?? init_d_pend.m
字號:
% Set the parameters for the discrete-time triple inverted pendulum
% simulation
%
% Noise shaping filters
kf = 0.00002; Tf1 = 10; Tf2 = 0.1;
%
% Sensors
alf1 = 1.146; alf2 = 1.146; alf3 = 0.9964;
Cp = [ alf1 0 0
-alf2 alf2 0
0 -alf3 alf3];
%
% Discrete-time controller
KD = samhld(K,Ts);
%
% Actuators
gd1 = 1.080; Td1 = 0.005;
gd2 = 0.335; Td2 = 0.002;
%
% calculation delay
tau = Ts;
[at,bt,ct,dt] = pade(tau,1);
delay = pck(at,bt,ct,dt);
ddelay = samhld(delay,Ts);
K2 = mmult(KD,daug(ddelay,ddelay,ddelay,ddelay,ddelay,ddelay));
[Akd,Bkd,Ckd,Dkd] = unpck(K2);
%
u_adc = 5; % V
B_adc = 14; % digits
u_dac = 5; % V
B_dac = 14; % digits
?? 快捷鍵說明
復(fù)制代碼
Ctrl + C
搜索代碼
Ctrl + F
全屏模式
F11
切換主題
Ctrl + Shift + D
顯示快捷鍵
?
增大字號
Ctrl + =
減小字號
Ctrl + -