Differences

This shows you the differences between two versions of the page.

--- control_system [2023/05/11 17:03] – [Outputs] ursgraf
+++ control_system [2023/05/11 17:12] – [Motor Model] ursgraf
@@ Line 40: / Line 40: @@
 ==== Motor Model====
-As our board cannot only control voltages fed to each motor, we must use a motor model to calculate these voltages. The block 'Motor Model' gets the actual speed and the calculated torque as input, and outputs the desired voltage for each motor.
+As our board cannot only control voltages fed to each motor, we must use a motor model to calculate these voltages. The block 'Motor Model' gets the actual speed and the calculated torque as input, and outputs the desired voltage for each motor. We must also take the gear into account. The speed is reduced by the gear ratio while the torque must be multiplied with the same ratio. The following equation holds
+U = kM * w + I * RA + dI/dt * L
+with I = M / kM and dI/dt * L beeing very small with our motors and accounting for the gear i we get
+U = kM * w * i + M * RA / (kM * i)
 ==== Outputs ====