80 lines
1.8 KiB
Mathematica
80 lines
1.8 KiB
Mathematica
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clc, clear, warning('off')
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%% Valeurs des variables
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Ks = 1.61; %N/m
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Jp = 0.0021; %kg/(m.m)
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Jb = 0.0059; %kg/(m.m)
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m = 0.403; %kg
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h = 0.06; %m
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g = 9.8; %N/m
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N = 70; %Sans dim
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Phi = 0.00767;%N.s/rad
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R = 2.6; %Ohm
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%% Manip. 1 : Mod<EFBFBD>le NL
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A_nl = [0 0 1 0 ;...
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0 0 0 1 ;...
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0 Ks/Jp -Phi^2*N^2/(R*Jp) 0 ;...
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0 -Ks*(Jp+Jb)/(Jp*Jb) Phi^2*N^2/(R*Jp) 0];
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B = [0; 0; Phi*N/(R*Jp); -Phi*N/(R*Jp)];
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B_b = [0; 0; 0; m*g*h/Jb];
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B_nl = [B B_b];
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C = [1, 1, 0, 0];
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%% Manip. 2 : Bouclage lin<EFBFBD>arisant
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L = [0, -Ks^2*(Jp+Jb)/(Jp*Jb^2) , Ks*Phi^2*N^2/(R*Jp*Jb), 0];
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l1 = m*g*h/Jb;
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l2 = -(m*g*h)^2/(Jb*Jb);
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l3 = Ks*m*g*h/(Jb^2);
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l4 = Ks*m*g*h/(Jb*Jb);
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Somme = [1 1 1 1 1];
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beta = R*Jp*Jb/(Ks*N*Phi);
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%% Manip. 6 : Poursuite asymptotique
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% m =0.8;
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% w0 = 20;
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% w1 = 35;
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% w2 = 20;
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% i = sqrt(-1);
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m = 2;
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w0 = 2000;
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w1 = 3500;
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w2 = 3000;
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i = sqrt(-1);
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p = tf('p');
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Po = (p+w0*m-i*w0*sqrt(1-m^2))*(p+w0*m+i*w0*sqrt(1-m^2))*...
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(p+w1)*(p+w2);
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P = Po.num{1}; a3=P(2); a2=P(3); a1=P(4); a0=P(5);
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T = 1/10;
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yinf = pi/4;
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% Mod<EFBFBD>le de la consigne :
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Pc = (p+(w0/100)*0.7-i*(w0/100)*sqrt(1-0.7^2))*(p+(w0/100)*0.7+i*(w0/100)*sqrt(1-0.7^2))*...
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(p+w1/100)*(p+w2/100)*(p+w2/100);
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Pc = Pc.num{1}; b4=Pc(2); b3=Pc(3); b2=Pc(4); b1=Pc(5); b0=Pc(6);
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Ac = [0 1 0 0 0; 0 0 1 0 0; 0 0 0 1 0; 0 0 0 0 1; ...
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-b0 -b1 -b2 -b3 -b4];
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Bc = [0; 0; 0; 0; b0];
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%
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% %% Manip. 10 : Backstepping
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% La1 = -10;
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% La2 = 10*La1;
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% La3 = 10*La2;
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% La4 = 10*La3;
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