TP 2 - Contrôle commandes

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;
Cr0 = 1e-3;


p = tf('p');
% Question 2

% Modèle avec approximation :
delta  = 4*Jm^2*R^2 - 8*Jm*L*Kc*Ke;
fprintf('Delta = %i\n', delta);
lambda1 = (-2*Jm*R - (delta^0.5))/(4*Jm*L);
lambda2 = (-2*Jm*R + (delta^0.5))/(4*Jm*L);
fprintf('lambda1 = %i\n', lambda1);
fprintf('lambda2 = %i\n', lambda2);
Kvinf = Kom/Ke;
TuuGT1 = Kvinf/(1-p/lambda2);
hold on;
%bode(TuuGT1);

% Modèle sans approximation :
TuuGT2 = (Kc*Kom)/(2*Jm*L*p*p+2*Jm*R*p+Kc*Ke);
hold on;
%bode(TuuGT2);

% Question 3

% Modèle avec approximation :
TuuP1 = (Kth*TuuGT1)/(Kom*x*p);
hold on;
bode(TuuP1);
% Modèle sans approximation :
TuuP2 = (Kth*TuuGT2)/(Kom*x*p);
hold on;
bode(TuuP2);

% 6.2 : Manipulation

%Question 3
Te = 0.001;
Tf = Inf;