system unstable although its poles are negative values
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Hello friends
anyone has an idea why my system is ustable although its poles are located on the left hand side with negative values as you can see?
I am not be able to design an observer or controller for it.
rs=0.84; Vin=40; Vfd=0; rL=.695; C=46.27e-6; Ra=1.73; La=1.17e-3; B=0.000138; Jq=0.000115;
kt=0.0663; ke=0.0663; Tfr=0.0284; L=2.473e-3; D=0.6; Tl=20e-3;
% syms rs Vin Vfd rL C Ra La B Jq kt ke Tfr L D Tl R
A =[ (B*(D - 1))/Jq - (B*D)/Jq, (D*kt)/Jq - (kt*(D - 1))/Jq, 0, 0;...
(ke*(D - 1))/La - (D*ke)/La, (Ra*(D - 1))/La - (D*Ra)/La, D/La - (D - 1)/La,0;...
0, (D - 1)/C - D/C, 0, D/C - (D - 1)/C;...
0, 0, (D - 1)/L - D/L, (rL*(D - 1))/L - (D*(rL))/L]
BB=[((Tfr + Tl)*(D - 1))/Jq - (D*(Tfr + Tl))/Jq 0;...
0 0;...
0 0;...
0 (Vfd*(D - 1))/L + (D*Vin)/L]
Egg=eig(A)
stablity= istable(A)
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Star Strider
le 2 Oct 2021
Try this instead —
rs=0.84; Vin=40; Vfd=0; rL=.695; C=46.27e-6; Ra=1.73; La=1.17e-3; B=0.000138; Jq=0.000115;
kt=0.0663; ke=0.0663; Tfr=0.0284; L=2.473e-3; D=0.6; Tl=20e-3;
% syms rs Vin Vfd rL C Ra La B Jq kt ke Tfr L D Tl R
A =[ (B*(D - 1))/Jq - (B*D)/Jq, (D*kt)/Jq - (kt*(D - 1))/Jq, 0, 0;...
(ke*(D - 1))/La - (D*ke)/La, (Ra*(D - 1))/La - (D*Ra)/La, D/La - (D - 1)/La,0;...
0, (D - 1)/C - D/C, 0, D/C - (D - 1)/C;...
0, 0, (D - 1)/L - D/L, (rL*(D - 1))/L - (D*(rL))/L]
BB=[((Tfr + Tl)*(D - 1))/Jq - (D*(Tfr + Tl))/Jq 0;...
0 0;...
0 0;...
0 (Vfd*(D - 1))/L + (D*Vin)/L]
Egg=eig(A)
sys = ss(A,BB,ones(1,size(A,2)),0)
figure
pzmap(sys)
figure
stepplot(sys)
Test = isstable(sys)
And as expected from the pole-zero plot and the step response, the system is stable.
.
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