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Update gravimeter parameters

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This commit is contained in:
Thomas Dehaeze
2020-10-05 18:06:49 +02:00
parent 2186df3f20
commit aa7613b2fc
11 changed files with 4359 additions and 4600 deletions
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gravimeter/gravimeter.slx
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gravimeter/script.m
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@@ -14,11 +14,11 @@ open('gravimeter.slx')
% Parameters
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]
@@ -33,7 +33,7 @@ g = 0; % Gravity [m/s2]
% System Identification - Without Gravity
%% Name of the Simulink File
mdl = 'gravimeter';
mdl = 'gravimeterplanarjoints2020a';
%% Input/Output definition
clear io; io_i = 1;
@@ -57,12 +57,12 @@ pole(G)
% #+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)
@@ -104,14 +104,14 @@ pole(Gg)
% #+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