wip

matlab/SCRATCH.m

@@ -163,12 +163,59 @@ open('stage_closed_loop.slx')
 
   controlSystemDesigner('bode',sys);
   controlSystemDesigner(1,sys);    % <<<<<<<<< This opens a transferfiûnction that can be edited
-
+1
   num=[8.32795069e-11, 1.04317228e-08, 6.68431323e-05, 3.31861324e-03, 7.32824533e+00];
   den=[5.26156641e-18, 1.12897840e-14, 7.67853031e-12, 1.03201301e-08, 2.05154780e-06, 1.34279894e-03, 7.19229912e-02, 1.00000000e+00];
   mot2=tf(num,den);
   controlSystemDesigner('bode',mot2);
-  
-  
+end
+
+
+m1=10;        d1=10;             k1=0;
+m2=.3;       d2=0.15;            k2=100;
+m3=1.2;      d3=.04;            k3=10;
+
+%k2 determines resonance frequency k2 higher -> resfrq higher
+%d2 determines the damping d2=0  no damping d2=10 strong damping
+%m2 determines how much energy is in the resonance
+
+%m1 is big compared to the other masses
+%d1 is the speed dependant friction
+%k1 can be set to 0, because these is no position for no force
+%-> but this means for 1/s^2 the system is not observable any more
+
+ks=k1+k2+k3;
+ds=d1+d2+d3;
+
+A=[  0      1      0      0     0      0      ;
+    -ks/m1 -ds/m1  k2/m1  d2/m1 k3/m1  d3/m1  ;
+     0      0      0      1     0      0      ;
+     k2/m2  d2/m2 -k2/m2 -d2/m2 0      0      ;
+     0      0      0      0     0      1      ;
+     k3/m1  d3/m1  0      0    -k3/m3 -d3/m3  ];
+B=[ 0 1 0 0 0 0]';
+C=[ 1 0 0 0 0 0];
+D=[0];
+
+ss1=ss(A,B,C,D);
+bodeplot(ss1,{.1,1000});
+tf(ss1)
+
+
+%simplified no resonance
+A=[  0      1      ;
+    -k1/m1 -d1/m1  ];
+B=[ 0 1 ]';
+C=[ 1 0 ];
+D=[0];
+ss1=ss(A,B,C,D);
+bodeplot(ss1,{.1,1000});
+tf(ss1)
+chkCtrlObsv(ss1,'')
+%but with k1=0 or d1=0 the system is neither controllable nor observable
+%-> the 
+p = eig(A);
+disp(p);
+
+K = place(A,B,[-5 -10]);
 
-end