% Simulacin de un motor DC en cadena abierta

Ri=1.1648;
Li=0.0068;
kb=0.55;
B=0.00776;
J=0.0271;
kp=0.55;
num_w_vs_ui=kp;
den_w_vs_ui=[Li*J Ri*J+Li*B Ri*B+kp*kb];
num_w_vs_Pc=[Li Ri];
den_w_vs_Pc=[Li*J Ri*J+Li*B Ri*B+kp*kb];
num_ii_vs_ui=[J B];
den_ii_vs_ui=[Li*J Ri*J+Li*B Ri*B+kp*kb];
num_ii_vs_Pc=-kb;
den_ii_vs_Pc=[Li*J Ri*J+Li*B Ri*B+kp*kb];
npuntos=1000;
t=linspace(0,1,npuntos);
ui=[zeros(1,50),ones(1,npuntos-50)]*200;
Pc=[zeros(1,500),ones(1,npuntos-500)]*5;
ii_vs_ui=lsim(num_ii_vs_ui,den_ii_vs_ui,ui,t);
ii_vs_Pc=lsim(num_ii_vs_Pc,den_ii_vs_Pc,Pc,t);
w_vs_ui=lsim(num_w_vs_ui,den_w_vs_ui,ui,t);
w_vs_Pc=lsim(num_w_vs_Pc,den_w_vs_Pc,Pc,t);
figure(1)
subplot(211);plot(t,ii_vs_ui-ii_vs_Pc,'r');hold on;grid on
xlabel('tiempo(s)');ylabel('corriente (A)');
subplot(212);plot(t,w_vs_ui-w_vs_Pc,'r');hold on;grid on
xlabel('tiempo(s)');ylabel('velocidad (rad/s)');