Use v_ro=4m/s

Author: ufechner7

mwes/mwe_02.jl

@@ -47,7 +47,7 @@ function motor_dynamics(x, u)
     return [acc]
 end
 
-v_set = 8.0
+v_set = 4.0
 force = 4000.0
 v_act = find_equilibrium_speed(winch, v_set, force)
 

mwes/mwe_03.jl

@@ -49,7 +49,7 @@ function motor_dynamics(x, u)
     return [acc]
 end
 
-v_set = 8.0
+v_set = 4.0
 force = 4000.0
 v_act = find_equilibrium_speed(winch, v_set, force)
 
@@ -68,4 +68,4 @@ D = [0.0 0.0]
 sys = ss(A, B, C, D)
 sys_new = ss(A, B[:, 1], C, D[:, 1])
 
-bode_plot(sys_new; to=2, title="Linearized Winch, F=$force N")
+bode_plot(sys_new; from=0.76, to=2.85, title="Linearized Winch, F=$force N")

mwes/mwe_04.jl

@@ -62,12 +62,13 @@ function linearize(winch, v_set, force)
 end
 
 v_set = 4.0
-for force in range(300.0, 3800.0, length=10)
-    @info "Linearizing for force: $force N"
-    sys_new = linearize(winch, v_set, force)
-    # @info "System: $sys_new"
-    # @info "Eigenvalues: $(eigvals(sys_new))"
-    bode_plot(sys_new; from=0.76, to=2.85, title="Linearized Winch, F=300..3800 N")
-end
+# for force in range(300.0, 3800.0, length=10)
+#     @info "Linearizing for force: $force N"
+#     sys_new = linearize(winch, v_set, force)
+#     # @info "System: $sys_new"
+#     # @info "Eigenvalues: $(eigvals(sys_new))"
+#     bode_plot(sys_new; from=0.76, to=2.85, title="Linearized Winch, F=300..3800 N")
+# end
 
-# bode_plot(sys_new; to=2, title="Linearized Winch, F=$force N")
+sys_new = linearize(winch, v_set, 1000.0)
+bode_plot(sys_new; from=0.76, to=2.85, title="Linearized Winch, F=1000 N")