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31 lines
514 B
31 lines
514 B
using ControlSystems
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p = tf("s")
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τ_1 = 3 # second
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τ_2 = 0.1 # second
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# Approximatively our system
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H = 1 / p * 1 / (1 + τ_1 * p) * 1 / (1 + τ_2 * p)
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# Speed corrector
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Kp_speed = 0.5
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Ki_speed = 0
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Kd_speed = 0
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C_speed = Kp_speed + Ki_speed * 1/p + Kd_speed * p
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# Looped system with the speed controller
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H_speed = C_speed * H / (1 + p * C_speed * H)
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# Position corrector
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Kp = 10
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Ki = 0
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Kd = 50
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C = Kp + Ki * 1/p + Kd * p
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# Looped transfer function
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H_tot = H_speed * C / (1 + H_speed * C)
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stepplot(H_tot)
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