Transfer function, G

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Joaquim Lima
Joaquim Lima 2020-11-20
评论： Ameer Hamza 2020-11-20
I'm doing this transfer function routine but I can't get G, what's wrong?
% servo motor data
% Ra, armor resistance [Ohms]
Ra = 0.34;
% La, armature inductance [H]
La = 0.007;
% Ia, current in the armature [A]
Ia = 8;
% J, motor and load moment of inertia, referring to the motor axis [kg m2]
J = 63.9 * 10 ^ -4;
% C, viscous damping coefficient of the motor and load, referring to the motor shaft [Nms / rad]
C = 18400;
% T, torque developed by the motor [Nm]
T = 1.59;
% kb, generator constant
% [V.s / rad]
kb = 314;
% k, motor constant [Nm / A]
k = 0.19785;
% transfer function calculation:
% motor gain value, km:
Km = k / Ra * C + k * kb
% value of the motor time constant, Tm:
Tm = (Ra * J / (Ra * C + k * kb))
% Transfer function, G (x)
G = Km / (s * (Tm * s +1))
I get this message:
Undefined function or variable 's'.
Error in Untitled2 (line 25)
G = Km / (s * (Tm * s +1))

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采纳的回答

Ameer Hamza
Ameer Hamza 2020-11-20
's' is not defined by default in MATLAB. You need Control system toolbox to create a transfer function. Change the last part of your code to
% Transfer function, G (x)
s = tf('s');
G = Km / (s * (Tm * s +1))
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Joaquim Lima
Joaquim Lima 2020-11-20
Please qaul the function to generate the graph?
Ameer Hamza
Ameer Hamza 2020-11-20
What type of graph? See bode() function for bode plot of transfer function.

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