From 5dd89ba8b7811744c7514de5be2b276ff44c9753 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?B=C3=A9ranger?= Date: Tue, 25 May 2021 09:03:36 +0200 Subject: [PATCH] =?UTF-8?q?Le=20syst=C3=A8me=20est=20bon?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- BE.m | 22 ++++++++++++++-------- 1 file changed, 14 insertions(+), 8 deletions(-) diff --git a/BE.m b/BE.m index 60150e4..8d7562e 100644 --- a/BE.m +++ b/BE.m @@ -1,11 +1,10 @@ clc -clear all %% BE de commande optimale -Ms = 280; %kg +Ms = 1120/4; %kg mu = 45; %kg Ks = 20000; %N/m -Kt = 1500000; %N/m +Kt = 150000; %N/m Cs = 1000; %N.s/m Ct = 0.0; %N.s/m @@ -15,10 +14,17 @@ A = [0 1 0 -1 ; -Ks/Ms -Cs/Ms 0 Cs/Ms; 0 0 0 1 ; Ks/mu Cs/mu -Kt/mu -(Cs+Ct)/mu] B = [0 ; 1/Ms ; 0 ; -1/mu]; E = [0 ; 0 ; -1 ; Ct/mu]; C = [0 1 0 0 ; 0 0 0 1]; +C_st=[0 1 0 0] +C_ut=[0 0 0 1] -% Création du systèmean -sys = ss(A,E,C,0) +% Création du système Caisse +sysZs = ss(A,E,C_st,0) %Modification en fonction transfertx -systf = ss2tf(sys) -tf_sys=tf(systf(1),systf(2)) -bode(tf_sys) \ No newline at end of file +tf_Zs = tf(sysZs) + +% Création système Roue +sysZu = ss(A,E,C_ut,0) +%Modification en tf +tf_Zu = tf(sysZu) + +bode(tf_Zs,tf_Zu)