From 597eb3821de45a02fe5820266dbc87069162211a Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Mon, 6 Aug 2007 10:52:37 +0200 Subject: Added motor models. --- digital/asserv/models/inductance.m | 37 +++++++++++++++++++++++++++++++++++++ 1 file changed, 37 insertions(+) create mode 100644 digital/asserv/models/inductance.m (limited to 'digital/asserv/models/inductance.m') diff --git a/digital/asserv/models/inductance.m b/digital/asserv/models/inductance.m new file mode 100644 index 00000000..edc8b777 --- /dev/null +++ b/digital/asserv/models/inductance.m @@ -0,0 +1,37 @@ +% Show influence of inductance when not doing PWM. +motor; + +%global to_file = 1; + +function u = control (t) + global sys; + if (t < 1) + u = sys.motor.u; + else + u = 0; + end +end + +global sys; +sys.motor = re40g; +sys.gear = gear4x; +sys.load = robot10w80; +sys.load.J /= 2; % Two motors. +sys.control.func = "control"; + +% With inductance. +plotterm ("w_induct"); +sys_plot (2); + +% With inductance zoom. +plotterm ("w_inductz"); +sys_plot (2 / 100); + +% Without inductance. +sys.motor.L = 0; +plotterm ("wo_induct"); +sys_plot (2); + +% Without inductance zoom. +plotterm ("wo_inductz"); +sys_plot (2 / 100); -- cgit v1.2.3