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Update wrong parameter in the simscape model

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Thomas Dehaeze
2020-10-02 09:48:24 +02:00
parent dfd3d0e724
commit 2186df3f20
9 changed files with 4089 additions and 4057 deletions
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@@ -67,11 +67,11 @@
Parameters
#+begin_src matlab
l = 0.5; % Length of the mass [m]
la = 0.5; % Position of Act. [m]
l = 0.5/2; % Length of the mass [m]
la = 0.5/2; % Position of Act. [m]
h = 1.7; % Height of the mass [m]
ha = 1.7; % Position of Act. [m]
h = 1.7/2; % Height of the mass [m]
ha = 1.7/2; % Position of Act. [m]
m = 400; % Mass [kg]
I = 115; % Inertia [kg m^2]
@@ -112,12 +112,12 @@ Parameters
#+begin_example
pole(G)
ans =
-0.000473481142385801 + 21.7596190728632i
-0.000473481142385801 - 21.7596190728632i
-7.49842879459177e-05 + 8.6593576906982i
-7.49842879459177e-05 - 8.6593576906982i
-5.15386867925747e-06 + 2.27025295182755i
-5.15386867925747e-06 - 2.27025295182755i
-0.000143694057817022 + 11.9872485389527i
-0.000143694057817022 - 11.9872485389527i
-7.49842879371933e-05 + 8.65931816830372i
-7.49842879371933e-05 - 8.65931816830372i
-4.25202990156283e-06 + 2.06202312114216i
-4.25202990156283e-06 - 2.06202312114216i
#+end_example
The plant as 6 states as expected (2 translations + 1 rotation)
@@ -168,14 +168,14 @@ We can now see that the system is unstable due to gravity.
#+RESULTS:
#+begin_example
pole(G)
pole(Gg)
ans =
-10.9848275341276 + 0i
10.9838836405193 + 0i
-7.49855396089326e-05 + 8.65962885769976i
-7.49855396089326e-05 - 8.65962885769976i
-6.68819341967921e-06 + 0.83296042226902i
-6.68819341967921e-06 - 0.83296042226902i
-7.49842906813125e-05 + 8.6594885739673i
-7.49842906813125e-05 - 8.6594885739673i
7.08960832564352 + 0i
-7.08989438800737 + 0i
1.70627135943515 + 0i
-1.70628118924799 + 0i
#+end_example
#+begin_src matlab :exports none