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추억스케치
Unforced damping 본문
>> y0=0.15;
>> wn=sqrt(2);
>> zeta=1/(2*sqrt(2));
>> t=[0:0.1:10];
>> unforced
Unforced.m
% compute unforced response to an initial condition
%
c=(y0/sqrt(1-zeta^2));
y=c*exp(-zeta*wn*t).*sin(wn*sqrt(1-zeta^2)*t+acos(zeta));
%
bu=c*exp(-zeta*wn*t);bl=-bu;
%
plot(t,y,t, bu,'--',t,bl,'--'),grid
xlabel('Times(s)'),ylabel('y(t)(m)')
legend(['\omega_n=',num2str(wn),' \zeta=',num2str(zeta)])
===
% This scrip compute the step response of the traction motor
% wheel velocity.
%
num=[5400];den=[2 2.5 5402];sys=tf(num, den);
t=[0:0.005:5];
[y, t]=step(sys, t);
plot(t,y), grid
xlabel('Time (s)')
ylabel('Wheel velocity')
===
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