---
# System prepended metadata

title: 2 Mass System
tags: [碩班交接程式, ' Identification']

---

---
tags: 碩班交接程式, Identification
---

{%hackmd @themes/dracula %}
# 2 Mass System
[碩班交接程式](/ahMxeq3mRYqKUSLMdCJUcQ?view)

---

## What is this
> 展示雙質量模型系統以及轉移函式

## Discription
![](https://i.imgur.com/Q0O0uAC.png)

> 參考論文**3.2.1節**中的建立方法，在忽略耦合力、科氏力、重力、庫倫摩擦力後，即可以獲得各關節的轉移函數如下：
* **C** 系統阻尼 [Nm*s/rad]
* **K** 系統剛性 [Nm/rad]
* **Dm** 馬達阻尼 [Nm*s/rad]
* **Dl** 負載阻尼 [Nm*s/rad]
* **Mm** 馬達慣量 [Nm*s^2/rad]
* **NG** 尺數比   [-]
* **Ml** 負載慣量 [Nm*s^2/rad]

```
a0 = Dm + NG^2 * Dl;
a1 = Mm + NG^2 * Ml + (NG ^ 2 * C * Dl + Dm * Dl + Dm * C) / K;
a2 = (Mm * Dl + Mm * C + Ml * Dm + NG ^2 * Ml * C)/K;
a3 = Mm * Ml/K;

b0 = 1;
b1 = (Dl + C)/K;
b2 = Ml/K;

TF = tf([b2, b1, b0], [a3, a2, a1, a0]);
```
