Hello everybody,
This is quite a simple code: I define some parameters (resistances, inductances) and after I analyse the dynamic responses. There, to obtain the kp and ki values of the PI controller, I define wn. As you can see in the code, I define two, only altering the order of the multiplications: wn = x*R/L; WN = R/L*x; The result I obtain with each one are different in the step response, as you can see in the image or compiling the code:
if true
clear all
close all
clc
Rs = 1.405;
Lls = 0.005839;
Llr = Lls;
Rr = 1.395;
Lm = 0.1722;
Ls = Lm + Lls;
Lr = Lm + Llr;
R = Rs + Rr*(Lm^2)/(Lr^2);
sigma = 1 - Lm^2/Lr/Ls;
L = sigma*Ls;
s = tf([1 0],[1]);
x = 5;
wn = x*R/L;
WN = R/L*x;
kp = 2*wn*L-R;
KP = 2*WN*L-R;
ki = wn^2*L;
KI = WN^2*L;
Ids_cl=(kp*s + ki)/L/(s^2 + (R + kp)/L*s + ki/L);
Ids_CL=(KP*s + KI)/L/(s^2 + (R + KP)/L*s + KI/L);
figure()
step(Ids_cl)
hold on
step(Ids_CL)
grid on
end
Thank you for your attention,
