tdehaeze/svd-control
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Update script

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This commit is contained in:
Thomas Dehaeze 2020-09-30 17:22:59 +02:00
parent a62f80fbb6
commit dfd3d0e724
1 changed files with 9 additions and 10 deletions
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19
gravimeter/script.m
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@ -139,18 +139,17 @@ g_svd = 1e5;
% System parameters % System parameters
w0 = 2*pi*.5; % MinusK BM1 tablle l = 0.5; % Length of the mass [m]
la = 0.5; % Position of Act. [m]
l = 0.8; % [m] h = 1.7; % Height of the mass [m]
la = l; % [m] ha = 1.7; % Position of Act. [m]
h = 1.7; % [m] m = 400; % Mass [kg]
ha = h; % [m] I = 115; % Inertia [kg m^2]
m = 70; % [kg] k = 15e3; % Actuator Stiffness [N/m]
c = 0.03; % Actuator Damping [N/(m/s)]
k = 3e3; % [N/m]
I = 10; % [kg m^2]
@ -197,7 +196,7 @@ Ja = [1 0 ha/2 %Left horizontal actuator
0 1 la/2]; %Right vertical actuator 0 1 la/2]; %Right vertical actuator
Jta = Ja'; Jta = Ja';
K = k*Jta*Ja; K = k*Jta*Ja;
C = 0.06*k*Jta*Ja; C = c*Jta*Ja;
E = [1 0 0 E = [1 0 0
0 1 0 0 1 0