Step response for a DC motor with a transient load

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Tom
Tom 2016-3-1
评论： Sebastian Castro 2016-3-4
I'm attempting to find the step response for a DC motor with a position-dependent load.
i.e., the motor is driving an arm, there is no load until the position reaches a critical value (arm hits a wall), and then the motor is prevented from spinning.
I have tried opening up the step function in MatLab, but it seems to work by calling itself.
Does anyone have any possible advice about how to do this? Ideally I would write my own step function in a loop where the torque was updated.
Thanks in advance,

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Sebastian Castro
Sebastian Castro 2016-3-2
编辑：Sebastian Castro 2016-3-2
Depends on how you want to model this system. Assuming you want to stay in MATLAB and are not looking at Simulink,
If you want your inputs to a time-invariant linear system to change over time, you can use the lsim function and provide your own input time history. [ documentation link ]
If you additionally want the DC motor model to have parameters/dynamics that change over time, you can take a more involved approach using linear parameter-varying (LPV) systems.
- Sebastian
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Tom
Tom 2016-3-4
编辑：Tom 2016-3-4
Thanks! The second link you provided helped me figure out a solution.
As a side note, if I solve this system in it's state space form, is there anyway of modelling a PID controller without converting to a transfer function?
Sebastian Castro
Sebastian Castro 2016-3-4
Yes -- there is a pid function in MATLAB. You can connect the result of this with any other linear system representation (state-space, transfer function, etc.)

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