summaryrefslogtreecommitdiff
path: root/n/asserv/src/asserv/test_motor_model.c
blob: 14bab66b3d4e900a51931aad7746857ec8e8327a (plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
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 <math.h>
#include <stdio.h>

/* 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;
}