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motor_6_1
J=0.01;
b=0.1;
K=0.01;
R=1;
L=0.5;
A=[-b/J K/J
-K/L -R/L];
B=[0
1/L];
C=[1 0];
D=0;
co=ctrb(A,B);%Judge the controlbility of the system
rank(co)
p1 = -5 + i;
p2 = -5 - i;
K
motor_4_2.m
J=0.01;b=0.1;K=0.01;R=1;L=0.5;num=K;
den=[(J*L) ((J*R)+(L*b)) ((b*R)+K^2)];
num=50*K;
z=1;
p=0.1;
numa=[1 z];
dena=[1 p];
numb=conv(num,numa);
denb=conv(den,dena);
figure(1);
bode(numb,de
motor_4_1.m
J=0.01;b=0.1;K=0.01;R=1;L=0.5;num=70*K;
den=[(J*L) ((J*R)+(L*b)) ((b*R)+K^2)];
figure(1);
bode(num,den,'b');
[numc,denc]=cloop(num, den, -1);
t=0:0.01:10;
figure(2);
step(numc,denc,t)
hold on
motor_1.m
J=0.01;
b=0.1;
K=0.01;
R=1;
L=0.5;
num=K;
den=[(J*L) ((J*R)+(L*b)) ((b*R)+K^2)];
sys=tf(num,den)
step(num,den,0:0.1:3)
title('Step Response for the Open Loop System')
motor6_2.m
J=0.01;
b=0.1;
K=0.01;
R=1;
L=0.5;
A=[-b/J K/J
-K/L -R/L];
B=[0
1/L];
C=[1 0];
D=0;
co=ctrb(A,B);%Judge the controlbility of the system
rank(co)
if rank(co)==rank(A)
p1 = -5
motor6_1.m
J=0.01;
b=0.1;
K=0.01;
R=1;
L=0.5;
A=[-b/J K/J
-K/L -R/L];
B=[0
1/L];
C=[1 0];
D=0;
co=ctrb(A,B);%Judge the controlbility of the system
if rank(co)==rank(A)
p1 = -5 + i;
motor6_3.m
J=0.01;b=0.1;
K=0.01;R=1;
L=0.5;
A=[-b/J K/J
-K/L -R/L];
B=[0
1/L];
C=[1 0];
D=0;
co=ctrb(A,B);%Judge the controlbility of the system
rank(co)
if rank(co)==rank(A)
[sys]=lqg(A,
motor_3_levy.m
J=0.01;b=0.1;K=0.01;R=1;L=0.5;num=K;
den=[(J*L) ((J*R)+(L*b)) ((b*R)+K^2)];
bode(num,den,'r');
hold on;
[mag,phase,w] = bode(num,den);
n=2;
[num1,den1]=levy(w,mag,phase,n);
ss=tf(num1,den1);
b
motor_2.m
J=0.01;
b=0.1;
K=0.01;
R=1;
L=0.5;
A=[-b/J K/J
-K/L -R/L];
B=[0
1/L];
C=[1 0];
D=0;
step(A, B, C, D)
rgblaplacian.m
J=imread('vis.jpg');
f = imnoise(J,'salt & pepper', 0.1);
%imview(J), imview(f)
f=im2double(f);
r=f(:,:,1);
g=f(:,:,2);
b=f(:,:,3);
[m n]=size(r);
for i=1:m
for j=1:n