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matlab wip

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This commit is contained in:
zamofing_t
2018-10-11 17:19:48 +02:00
parent f9ddf04fdc
commit cb9310ee5c
8 changed files with 228 additions and 97 deletions
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28
matlab/simFxFyStage.m
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@@ -1,5 +1,11 @@
function [Kp,Kvfb,Ki,Kvff,Kaff,MaxInt,mot_num,mot_den,Ts,MaxDac,MaxPosErr,A,B,C,D]=simFxFyStage(mot,motid)
%global Kp Kvfb Ki Kvff Kaff MaxInt mot_num mot_den Ts MaxDac MaxPosErr A B C D
function [pb]=simFxFyStage(mot,motid)
% !!! first it need to run: [mot1,mot2]=identifyFxFyStage() tobuild a motor object !!!
%
%loads the current (11.10.2018) controller settings of the
%Powerbrick and opens its simulink file
%the returned variable pb contains varous parameters:
% Kp,Kvfb,Ki,Kvff,Kaff,MaxInt,mot_num,mot_den,Ts,MaxDac,MaxPosErr,A,B,C,D
Ts=2E-4; % 0.2ms=5kHz
MaxDac=2011.968;
MaxPosErr=10000;
@@ -22,20 +28,8 @@ function [Kp,Kvfb,Ki,Kvff,Kaff,MaxInt,mot_num,mot_den,Ts,MaxDac,MaxPosErr,A,B,C,
%ServoDeltaTau_z(motid)
[A,B,C,D]=tf2ss(mot_num,mot_den);
%mdlWks=get_param(mdlName,'ModelWorkspace');
%whos global
%whos(mdlWks)
%for k=["Kp","Kvfb","Ki","Kvff","Kaff","MaxInt","mot_num","mot_den","Ts","MaxDac","MaxPosErr"]
% assignin(mdlWks,k,eval(k))
%end
%assignin(mdlWks,'Ts',1234)
%getVariable(mdlWks,'Ts')
% in global space call:
%global Kp Kvfb Ki Kvff Kaff MaxInt
%global mot_num mot_den Ts MaxDac MaxPosErr
%[mot1,mot2]=identifyFxFyStage();
%simFxFyStage(mot1,mot2);
%
pb=struct();
for k=["Kp","Kvfb","Ki","Kvff","Kaff","MaxInt","mot_num","mot_den","Ts","MaxDac","MaxPosErr","A","B","C","D"]
pb=setfield(pb,k,eval(k));
end