blob: 95a3a2983a4bcdd2a5e6202271b6c64e01516b81 (
plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
|
p=poly([2 1],'s','coeff');
q=poly([0 4 5 1],'s','coeff');
G=40*p/q //gain FACTOR=40
H=1
y=G*H //type 1
syms s
Kp=limit(s*y/s,s,0) //Kp= position error coefficient
Kv=limit(s*G*H,s,0) //Kv= velocity error coefficient
Ka=limit(s^2*G*H,s,0) //Ka= accelaration error coefficient
disp(Ka ,"Ka = ")
disp(Kv ,"Kv = ")
disp(Kp ,"Kp = ")
Ess=4/Kv
disp(Ess, "Ess = ")
|
