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This commit is contained in:
zamofing_t
2018-11-19 15:54:16 +01:00
parent 7e867b9316
commit 0a5ec9b004
22 changed files with 76507 additions and 236 deletions
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35
matlab/Readme.md
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@@ -26,35 +26,16 @@ clear;
clear global;
close all;
[mot1,mot2]=identifyFxFyStage();
[pb]=simFxFyStage(mot1);
[ssc]=StateSpaceControlDesign(mot1);
[pb]=simFxFyStage(mot2);
[ssc]=StateSpaceControlDesign(mot2);
Very good trajectory-filter motor2:
f=268;w0=f*2*pi;
num1=[1 20 w0^2];
den1=[1 500 w0^2];
bode(numV,denV)
[pb]=simFxFyStage(mot1);sim('stage_closed_loop');
close all;[ssc]=StateSpaceControlDesign(mot1);sim('observer');
[pb]=simFxFyStage(mot2);sim('stage_closed_loop');
close all;[ssc]=StateSpaceControlDesign(mot2);sim('observer');
f=140;w0=f*2*pi;
num2=[1 300 w0^2];
den2=[1 100 w0^2];
bode(numV,denV)
f=62;w0=f*2*pi;
num3=[1 40 w0^2];
den3=[1 20 w0^2];
bode(numV,denV)
numV=conv(num1,num2)
denV=conv(den1,den2)
%numV=conv(conv(num1,num2),num3)
%denV=conv(conv(den1,den2),den3)
mögliche tf:
iqCmd---->iqMeas
iqVolts-->iqMeas
iqMeas--->actPos
```