From 435b5a9adaa251e8d72ccf5b744db80296b30908 Mon Sep 17 00:00:00 2001 From: schodet Date: Tue, 17 Jan 2006 16:39:17 +0000 Subject: Ouh lala, plein de modifs, dont l'ajout d'un modèle de moteur à courant continue, le changement du PID, de la PWM et l'ajout de commandes dans main. --- n/asserv/src/asserv/test_motor_model.c | 78 ++++++++++++++++++++++++++++++++++ 1 file changed, 78 insertions(+) create mode 100644 n/asserv/src/asserv/test_motor_model.c (limited to 'n/asserv/src/asserv/test_motor_model.c') diff --git a/n/asserv/src/asserv/test_motor_model.c b/n/asserv/src/asserv/test_motor_model.c new file mode 100644 index 0000000..14bab66 --- /dev/null +++ b/n/asserv/src/asserv/test_motor_model.c @@ -0,0 +1,78 @@ +/* test_motor_model.c - Test DC motor model. */ +/* asserv - Position & speed motor control on AVR. {{{ + * + * Copyright (C) 2006 Nicolas Schodet + * + * Robot APB Team/Efrei 2006. + * Web: http://assos.efrei.fr/robot/ + * Email: robot AT efrei DOT fr + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * }}} */ +#include "common.h" +#include "motor_model.h" + +#include +#include + +/* Our robot model. */ +struct motor_t taz = +{ + /* Motor caracteristics. */ + 407 * M_2_PI / 60, /* Speed constant ((rad/s)/V). */ + 23.4 / 1000, /* Torque constant (N.m/A). */ + 0, /* Bearing friction (N.m/(rad/s)). */ + 2.18, /* Terminal resistance (Ohm). */ + 0.24 / 1000, /* Terminal inductance (H). */ + /* Gearbox caracteristics. */ + 10, /* Gearbox ratio. */ + 0.75, /* Gearbox efficiency. */ + /* Load caracteristics. */ + 10 * 0.04 * 0.04, /* Load (kg.m^2). */ + /* Simulation parameters. */ + 4.444444 / 1000, /* Simulation time step (s). */ + 1000, /* Simulation time step division. */ + /* Simulation current state. */ + 0, /* Current time (not realy used) (s). */ + 0, /* Current input voltage (V). */ + 0, /* Current current (A). */ + 0, /* Current angular speed (o for omega) (rad/s). */ + 0 /* Current theta (th for theta) (rad). */ +}; + +void simu (struct motor_t *m, double t) +{ + int i, s; + s = t / m->h; + for (i = 0; i < s; i++) + { + motor_model_step (m); + printf ("%12f %12f %12f %12f %12f\n", m->t, m->u, m->i, m->o, m->th); + } +} + +int +main (void) +{ + /* Make a step response simulation. */ + printf ("# %10s %12s %12s %12s %12s\n", "t", "u", "i", "omega", "theta"); + taz.u = 3.0; + printf ("%12f %12f %12f %12f %12f\n", taz.t, taz.u, taz.i, taz.o, taz.th); + simu (&taz, 1.0); + taz.u = 0.0; + simu (&taz, 1.0); + return 0; +} -- cgit v1.2.3