TP 1 - Contrôle commandes

% Matlab
% QUESTION 1
R = 1.34;
L = 0.12e-3;
Ke = 60/(585*2*pi);
Kc = 16.3e-3;
Jm = 9.19e-7;
Kom = (1.75e-3)/(2*pi/60);
Kth = 0.5/(10*pi/180);
x = 36;

%{
f = 0;
Rc = 0;
Cr0 = 1e-3;
%}


p = tf('p');

% QUESTION 2
% Cas A)
%{
for i = 0:20
    f = (i/10e6);
    TuuGT = (Kc*Kom)/((R+L*p)*(2*Jm*p+((1+1/x^2)*f)+Kc*Ke*((1/R+L*p)+(1/R+Rc+L*p))));
    hold on;
    bode(TuuGT);
end
%}

% Cas B)
%{
f = 1e-6;
TuuGT = (Kc*Kom)/((R+L*p)*(2*Jm*p+((1+1/x^2)*f)+Kc*Ke*((1/R+L*p)+(1/R+Rc+L*p))));
bode(TuuGT);
for i = 0:3
    Rc = 10^i;

    TuuGT = (Kc*Kom)/((R+L*p)*(2*Jm*p+((1+1/x^2)*f)+Kc*Ke*((1/R+L*p)+(1/R+Rc+L*p))));
    hold on;
    bode(TuuGT);
end
%}

% QUESTION 3
% Cas A)
%{
Rc = 0;
for i = 0:20
    f = (i/10e6);
    TpuGT = (-Kom)/(2*Jm*p+((1+1/x^2)*f)+Kc*Ke*((1/R+L*p)+(1/R+Rc+L*p)));
    hold on;
    bode(TpuGT);
end
%}

% Cas B)
%{
f = 1e-6;
TpuGT = (-Kom)/(2*Jm*p+((1+1/x^2)*f)+Kc*Ke*((1/R+L*p)+(1/R+Rc+L*p)));
bode(TpuGT);
for i = 0:3
    Rc = 10^i;

    TpuGT = (-Kom)/(2*Jm*p+((1+1/x^2)*f)+Kc*Ke*((1/R+L*p)+(1/R+Rc+L*p)));
    hold on;
    bode(TpuGT);
end
%}

% SIMULINK
f = 1e-6;
Rc = 0;
Cr0 = 1e-3;
TuuGT = (Kc*Kom)/((R+L*p)*(2*Jm*p+((1+1/x^2)*f)+Kc*Ke*((1/(R+L*p))+(1/(R+Rc+L*p)))));
TpuGT = (-Kom)/(2*Jm*p+((1+1/x^2)*f)+Kc*Ke*((1/(R+L*p))+(1/(R+Rc+L*p))));