From 4839708f1d600d2f2134b46c304184edccb31dcc Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Fri, 14 Mar 2008 10:57:51 +0100 Subject: * digital/asserv/models: - added AMAX32GHP model. --- digital/asserv/models/compare_motors.m | 10 ++++++++++ digital/asserv/models/motor.m | 13 +++++++++++++ 2 files changed, 23 insertions(+) (limited to 'digital') 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 @@ -32,6 +32,16 @@ sys.control.func = "control"; 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; 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. -- cgit v1.2.3