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SystemsModelControllerData[…]

表示由函数 LQGRegulator、PIDTune 等生成的控制器数据.

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基本范例  
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SystemsModelControllerData

SystemsModelControllerData[…]

表示由函数 LQGRegulator、PIDTune 等生成的控制器数据.

更多信息

  • 可用 SystemsModelControllerData[…] 对象 cd 通过 cd["property"] 获取数据.
  • 可用属性列表由 cd["Properties"] 给出. 每个控制器设计函数的页面上都列出了其他有关属性的详细信息.
  • 状态反馈控制器设计函数包括：
  • StateFeedbackGains极点配置
    LQRegulatorGains线性二次 (LQ) 型最优控制
    DiscreteLQRegulatorGains近似离散时间 LQ 最优控制
  • 输出反馈控制器设计函数包括：
  • EstimatorRegulator构建状态反馈和状态估计器
    LQGRegulatorLQ 高斯最优调节器和估计器
    PIDTune自整定 PID 控制器
  • 常见属性包括：
  • "Design"控制器设计类型
    "ClosedLoopSystem"含有受控体和控制器的闭环系统
    "ClosedLoopPoles"泰勒线性闭环系统的极点
    "InputsCount"输入的数量
    "OutputsCount"输出的数量
  • 其他指定包括：
  • {p1,…,pn}获取属性 pi 的值
    "Dataset"以 Dataset 形式获取属性的名称和值
    "PropertyAssociation"以 Association 形式获取属性的名称和值

范例

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基本范例  (1)

创建一个 SystemsModelControllerData 对象：

Wolfram Language code: cd = PIDTune[TransferFunctionModel[{{{1.5}}, (1 + s)*(1 + 3*s)}, s], Automatic, "Data"]

获取可用属性列表：

Wolfram Language code: cd["Properties"]

提取属性：

Wolfram Language code: cd["Feedback"]

获取一组属性：

Wolfram Language code: cd[{"FeedbackIdealParameters", "OpenLoop"}]

范围  (7)

控制器设计  (7)

用 StateFeedbackGains 获取极点配置 (pole-placement) 设计的控制器数据对象：

Wolfram Language code: ssm = StateSpaceModel[{{{0, 1, 0}, {0, 0, 1}, {-1, -2, -2}}, {{0}, {0}, {1}}, {{4, 0, 1}}, {{0}}}, SamplingPeriod -> None, SystemsModelLabels -> None]; p = {-3 + 2 I, -3 - 2 I, -7};
Wolfram Language code: cd = StateFeedbackGains[ssm, p, "Data"]

属性：

Wolfram Language code: cd["Properties"]

用 LQRegulatorGains 获取调节器设计的控制器数据对象：

Wolfram Language code: ssm = StateSpaceModel[{{{0, 1}, {2, -1}}, {{0}, {1}}, {{1, 0}}, {{0}}}, SamplingPeriod -> None, SystemsModelLabels -> None]; {q, r} = {(⁠| | | | -- | - | | 10 | 0 | | 0 | 5 |⁠), (⁠1⁠)};
Wolfram Language code: cd = LQRegulatorGains[ssm, {q, r}, "Data"]

属性：

Wolfram Language code: cd["Properties"]

用 LQOutputRegulatorGains 获取调节器设计的控制器数据对象：

Wolfram Language code: ssm = StateSpaceModel[{{{0, 1, 0}, {0, -0.01, 0.3}, {0, -0.003, -10}}, {{0, 0, 0.1}, {0, -1, 0}, {0.1, 0, -0.2}}, {{1, 0, 0}, {0, 1, 0}}, {{1, -1, 0}, {0, 1.3, 0}}}, SamplingPeriod -> None, SystemsModelLabels -> None]; {q, r, p} = {(⁠| | | | - | - | | 1 | 0 | | 0 | 1 |⁠), (⁠| | | | | - | - | - | | 1 | 0 | 0 | | 0 | 1 | 0 | | 0 | 0 | 1 |⁠), (⁠| | | | | --- | ---- | ---- | | 0.1 | -0.2 | 0.15 | | 0 | 0 | 0.2 |⁠)};
Wolfram Language code: cd = LQOutputRegulatorGains[ssm, {q, r, p}, "Data"]

属性：

Wolfram Language code: cd["Properties"]

用 DiscreteLQRegulatorGains 获取离散时间设计的控制器数据对象：

Wolfram Language code: ssm = StateSpaceModel[{{{0, 1}, {0, -5}}, {{0, 0}, {1, 0.1}}, {{1, 0}}, {{0, 0}}}, SamplingPeriod -> None, SystemsModelLabels -> None]; {q, r} = {(⁠| | | | --- | -- | | 100 | 0 | | 0 | 10 |⁠), (⁠| | | | -- | - | | 10 | 0 | | 0 | 1 |⁠)}; τ = 0.1;
Wolfram Language code: cd = DiscreteLQRegulatorGains[ssm, {q, r}, τ, "Data"]

属性：

Wolfram Language code: cd["Properties"]

获取用 EstimatorRegulator 构建的控制器的控制器数据对象：

Wolfram Language code: ssm = StateSpaceModel[{{{0, 1}, {1, 0}}, {{0}, {-1}}, {{2, 1}}, {{0}}}, SamplingPeriod -> None, SystemsModelLabels -> None]; {ℓ, κ} = {{{-3}, {17}}, {{-7, -5}}};
Wolfram Language code: cd = EstimatorRegulator[ssm, {ℓ, κ}, "Data"]

属性：

Wolfram Language code: cd["Properties"]

获取用 LQGRegulator 构建的控制器的控制器数据对象：

Wolfram Language code: sys = StateSpaceModel[{{{-0.3, 0.2}, {0.15, -0.25}}, {{2}, {7}}, {{1, -4}}, {{0}}}, SamplingPeriod -> None, SystemsModelLabels -> None]; {w, v} = {(⁠{}⁠), (⁠1⁠)}; {q, r} = {(⁠| | | | ----- | ----- | | 0.001 | 0 | | 0 | 0.001 |⁠), (⁠0.1⁠)};
Wolfram Language code: cd = LQGRegulator[sys, {w, v}, {q, r}, "Data"]

属性：

Wolfram Language code: cd["Properties"]

获取用 PIDTune 设计的控制器的控制器数据对象：

Wolfram Language code: cd = PIDTune[TransferFunctionModel[{{{5}}, (1 + 2.5*s)^2}, s], "PID", "Data"]

属性：

Wolfram Language code: cd["Properties"]

应用  (1)

自动计算控制器设计的属性以进行下一步分析：

Wolfram Language code: iPend = StateSpaceModel[{{{0, 1, 0, 0}, {12.62058823529412, 0, 0, 0}, {0, 0, 0, 1}, {-0.9275000000000002, 0, 0, 0}}, {{0}, {-0.21008403361344538}, {0}, {0.17857142857142858}}, {{1, 0, 0, 0}, {0, 0, 1, 0}}, {{0}, {0}}}, {{θ[t], 0}, Subscript[, 1], {x[t], 0}, Subscript[, 2]}, {{F[t], 0}}, {θ[t], x[t]}, t, SamplingPeriod -> None, SystemsModelLabels -> None]; wts = {DiagonalMatrix[{50, 1, 500, 1}], {{5}}};

数据对象：:

Wolfram Language code: cd = LQRegulatorGains[iPend, wts, "Data"]

用 "ClosedLoopSystem" 属性计算状态响应：

Wolfram Language code: sr = StateResponse[{cd[{"ClosedLoopSystem", <|"Merge" -> True|>}], {0.01, 0, 0, 0}}, 0, {t, 0, 20}]; Plot[sr, {t, 0, 10}, PlotRange -> All, PlotLegends -> {"x", "v", "θ", "ω"}]

闭环极点：

Wolfram Language code: cd["ClosedLoopPoles"]

与开环极点相比较：

Wolfram Language code: cd["OpenLoopPoles"]

控制过程：

Wolfram Language code: OutputResponse[cd["FeedbackGainsModel"], sr, {t, 0, 10}]; Plot[%, {t, 0, 10}, PlotRange -> All]
Wolfram Research (2021)，SystemsModelControllerData，Wolfram 语言函数，https://reference.wolfram.com/language/ref/SystemsModelControllerData.html.

文本

Wolfram Research (2021)，SystemsModelControllerData，Wolfram 语言函数，https://reference.wolfram.com/language/ref/SystemsModelControllerData.html.

CMS

Wolfram 语言. 2021. "SystemsModelControllerData." Wolfram 语言与系统参考资料中心. Wolfram Research. https://reference.wolfram.com/language/ref/SystemsModelControllerData.html.

APA

Wolfram 语言. (2021). SystemsModelControllerData. Wolfram 语言与系统参考资料中心. 追溯自 https://reference.wolfram.com/language/ref/SystemsModelControllerData.html 年

BibTeX

@misc{reference.wolfram_2026_systemsmodelcontrollerdata, author="Wolfram Research", title="{SystemsModelControllerData}", year="2021", howpublished="\url{https://reference.wolfram.com/language/ref/SystemsModelControllerData.html}", note=[Accessed: 01-November-2026]}

BibLaTeX

@online{reference.wolfram_2026_systemsmodelcontrollerdata, organization={Wolfram Research}, title={SystemsModelControllerData}, year={2021}, url={https://reference.wolfram.com/language/ref/SystemsModelControllerData.html}, note=[Accessed: 01-November-2026]}