motor_4_2.m

用matlab实现motor运动控制的控制器设计仿真

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,denb,'b')
[numc,denc]=cloop(numb, denb, -1);
t=0:0.01:10;
figure(2)
step(numc,denc,t)
hold on