/* 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; }