misc docs stuff

matlab-sim/self_balance_tf.m

@@ -0,0 +1,50 @@
+% Model of self balancing robot for PID controller
+% See scheme anf formulas on notebook
+
+clear all
+clc
+
+load('params.mat')
+
+
+I_wheel = M_wheel*(r^2); %placeholder
+I_body = M_body*(l^2)/3; %placeholder
+
+nums1 = -(M_body + 2*(I_wheel/r^2) + 2*M_wheel + M_body*l/r);
+nums0 = -2*b/r;
+num = [nums1 nums0];
+
+dens3 = I_body * M_body + 2*I_wheel*(I_body*M_body*l^2)/(r^2)  + 2*I_body*M_wheel + 2*M_wheel*M_body*l^2;
+dens2 = (2*b/r)*(I_body+M_body*g);
+dens1 = -( ((M_body^2)*g*l) + 2*(I_wheel*M_body*g*l)/(r^2) + 2*M_body*M_wheel*g*l );
+dens0 = -2*(b*M_body*g*l) / r;
+den = [dens3 dens2 dens1 dens0];
+
+w = tf(num, den)
+
+sys = zpk(w);
+sys.DisplayFormat='roots'
+
+%sys.Z{1}
+% sys.P{1}(1)
+
+K = sys.K
+p1 = sys.P{1}(1)
+p2 = sys.P{1}(3)
+p3 = sys.P{1}(2)
+
+%display('Kd must be [' + num2str(p3/K) + ', 0]');
+
+% Scelgo Kd così
+kd = -0.001
+kponkd = (p1+p2);
+kionkd = (p1*p2);
+kp = kponkd*kd
+ki = kionkd*kd
+
+% rlocus(sys, -sys)
+%{
+bode(w)
+figure;
+nyquist(w)
+%}