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Filteri i predfilteri

Filteri i predfilteri. PD regulator i filter. PD regulator i filter. Predfilter. clear all clc T=3 m2=10; m1=10; lc1=0.8; I12=0.1; m0=m1*lc1*lc1 + I12; g=9.81; q10=0; q20=0; dq10=0; dq20=0; Kp=1000; Kd=200; Kf = 100; % pojačanje filtera Kpf = 10; % pojačanje predfiltera

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Filteri i predfilteri

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  1. Filteri i predfilteri

  2. PD regulator i filter

  3. PD regulator i filter

  4. Predfilter

  5. clear all clc T=3 m2=10; m1=10; lc1=0.8; I12=0.1; m0=m1*lc1*lc1 + I12; g=9.81; q10=0; q20=0; dq10=0; dq20=0; Kp=1000; Kd=200; Kf = 100; % pojačanje filtera Kpf = 10; % pojačanje predfiltera sim('rtpd') figure(1) hold on subplot(2,2,1), plot(tout,q1,'b',tout,qr1,'r'), xlabel('vrijeme'), ylabel('pozicija 1'), legend('odziv','ref. signal') hold on subplot(2,2,2), plot(tout,q2,'b',tout,qr2,'r'), xlabel('vrijeme'), ylabel('pozicija 2'), legend('odziv','ref. signal') hold on subplot(2,2,3), plot(tout,dq1,'b'), xlabel('vrijeme'), ylabel('brzina 1') hold on subplot(2,2,4), plot(tout,dq2,'b'), xlabel('vrijeme'), ylabel('brzina 2') figure(2) hold on subplot(2,2,1), plot(tout,u1,'b'), xlabel('vrijeme'), ylabel('moment 1') hold on subplot(2,2,2), plot(tout,u2,'b'), xlabel('vrijeme'), ylabel('sila 2')

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