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-rw-r--r--digital/asserv/models/compare_motors.m10
-rw-r--r--digital/asserv/models/motor.m13
2 files changed, 23 insertions, 0 deletions
diff --git a/digital/asserv/models/compare_motors.m b/digital/asserv/models/compare_motors.m
index a8dee3f3..04d40911 100644
--- a/digital/asserv/models/compare_motors.m
+++ b/digital/asserv/models/compare_motors.m
@@ -33,6 +33,16 @@ plotterm ("re25g");
sys_plot (2);
global sys;
+sys.motor = amax32ghp;
+sys.gear = gear16x;
+sys.load = robot10w80;
+sys.load.J /= 2; % Two motors.
+sys.control.func = "control";
+
+plotterm ("amax32ghp");
+sys_plot (2);
+
+global sys;
sys.motor = re25cll;
sys.gear = gear10x;
sys.load = robot10w80;
diff --git a/digital/asserv/models/motor.m b/digital/asserv/models/motor.m
index 8f501a75..c7d41df0 100644
--- a/digital/asserv/models/motor.m
+++ b/digital/asserv/models/motor.m
@@ -18,6 +18,15 @@ re25g.R = 2.32; % Terminal resistance (Ohm).
re25g.L = 0.24 / 1000; % Terminal inductance (H).
re25g.J = 10.3 / 1000 / 10000; % Rotor moment of inertia (kg.m^2).
+% Maxon AMAX32GHP 18W 24V
+amax32ghp.u = 24; % Nominal voltage (V).
+amax32ghp.Kw = 269 * 2*pi / 60; % Speed constant ((rad/s)/V).
+amax32ghp.Km = 25.44 / 1000; % Torque constant (N.m/A).
+amax32ghp.Rf = 0; % Bearing friction (N.m/(rad/s)).
+amax32ghp.R = 3.99; % Terminal resistance (Ohm).
+amax32ghp.L = 0.24 / 1000; % ? Terminal inductance (H).
+amax32ghp.J = 10.3 / 1000 / 10000; % ? Rotor moment of inertia (kg.m^2).
+
% Maxon RE25CLL 10W 12V 118743
re25cll.u = 12; % Nominal voltage (V).
re25cll.Kw = 407 * 2*pi / 60; % Speed constant ((rad/s)/V).
@@ -35,6 +44,10 @@ gear4x.ro = 0.75; % Efficiency.
gear20x.i = 20.25; % Ratio.
gear20x.ro = 0.75; % Efficiency.
+% x16 epicycloid gear box.
+gear16x.i = 16; % Ratio.
+gear16x.ro = 0.75; % Efficiency.
+
% x10 orthogonal gear box.
gear10x.i = 10; % Ratio.
gear10x.ro = 0.75; % Efficiency.