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35 lines
704 B
Mathematica
35 lines
704 B
Mathematica
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% Variable
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s = tf('s');
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J = 0.01;
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b = 0.1;
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K = 0.01;
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R = 1;
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L = 0.5;
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Kp = 1;
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% Ki = 1;
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% Ki = 3;
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% Ki = 5;
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Ki = 7;
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% Ki = 9;
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% Define Transfer Function
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num_motor = [K];
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den_motor = [J*L J*R+b*L R*b+K*K];
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motor = tf(num_motor,den_motor)
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% Define Control Function
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C = tf([Kp Ki],[1 0])
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% Define Closed-Loop function
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complete = feedback(motor*C,1);
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% Process system responses
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subplot(311), impulse(complete); % Impulse reponse
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subplot(312), step(complete); % Step Response
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subplot(313), step(complete / s); % Ramp response
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stepinfo(complete)
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% Calculate the Stead-State Error
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[y,t] = step(complete); % Calculate Steady-State error
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sse = abs(1 - y(end))
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% Limit the graph
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xlim([0 50])
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ylim([0 3])
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