목록공학/Matlab (2)

직관적인느낌

WMR mobile robot kinematics with sinusoidal wd

% WMR mobile robot kinematics with sinusoidal wd clear; clf; r = 0.05;L = 0.3;T= 0.1;TT= 5;N =TT/T; x(1)=0; y(1)=0; phi(1)=pi/4; vd = 0.5; for k = 1:1:N % Inputs wd(k) = 0; %wd(k) = 2*pi*cos(2*pi*1*k*T); Wr(k)=1/r*vd+wd(k)*L/(2*r); Wl(k)=1/r*vd-wd(k)*L/(2*r); % Kinematics phi(k+1) = phi(k) + T*(Wr(k)-Wl(k))*r/L; x(k+1) = x(k) + T/2*(Wr(k)+Wl(k))*r*cos(phi(k)); y(k+1) = y(k) + T/2*(Wr(k)+Wl(k))*r..
공학/Matlab 2023. 3. 17. 09:39
차량 로봇의 횡방향 제어

clc; clear; close; clf; %% % 7.5 차량 로봇의 횡방향 제어 %% syms L1 L2 Cf Cr Vx m lz a1 = (2*L1*Cf-2*L2*Cr)/Vx; a2 = (2*Cf+2*Cr)/Vx; a3 = (2*L1^2*Cf+2*L2^2*Cr)/Vx; a11= -a2/m; a12 = -(Vx+a1/m); a21 = -a1/lz; a22 = -a3/lz; A = [a11 a12; a21 a22] %% b1 = 2*Cf/m; b2 = 2*L1*Cf/lz; B = [b1; b2] %% L1 = 4.76; L2=6.35; Cf=9000; Cr=9000; lz=5860; m=5760; Vx=10; subs(A) subs(B) %% Matlab을 이용해 제어 a = [-0.625 -9.503..
공학/Matlab 2023. 3. 16. 09:37
이전 Prev 1 Next 다음