### ajout TP2 424

parent 45383b8f
Pipeline #1164 passed with stage
in 4 minutes and 48 seconds
This diff is collapsed.
This diff is collapsed.
This diff is collapsed.
This diff is collapsed.
 % Ce script permet de d�clarer les valeurs des param�tres du mod�le % Il sert aussi � d�clarer et � calculer les diff�rentes variables % de commande tout au long du TP (Exemples : Point de fonctionnement, % trajectoire, commande � grand gain, ... clear, clc, %% Param�tres : m = 500; %kg Mc = 5000; %kg g = 10; %m/s^2 J = 50; %kg.m^2 b = 0.4; %m Cd = 20; %kg/s Cr = 20; %kg.m^2/s %% Point de fonctionnement R = 10; D = 0; C0 = m*g*b; F = 0; %% Trajectoire Rini = R; Dini = 0; Rfin = 5; Dfin = 20; zh = 1; dt = 10; %% Manip 1 A = [0 0 0 1 0 0 ; 0 0 0 0 1 0 ; 0 0 0 0 0 1 ; 0 0 m*g/Mc -Cd/Mc 0 0 ; 0 0 0 0 -Cr/(b^2*(J/b^2+m)) 0 ; 0 0 -g/R*(1+m/Mc) Cd/(Mc*R) 0 0]; B = [0 0 ; 0 0 ; 0 0 ; 1/Mc 0 ; 0 -1/(b*(J/b^2+m)) ; -1/(R*Mc) 0 ]; C= eye(6); Com = [B A*B A^2*B A^3*B A^4*B A^5*B]; rank(Com) %% Manip 2 vprA = damp(eig(A)); % valeur propres de A omega0 = vprA(2); xi = 0.5 i=complex(0,1); p1 = omega0*(-xi+ i *sqrt(1-xi^2)); p2 = omega0*(-xi- i *sqrt(1-xi^2)); p = [-2 -2.5 -3 -4 p1 p2]; K = place(A,B,p) C_1 =C(1,:); B_1 =B(:,1); eta = -1/(C_1*(A-B*K)^-1*B_1); %% sys = ss(A-B*K,B(:,2),C(2,:),D) H = tf(sys) bode(H) % margin(H) % Avec le correcteur intégral : Ti = 5e-4 CI = tf(1,[-Ti 0]); % négatif pour avoir une phase >180 %bode(H,CI*H,'grid') fig =figure(); margin(CI*H) grid on; saveas(fig,"manip_5marge.png"); %% pretty figure % plot(simout) % legend("d","r","\theta","d d/dt","dr/dt","d\theta/dt"); % grid on; %% Commande grand gain Deltat= 10 Dini = 0; Rini = 10; Dfin = 20; Rfin = 5; ed = omega0/10; er = ed; coeff_phi = [6/Deltat^5 -15/Deltat^4 10/Deltat^3 0 0 0] %% close all; fig= figure() plot(Dc) hold on plot(simout.Time, simout.Data(:,1)); xlabel('temps (s)'); grid on; title('Vérification de la planification de trajectoire'); legend('d_c','d'); fig2= figure() plot(Rc) hold on plot(simout.Time, simout.Data(:,2)); xlabel('temps (s)'); grid on; title('Vérification de la planification de trajectoire'); legend('r_c','r');

17 KB

16.6 KB

16.4 KB

16.4 KB

This diff is collapsed.

33.7 KB

31.7 KB

45.9 KB

24.9 KB

23.9 KB

41.6 KB

 YrPnK1+qVi+dpkugiky1xg== \ No newline at end of file
 LXyRdIdx04BZS3zSK92ryw== \ No newline at end of file
 D6xWcyOKDYRnjDVQkSZhsg== \ No newline at end of file