33 lines
640 B
Matlab
33 lines
640 B
Matlab
close all
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% The quick brown fox jumps over the lazy dog. The dog stays blissfully asleep. :)
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% Dane Sabo
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% ME 2046 Final Project Code
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%% System Setup
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% Continuous System
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J = 0.01; %kgm^2
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C = 0.004; %Nm/(rad/s)
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K = 10; %Nm/rad
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K_i = 0.05; %Nm/rad
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F = [0 1; -K/J -C/J];
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G = [0; K_i/J];
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G_disturb = [0; 1/J];
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C = [1 0];
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D = 0;
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sys_cont = ss(F, G, C, D);
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% Digital System Conversion
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Ts_whole_register = 1/15e3; %s
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sys_whole_register = c2d(sys_cont, Ts, 'zoh');
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%Assume a 12-bit SAR ADC with bits 0-3 in first, bits 4-7 in 2nd, 8-11 in 3rd
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Ts_third_register = Ts/3;
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sys_third_register = c2d(sys_cont, Ts_third_register, 'zoh');
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