From 55bea15ff36a753e2c3e45fc6901d878be25d818 Mon Sep 17 00:00:00 2001 From: Nolan Date: Tue, 24 Feb 2026 17:54:07 +0100 Subject: [PATCH] Ajout dernier fichier matlab + image systeme --- Autom/Autom.m | 11 ----------- Autom/Autom.slx | Bin 130091 -> 0 bytes Autom/README.md | 9 ++++++--- Autom/force_ressort.png | Bin 0 -> 34234 bytes Autom/sys_ressort.png | Bin 0 -> 53687 bytes .../{motor.slx => systeme_capteur_force.slx} | Bin 220266 -> 203060 bytes 6 files changed, 6 insertions(+), 14 deletions(-) delete mode 100644 Autom/Autom.m delete mode 100644 Autom/Autom.slx create mode 100755 Autom/force_ressort.png create mode 100755 Autom/sys_ressort.png rename Autom/{motor.slx => systeme_capteur_force.slx} (70%) diff --git a/Autom/Autom.m b/Autom/Autom.m deleted file mode 100644 index dac419e..0000000 --- a/Autom/Autom.m +++ /dev/null @@ -1,11 +0,0 @@ -% Paramètres physiques -m_r = 20; % masse remorque [kg] -k = 5000; % raideur bras [N/m] -c = 1000; % amortissement bras [N.s/m] -f_v = 50; % frottement visqueux [N.s/m] -delta_0 = 2; % longueur repos [m] - -% Gains PID -K_p = 1000; -K_d = 500; -K_i = 100; \ No newline at end of file diff --git a/Autom/Autom.slx b/Autom/Autom.slx deleted file mode 100644 index d807a1f8fc575bf28fb9c7f5174b0cd21c667906..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 130091 zcmeFa2|U!>|39vM-@7fhl$3VN7_%u$XputJA~YC`WkzEVS<=3{EusZ!BPuPHkW|{W zi6~jpX3J7&A^cxwX5M3DX41Vr_xJhyzum_}+=W}vrlQ2#&sLxVv&i?j`; zq`K9kpT51}lg!-W?eMFg+oBcjQc}I7(NDLQi<>VvuDVT1BT_dJjdZro{X1!`&9Rk^3r`eN(T!F2fsC6SG=UNPdVg~oxPf$+N1JG z-yVJW)Z*`O*IBJNv()xuQ?q|JsddrzgS@&)Nxgb7tV~L3%sP!eQrDz|T-nFTnF_%-c+5c53G#}i;9X`ICzU~ zL0)P~O8wh?`ZEax!t-}9xq*+mZ_IiWHm9LFwI)1EW$)g-Z`sLxIj?5lnc*d~bE;FA z{^q>OL7H+>$E4*sGCRY4DrPj)*Z1@f_;_oyNA^;3nCC(DmXARx^-pzsXvH-8sy#eN zn0CUW`&M7X0PXqnH<_L_KbchIqibgA@hr5CMb3 z@0_W=<~?U1`xHHBP+VKWFGXSWP^V!l*EZJG-U#o*+8sKG4>YI@VME 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z{^I|+vJy-k9DSlgYP3Pd-HAH>fAU4|{r4XRf)rG-@3E~Uz&*tYpZ?42TT|bRi8A(pfZ@lAuKmPdVp+oeNkkq~)j6|6V zDsMiv_4u#7>wPOL^pa`$mcJQ76UaZybXSq6nfP;ZPJc;<#57Q9;`gn2-BsUPki*`=R(U-&M~r%F-l+jzaZ5s{~w_A B!1VwC diff --git a/Autom/README.md b/Autom/README.md index e123d16..2ad7cfd 100644 --- a/Autom/README.md +++ b/Autom/README.md @@ -5,9 +5,12 @@ Asservir le moteur de la charrette afin qu'il ne soit pas ressenti par le vélo. - [JUL] Julien - [NOL] Nolan +## Fichiers +- [systeme_capteur_force.slx](./systeme_capteur_force.slx) : modélisation du système global avec librairie Simscape contenant le moteur, un capteur de force ainsi qu'un asservissement PID +![Réponse du système](./force_ressort.png) +![Système global avec capteur de force](./sys_ressort.png) +- Bientot : système avec capteur de position avec fonction de transfert sans librairie Simscape + ## Sources - [Lien spécifications moteur](http://www.mxusebikekit.com/pro_info.asp?Pid=25) - [Lien batterie](https://batteryempire.fr/batteries-pour-velo-electrique/4916-green-cell-batterie-velo-electrique-48v-145ah-696wh-down-tube-ebike-ec5-pour-samebike-ancheer-avec-chargeur.html) - -## Fichiers -- [motor.slx] : fichier de modélisation de l'ensemble du système : moteur, capteur, asservissement diff --git a/Autom/force_ressort.png b/Autom/force_ressort.png new file mode 100755 index 0000000000000000000000000000000000000000..4b6eb4c555a42a35ccb3d2bffb320f23f0c3ee7e GIT binary patch literal 34234 zcmeFZbyQaG);5Zwh)7u=ASDU{64H%QN_VHy4N6F(q#`BKARyh{t%7uSBhsaG^UVdn zz2CjZdB+*wzh{i|jN$N!weEH2oY%bOHF+;1^$ZJx5Ca7T1xxg~kQ@rirRyjt7c0>( z!Z)-X?g8-MRjcQ!uTfC&Zy^6J7{>L$RVY_%L?wldMSX>9bx^E+_Vk2*9 zU}OK{l|G8(Qw52q0*}ZPjP%JQU)UHaTfQ=V{fJD|LYJOLW&93Ye-F7{@Rj}x8)Hig zG6iFEeH11ZIuZSsbWDs)Y-EqwxtLkF9<%NBV|+wGAwv-rdaCdyW@X%1M_zwo_b=^( zpn;O1h60DG%7yW z1ugd)s1mPn#3 zbQI+Ysz!_^^2Qy{zs;s8ou57M79FW%*;%j^M+`$+~UfIDG63qRv#SFj;5xd(}dR6)>8A) zl-|YPZbrjJZKdi?9Ggsxg#H8s1aM7G;rRP?>LPYMG?ajsjCc4>k6y=0?aoD8N=36} 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