motor.rar

function dy =IM( t,y,f,un,rs,rr,Laa,laa,lms,m12,pn,j,romega,tl ) %UNTITLED2 此处显示有关此函数的摘要 % 此处显示详细说明 i=y(1:6); omega=y(7); theta=y(8); dy=zeros(8,1); ang=2*pi/3; u=sqrt(2)*un*[cos(2*pi*f*t),cos(2*pi*f*t-ang),cos(2*pi*f*t+ang),0,0,0]'; r=[rs,0,0,0,0,0; 0,rs,0,0,0,0; 0,0,rs,0,0,0; 0,0,0,rr,0,0; 0,0,0,0,rr,0; 0,0,0,0,0,rr]; l=[Laa,m12,m12,lms*cos(theta),lms*cos(theta+ang),lms*cos(theta-ang); m12,Laa,m12,lms*cos(theta-ang),lms*cos(theta),lms*cos(theta+ang); m12,m12,Laa,lms*cos(theta+ang),lms*cos(theta-ang),lms*cos(theta); lms*cos(theta),lms*cos(theta-ang),lms*cos(theta+ang),laa,m12,m12; lms*cos(theta+ang),lms*cos(theta),lms*cos(theta-ang),m12,laa,m12; lms*cos(theta-ang),lms*cos(theta+ang),lms*cos(theta),m12,m12,laa]; l_inv=inv(l); dl_theta=lms*[0,0,0,-sin(theta),-sin(theta+ang),-sin(theta-ang); 0,0,0,-sin(theta-ang),-sin(theta),-sin(theta+ang); 0,0,0,-sin(theta+ang),-sin(theta-ang),-sin(theta); -sin(theta),-sin(theta-ang),-sin(theta+ang),0,0,0; -sin(theta+ang),-sin(theta),-sin(theta-ang),0,0,0; -sin(theta-ang),-sin(theta+ang),-sin(theta),0,0,0]; dy(1:6)=l\(-(r+omega*dl_theta)*i+u); dy(7)=pn/j*(0.5*pn*i'*dl_theta*i-romega*omega/pn-tl); dy(8)=y(7); end