26 lines
507 B
Mathematica
26 lines
507 B
Mathematica
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clc; clear all;
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% Ki = 100;
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% Kb = 100;
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% Jm = 2e-3;
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% Bm = 0.02;
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% L = 1e-3;
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% R = 2;
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%
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% W = tf([Ki],[L*Jm (Bm*L + R*Jm) (R*Bm + Ki*Kb) 0])
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%
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% w = 1e-2;
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% s = 1i*w;
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% frsp = evalfr(W,s)
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syms s w L R Ki Kb Jm Bm real
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G = s*( (L*s+R)*(Jm*s+Bm) + Ki*Kb );
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G2 = 1i*w*((L*1i*w+R)*(Jm*1i*w+Bm) + Ki*Kb);
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G3 = ( -(Bm*L*w^2 + R*Jm*w^2) + 1i*(R*Bm*w + Ki*Kb*w - L*Jm*w^3));
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G4 = G2*( -(Bm*L*w^2 + R*Jm*w^2) - 1i*(R*Bm*w + Ki*Kb*w - L*Jm*w^3) )
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G5 = w^4*(Bm*L + R*Jm)^2 + w^2*(R*Bm + Ki*Kb - L*Jm*w^2)^2
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