bquintan/BE_Commande
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Le système est bon

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Beranger Quintana Y Arciosana 2021-05-25 09:03:36 +02:00
parent ba2193d327
commit 5dd89ba8b7
1 changed files with 14 additions and 8 deletions
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22
BE.m
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@ -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)
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)