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figure system respons

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This commit is contained in:
nandard 2022-09-22 19:58:45 +07:00
parent a14b31a134
commit da009141f3
1 changed files with 25 additions and 12 deletions
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37
Assignment 6 - Tuning PID/assign_6_pso.m
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@ -10,15 +10,6 @@ L = 0.5;
num_motor = [K]; num_motor = [K];
den_motor = [J*L J*R+b*L R*b+K*K]; den_motor = [J*L J*R+b*L R*b+K*K];
motor = tf(num_motor,den_motor); motor = tf(num_motor,den_motor);
motor_l = feedback(motor,1);
step(motor_l)
%step(motor_l/s);
%impulse(motor_l);
%step(motor_l/s^2);
hold on
stepinfo(motor_l)
[y,t] = step(motor_l);
ss_error = abs(1 - y(end))
tic tic
% Constant % Constant
@ -122,13 +113,35 @@ Kd = xg(3)
pid = tf([Kd Kp Ki],[0 1 0]); pid = tf([Kd Kp Ki],[0 1 0]);
motor_cl = feedback(motor * pid, 1); motor_cl = feedback(motor * pid, 1);
motor_l = feedback(motor,1);
figure(1)
step(motor_l)
hold on
step(motor_cl) step(motor_cl)
%step(motor_cl/s);
%impulse(motor_cl);
%step(motor_cl/s^2);
legend("Before Tuning","After tuning"); legend("Before Tuning","After tuning");
title("Step Response"); title("Step Response");
figure(2)
step(motor_l/s)
hold on
step(motor_cl/s)
legend("Before Tuning","After tuning");
title("Ramp Response");
figure(3)
impulse(motor_l)
hold on
impulse(motor_cl)
legend("Before Tuning","After tuning");
title("Impulse Response");
figure(4)
step(motor_l/s^2)
hold on
step(motor_cl/s^2)
legend("Before Tuning","After tuning");
title("Acc Response");
stepinfo(motor_l)
stepinfo(motor_cl) stepinfo(motor_cl)
[y,t] = step(motor_l);
ss_error = abs(1 - y(end))
[y,t] = step(motor_cl); [y,t] = step(motor_cl);
ss_error = abs(1 - y(end)) ss_error = abs(1 - y(end))