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Matlab state space model simulation of a DC motor
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% Motor params | |
R = 5.5; % [Ohm] | |
L = 0.0028; % [H] | |
phi = 0.5; % [Wb] | |
k = 1; % [] | |
J = 0.5; % [kg m^2] | |
Cr = 0.1; % [Nm] Assumed Cr constant. | |
V = 24; % [V] Nominal voltage | |
% Building the system | |
H = [L 0; 0 J]; | |
A = inv(H)*[-R -k*phi; k*phi 0]; | |
B = inv(H)*[V ; -Cr]; | |
C = [0 1]; | |
% Steady state solution with a unit voltage step input | |
-inv(A)*B % current / angular speed | |
% OUTPUT | |
% | |
%ans = | |
% | |
% 0.2000 | |
% 45.8000 | |
% State space system | |
sys = ss(A, B, C, 0, 'StateName',{'Current' 'Angular speed'},'InputName','Voltage'); | |
% System response to unit voltage step | |
step(sys) | |
%% | |
% Series connection with PI regulator and then negative feedback | |
t = feedback(series(pid(5,1), sys), 1); | |
% New system response to a unit voltage step | |
step(t) |
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