135 lines
No EOL
2.8 KiB
Matlab
Executable file
135 lines
No EOL
2.8 KiB
Matlab
Executable file
sys = ss(A-B*K,B(:,2),C(2,:),D)
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H = tf(sys)
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bode(H)
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% margin(H)
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% Avec le correcteur intégral :
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Ti = 5e-4
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CI = tf(1,[-Ti 0]); % négatif pour avoir une phase >180
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%bode(H,CI*H,'grid')
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% fig =figure();
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% margin(CI*H)
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% grid on;
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% saveas(fig,"manip_5marge.png");
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%%
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close all;
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sim('Grue_NL_corrNL')
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fig= figure()
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plot(Dc)
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hold on
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plot(simout.Time, simout.Data(:,1));
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xlabel('temps (s)');
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grid on;
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title('Vérification de la planification de trajectoire');
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legend('d_c','d');
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fig2= figure()
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plot(Rc)
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hold on
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plot(simout.Time, simout.Data(:,2));
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xlabel('temps (s)');
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grid on;
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title('Vérification de la planification de trajectoire');
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legend('r_c','r');
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%%
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close all
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figure()
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for e = [1 10 100]
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ed = omega0/e; er= omega0/e;
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sim('Grue_NL_corrNL')
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hold on
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subplot(311)
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hold on
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plot(simout.Time, simout.Data(:,1),"DisplayName",sprintf("\\epsilon_r=\\epsilon_d= \\omega_0/%d",e));
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subplot(312)
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hold on
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plot(simout.Time, simout.Data(:,2),"DisplayName",sprintf("\\epsilon_r=\\epsilon_d= \\omega_0/%d",e));
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subplot(313)
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hold on
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plot(simout.Time, simout.Data(:,3),"DisplayName",sprintf("\\epsilon_r=\\epsilon_d= \\omega_0/%d",e));
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end
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xlabel('temps (s)');
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subplot(311)
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title("choix de l'échelle temps");
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ylabel('d'); grid on;
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subplot(312)
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ylabel('r'); grid on;
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subplot(313)
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ylabel('\theta'); grid on;
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%%
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close all
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e = 100;
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ed = omega0/e; er= omega0/e;
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figure()
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for m = [300 500 700]
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c0 =m*g*b;
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sim('Grue_NL_corrNL')
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hold on
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subplot(311)
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hold on
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plot(simout.Time, simout.Data(:,1),"DisplayName",sprintf("m = %d",m));
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subplot(312)
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hold on
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plot(simout.Time, simout.Data(:,2),"DisplayName",sprintf("m = %d",m));
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subplot(313)
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hold on
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plot(simout.Time, simout.Data(:,3),"DisplayName",sprintf("m = %d",m));
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end
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xlabel('temps (s)');
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subplot(311)
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title("");
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ylabel('d'); grid on;
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subplot(312)
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ylabel('r'); grid on;
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subplot(313)
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ylabel('\theta'); grid on;
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m = 500;
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%%
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close all
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e = 10;
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ed = omega0/e; er= omega0/e;
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figure()
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for kc = [0.5 1 1.5]
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Cr= Cr*kc
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sim('Grue_NL_corrNL')
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hold on
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subplot(311)
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hold on
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plot(simout.Time, simout.Data(:,1),"DisplayName",sprintf("Cr = %f",Cr));
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subplot(312)
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hold on
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plot(simout.Time, simout.Data(:,2),"DisplayName",sprintf("Cr = %f",Cr));
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subplot(313)
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hold on
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plot(simout.Time, simout.Data(:,3),"DisplayName",sprintf("Cr = %f",Cr));
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end
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xlabel('temps (s)');
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subplot(311)
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title("");
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ylabel('d'); grid on;
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subplot(312)
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ylabel('r'); grid on;
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subplot(313)
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ylabel('\theta'); grid on;
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%%
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close all;
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sim('Grue_NL_corrNL')
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fig= figure()
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hold on
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plot(simout.Time, complates.Data(:,1));
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plot(simout.Time, complates.Data(:,2));
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plot(simout.Time, sortieplates.Data(:,2));
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plot(simout.Time, sortieplates.Data(:,1));
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xlabel('temps (s)');
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grid on;
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title('Vérification de la planification de trajectoire, sortie plates');
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legend('x_c','z_c','x','z');
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%% |