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PD_Controller
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PD Controller
PD Controller
Explanation of the PD Controller
Input:
Mass m =
Bumper b =
Spring k =
k_p k_p =
k_d k_d =
x(0) x(0) =
dx(0) dx(0)=
0
0
0
0
0
0
0
kg
kg/s
kg/s^2
-
-
m
m/s
Use concrete values
Info: only change values between "=" and ";" do not change line order! -- m=3.0; [kg] b=3; [kg/s] k=1.5; [kg/s^2] k_p=13.5; k_d=10.42; x(0)=0; [m] dx(0)=0; [m/s] --- t in [0,t2],t2=3; [s] Diskretisierung_x=0.005; Band = 1; [%] Rounding=4; [after comma]
Draw it!
Output:
Deeper Analysis:
Überschwingen
Stationärer Fehler:
Übertragungsfunktion:
TODO:
live-Simulation des ganzen mit blöcken!
-Bodediagramm, WOK, NyquistDiagramm, I-Glied
Stability analysis
Phase plot machen! -
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