Merge pull request hasemar#1 from hasemar/stateSpace_ryanEdits

MotorConstants and Commenting

stateSpaceModel.asv

@@ -0,0 +1,63 @@
+%% State-Space catcher thing
+clear; close all
+
+%% define vars
+% motor parameters
+    Kt = 1;         % torque constant = 2NBlr
+    Kv = 1;         % back-emf constant (incase have this instead)
+    L = 1;          % H motor inductance
+    r = 1000;       % ohms  motor resistance
+% physical parameters    
+    m1 = 10;        % kg mass of platform
+    m2 = 3;         % kg mass of puck
+    k = 1000;       % N/m mechanical spring element
+    b1 = 1000;      % Ns/m
+    J = 1;          % kgm^2 moment of inertial
+    b2 = 1000;      % Ns/m bearing friction
+    pRatio
+% transformer
+    TFbelt = 1;     % transformer translation to rotation
+    TFmotor = Kt;    % transformer rotation to electrical
+
+% stuff
+Vs = 12;        % volts voltage supply
+TFelement = (b1*TFbelt^2*TFmotor)/(J*TFmotor*m2*TFbelt^2*TFmotor); % calculating elements in A
+t = 0:.001:1;  % time array
+
+%% define matricies
+x0 = [...
+    0;...
+    0;...
+    0;...
+    0;];
+A = [...
+    -b1/m1, b1/m1, -1/m1,0;...
+    TFelement, -TFelement, TFelement, TFelement/(TFbelt*TFmotor);...
+    k, -k,0,0;...
+    0,0,0,-r/L;];
+
+B = [...
+    0;...
+    0;...
+    0;...
+    1/L];
+C = [1,0,0,0];
+D = 0;
+
+%% create state-space
+sys = ss(A,B,C,D);
+%sys.InputName = 'Vs';
+%sys.OutputName = {'Vm1';'Vm2'};
+F1 = impulse(sys,t);
+
+%% plot things
+figure
+plot(t,F1);
+title('Impulse Response');
+xlabel('time (s)')
+ylabel('velocity of m1 (m/s)')
+
+figure(2)
+rlocus(sys);
+
+

stateSpaceModel.m

@@ -2,20 +2,30 @@
 clear; close all
 
 %% define vars
-m1 = 10;        % kg mass of platform
-m2 = 3;         % kg mass of puck
-k = 1000;       % N/m mechanical spring element
-b1 = 1000;      % Ns/m
-TFbelt = 1;     % transformer translation to rotation
-TFmotor = 1;    % transformer rotation to electrical
-J = 1;          % kgm^2 moment of inertial
-b2 = 1000;      % Ns/m bearing friction
-L = 1;          % H motor inductance
-r = 1000;       % ohms  motor resistance
+% motor parameters
+    Kt = 1;         % torque constant = 2NBlr
+    Kv = 1;         % back-emf constant (incase have this instead)
+    L = 1;          % H motor inductance
+    r = 1000;       % ohms  motor resistance
+% physical parameters    
+    m1 = 10;        % kg mass of platform
+    m2 = 3;         % kg mass of puck
+    k = 1000;       % N/m mechanical spring element
+    b1 = 1000;      % Ns/m
+    J = 1;          % kgm^2 moment of inertial
+    b2 = 1000;      % Ns/m bearing friction
+    p1 = 5;         % cm  pulley 1
+    p2 = 5;         % cm pulley 2
+    pRatio = p2/p1;
+% transformer
+    TFbelt = pRatio;     % transformer translation to rotation
+    TFmotor = Kt;    % transformer rotation to electrical
 
+% stuff
 Vs = 12;        % volts voltage supply
 TFelement = (b1*TFbelt^2*TFmotor)/(J*TFmotor*m2*TFbelt^2*TFmotor); % calculating elements in A
 t = 0:.001:1;  % time array
+
 %% define matricies
 x0 = [...
     0;...
@@ -35,12 +45,14 @@
     1/L];
 C = [1,0,0,0];
 D = 0;
+
 %% create state-space
 sys = ss(A,B,C,D);
 %sys.InputName = 'Vs';
 %sys.OutputName = {'Vm1';'Vm2'};
-F1 = impulse(sys,t); 
+F1 = impulse(sys,t);
 
+%% plot things
 figure
 plot(t,F1);
 title('Impulse Response');