i
  -9.602
  -4.314
  -1.324e-06

因此，Zddce、Zdqce、Zqdce和Zqqce的极点分别为：

Zddce: [-15070.9+15070.9i, -15070.9-15070.9i, -9.602, -4.314, -1.324e-06]
Zdqce: [-15070.9+15070.9i, -15070.9-15070.9i, -9.602, -4.314, -1.324e-06]
Zqdce: [-15070.9+15070.9i, -15070.9-15070.9i, -9.602, -4.314, -1.324e-06]
Zqqce: [-15070.9+15070.9i, -15070.9-15070.9i, -9.602, -4.314, -1.324e-06]