32 lines
514 B
Julia
32 lines
514 B
Julia
|
using ControlSystems
|
||
|
|
|
||
|
|
p = tf("s")
|
||
|
|
|
||
|
|
τ_1 = 3 # second
|
||
|
|
τ_2 = 0.1 # second
|
||
|
|
|
||
|
|
# Approximatively our system
|
||
|
|
H = 1 / p * 1 / (1 + τ_1 * p) * 1 / (1 + τ_2 * p)
|
||
|
|
|
||
|
|
# Speed corrector
|
||
|
|
Kp_speed = 0.5
|
||
|
|
Ki_speed = 0
|
||
|
|
Kd_speed = 0
|
||
|
|
C_speed = Kp_speed + Ki_speed * 1/p + Kd_speed * p
|
||
|
|
|
||
|
|
# Looped system with the speed controller
|
||
|
|
H_speed = C_speed * H / (1 + p * C_speed * H)
|
||
|
|
|
||
|
|
|
||
|
|
# Position corrector
|
||
|
|
Kp = 10
|
||
|
|
Ki = 0
|
||
|
|
Kd = 50
|
||
|
|
|
||
|
|
C = Kp + Ki * 1/p + Kd * p
|
||
|
|
|
||
|
|
# Looped transfer function
|
||
|
|
H_tot = H_speed * C / (1 + H_speed * C)
|
||
|
|
|
||
|
|
stepplot(H_tot)
|