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[WIP] Add src folder, change damping of system

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This commit is contained in:
Thomas Dehaeze
2018-06-13 09:37:20 +02:00
parent 3b4a67e0a1
commit 971a520edd
17 changed files with 102 additions and 120 deletions
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37
Control/control_y.m
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@@ -1,55 +1,34 @@
%% Define options for bode plots
bode_opts = bodeoptions;
bode_opts.Title.FontSize = 12;
bode_opts.XLabel.FontSize = 12;
bode_opts.YLabel.FontSize = 12;
bode_opts.FreqUnits = 'Hz';
bode_opts.MagUnits = 'abs';
bode_opts.MagScale = 'log';
bode_opts.PhaseWrapping = 'on';
bode_opts.PhaseVisible = 'on';
%%
load('../mat/G_f_to_d.mat', 'G_f_to_d');
load('./mat/G_f_to_d.mat', 'G_f_to_d');
%%
G = G_f_to_d(2, 2);
%% Some post processing of the plant
[G, ~] = freqsep(G, 2*pi*1000);
[~, G] = freqsep(G, 2*pi*1);
%% Verify the post processing
figure;
bode(G, G_f_to_d(2, 2));
%% Try sisotool
sisotool(G)
%%
gain = 1e8;
gain = 1e9;
%%
figure;
bode(gain*G, bode_opts)
bodeFig({gain*G}, struct('phase', true))
%%
[~,~,~,Wpm] = margin(gain*G);
% Wpm = 180*2*pi;
Wpm = 200*2*pi;
%%
s = tf('s');
Ky = gain*(s/(0.2*Wpm)+1)/(s/(10*Wpm)+1)/(1+s/(2*pi*100));%*(s+2*pi*10)/(s+2*pi*0.0001);
C = gain*(s/(0.2*Wpm)+1)/(s/(10*Wpm)+1)/(1+s/(2*pi*100));%*(s+2*pi*10)/(s+2*pi*0.0001);
%% Compute Closed loop transfer function
figure;
bode(Ky*G, bode_opts)
bodeFig({C*G}, struct('phase', true))
%%
K = tf(zeros(6));
K(2,2) = Ky;
K(2,2) = C;
%%
save('../mat/controller.mat', 'K')
save('./mat/controller.mat', 'K')