Equations to Matlab code
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hi
I want to convert the two equations below into Matlab code , I wrote the function below for that and I don't know if that is correct or not , specially the integral form ? any help ?
function [VI,Vw]= Modelfun(TL,TR)
dt=0.01; %sampling time
r=0.052;
L=0.306;
M=9;
I=5;
VI=(TL+TR)/ M * r;
VI=VI*dt/2; %first integral
Vw=(L*(TL-TR)) / 2 * r * I;
Vw=Vw*dt/2; %first integral
Vw=Vw*dt/2; %second integral
end
采纳的回答
Torsten
2014-11-20
0 个投票
It is not possible simply to output (VI,Vw) given (TL,TR).
As input you need (VIold,Vwold,Vwdotold,dt,TL,TR).
The output VI,Vw and Vwdot is then calculated according to
VI=VIold+dt*(TL+TR)/(M*r)
Vw=Vwold+dt*Vwdotold
Vwdot=Vwdotold+dt*L*(TL-TR)/(2*r*I).
This would mean that your function "Modelfun" advances VI and Vw from their values at time t to time t+dt.
Best wishes
Torsten.
更多回答（2 个）
Torsten
2014-11-18
0 个投票
If the right-hand sides of your equations does not depend on t, the solution to your differential equations is explicitely given by
VI=VI0+(TL+TR)/(M*r)*t
Vw=Vw0+Vw0dot*t+0.5*L*(TL-TR)/(2*r*I)*t^2
where
VI0=VI at time t=0
Vw0=Vw at time t=0
Vw0dot = d/dt(Vw) at time t=0.
Best wishes
Torsten.
5 个评论
Maria
2014-11-18
thanks a lot but please could you explain how and why did you that ?
hint : the equations are for dynamic model of mobile robot
Maria
2014-11-19
Torsten
2014-11-19
What is your function "Modelfun" supposed to do ?
Should it calculate VI(t+dt) and Vw(t+dt) given the values VI(t) and Vw(t) ?
Best wishes
Torsten.
Maria
2014-11-19
Maria
2014-11-20
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