资源简介
基于状态空间的模型预测MPC控制器的设计,电机控制方面的,有需要的可以看看
代码片段和文件信息
%(1)首先定义被控对象模型
%DC-motor with elastic shaft
%Parameters(MKS)
Lshaft=1.0; %Shaft length
dshaft=0.02; %Shaft diameter
shaftrho=7850; %Shaft specific weight(Carbon steel)
G=81500*1e6; %Modulus of rigidity
tauam=50*1e6; %Shear strength
Mmotor=100; %Rotor mass
Rmotor=.1; %Rotor radius
Jmotor=.5*Mmotor*Rmotor^2; %Rotor axial moment of inertia
Bmotor=0.1; %Rotor viscous friction coefficient(A CASO)
R=20; %Resistance of armature
Kt=10; %Motor constant
gear=20; %Gear ratio
Jload=50*Jmotor; %Load NOMINAL moment of inertia
Bload=25; %Load NOMINAL viscous friction coefficient
Ip=pi/32*dshaft^4; %Polar momentum of shaft
%(circular)section
Kth=G*Ip/Lshaft; %Torsional rigidity
%(Torque/angle)
Vshaft=pi*(dshaft^2)/4*Lshaft; %Shaft volume
Mshaft=shaftrho*Vshaft; %Shaft mass
Jshaft=Mshaft*.5*(dshaft^2/4); %Shaft moment of inertia
JM=Jmotor;
JL=Jload+Jshaft;
Vmax=tauam*pi*dshaft^3/16; %Maximum admissible torque
Vmin=-Vmax;
%Input/
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