summaryrefslogtreecommitdiff
path: root/digital/asserv/models/inductance.m
blob: edc8b777eaf8b874f708123ce81f1a79fd3dc424 (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
% Show influence of inductance when not doing PWM.
motor;

%global to_file = 1;

function u = control (t)
    global sys;
    if (t < 1)
	u = sys.motor.u;
    else
	u = 0;
    end
end

global sys;
sys.motor = re40g;
sys.gear = gear4x;
sys.load = robot10w80;
sys.load.J /= 2; % Two motors.
sys.control.func = "control";

% With inductance.
plotterm ("w_induct");
sys_plot (2);

% With inductance zoom.
plotterm ("w_inductz");
sys_plot (2 / 100);

% Without inductance.
sys.motor.L = 0;
plotterm ("wo_induct");
sys_plot (2);

% Without inductance zoom.
plotterm ("wo_inductz");
sys_plot (2 / 100);