towards pole placement

2019-03-01 14:48:44 +01:00
parent 6ac4915925
commit 842dc87860
9 changed files with 300 additions and 28 deletions
--- a/matlab/identifyFxFyStage.m
+++ b/matlab/identifyFxFyStage.m
@@ -289,6 +289,15 @@ function motCell=identifyFxFyStage(mode)
    mot.ss_qr.Name='simplified mechanics, no current loop, resonance';
    tfp.InputName{1}=s;%restore

+    %  u          +-----------+           y
+    %iqCmd------->|1         1|-------> iqMeas
+    %             |          2|-------> actVel
+    %             |          3|-------> actPos
+    %             +-----------+
+    s=tfq.InputName{1};tfq.InputName{1}='iqMeas';
+    mot.ss_dq=connect(tfd,tfq,'iqCmd',{'iqMeas','actVel','actPos'});
+    mot.ss_dq.Name='simplified mechanics, simplified current loop, no resonance';
+    tfq.InputName{1}=s;%restore
    
    
    %h=bodeplot(mot.meas,'r',mot.tf4_2,'b',mot.tf6_4,'g');