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Question 5

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Beranger Quintana Y Arciosana 2021-05-25 09:20:24 +02:00
parent 5dd89ba8b7
commit 49af696bd5
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BE.m
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@ -1,6 +1,9 @@
%%
% BE de commande optimale
clc clc
%% BE de commande optimale %%
%Question 3
Ms = 1120/4; %kg Ms = 1120/4; %kg
mu = 45; %kg mu = 45; %kg
Ks = 20000; %N/m Ks = 20000; %N/m
@ -27,4 +30,38 @@ sysZu = ss(A,E,C_ut,0)
%Modification en tf %Modification en tf
tf_Zu = tf(sysZu) tf_Zu = tf(sysZu)
%tracé de bode de nos deux sous systèmes
bode(tf_Zs,tf_Zu) bode(tf_Zs,tf_Zu)
%%
% Question 5
% Mise en place de la commande optimale
Q=[Ks^2 0 0 0; 0 Cs^2 0 0; 0 0 Kt^2 0; 0 0 0 0];
R=1;
[G, K, lambda]=lqr(A,B,Q,R);
Abf=A-B*G;
sysZsBF = ss(Abf, E, C_st, 0);
Zs_BF = tf(sysZsBF)
sysZuBF = ss(Abf, E, C_ut, 0);
Zu_BF = tf(sysZuBF)
figure
bode(Zs_BF, Zu_BF);
%commande obtenue par u=-Gx, C=-G
C=-G;
commande=ss(Abf, E, C, 0)
%Réponse indicielle
figure
step(0.08*sysZsBF)
title("Réponse indicielle pous Zsbf")
figure
step(0.08*sysZuBF)
title("Réponse indicielle pour Zubf")