{ "cells": [ { "cell_type": "markdown", "metadata": {}, "source": [ "This example shows how to model a DC motor and check performance\n", "against datasheet values. The example uses data for a Faulhaber\n", "Series 0615 DC-Micromotor. For the 1.5V variant, equivalent circuit\n", "parameters are R=3.9 Ohms, L=12 uH, K=0.072mV/rpm, J=0.01gcm^2,\n", "and Mr=0.02mNm. This model verifies the quoted no-load current\n", "(0.03A), no-load speed (19,100 rpm), and stall torque (0.24mNm)\n", "based on these equivalent circuit values. The model can be used to\n", "assess motor performance in a given application by adding the\n", "requisite mechanical load model." ] }, { "cell_type": "code", "execution_count": 1, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "StateSpaceContinuous(\n", "array([[-5.00000000e+00, 6.87550000e+05],\n", " [-5.72958333e+01, -3.25000000e+05]]),\n", "array([[1.00000000e+09, 0.00000000e+00],\n", " [0.00000000e+00, 8.33333333e+04]]),\n", "array([[1., 0.],\n", " [0., 1.]]),\n", "array([[0., 0.],\n", " [0., 0.]]),\n", "dt: None\n", ")\n" ] } ], "source": [ "import matplotlib.pyplot as plt\n", "import numpy as np\n", "from scipy.signal import StateSpace,lsim,step\n", "import control as ctl\n", "\n", "\n", "#verificar unidades\n", "La = 12e-6 #1600e-6\n", "Ra = 3.9 #4.8\n", "T = 6.8755e-04 # 0.072e-3*60/(2*np.pi)=6.8755e-4 em V/(rad/s)#0.0637\n", "J = 1e-9 # 7kgm^2\n", "B = 5e-9 # Mr em Nm\n", "\n", "I = np.array([[J, 0], [0, La]]) #[J 0;0 La];\n", "K = np.array([[B, -T], [T, Ra]])#[c -T;T Ra];\n", "invI = np.linalg.inv(I)\n", "\n", "A = - np.dot(invI,K)\n", "B = invI\n", "C = np.eye(2)\n", "D = np.zeros((2,2))\n", "\n", "sys1 = StateSpace(A,B,C,D)\n", "print(sys1)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "No-load Current\n", "Ensaio sem carga Tl=0" ] }, { "cell_type": "code", "execution_count": 2, "metadata": {}, "outputs": [ { "data": { "image/png": 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Qi0hdqZ9vxkLwIaBz6UWkzmSr0McxZYrG6EWkrmSr0A92MBZg6lTYuHHw3r+ISEZkq9DHMX06dHdDFb40JSJSDdkr9IP16KdPD55ffjn9LCIiNSBbhT7OcMyMGcHzhg3pZhERqRHZKvRxtLZCY6MKvYjUjewV+sGGboYPDw7IauhGROpEtgp93DNppk9Xj15E6ka2Cj0M3qOHPxR6nWIpInUgW4U+buGeMQP27IGt1buQpohIpWSr0MeVP8VSwzciUgeyV+jjDt2ADsiKSF3IVqGPO3Rz/PHQ3KwevYjUhWwVesDj9OgbG+Gkk2D9+vQDiYhUWbYKfZKzaNraYN269LKIiNSIbBX6JE49Nbhc8e7d1U4iIpKqWIXezOaZ2Xoz6zCza4ssP8fMnjazXjO7pGDZQTNbGz6WFbYtuzhDNwCnnBL8D+Cll9LNIyJSZYMWejNrBBYDFwFtwKVm1law2uvA54C7imxir7vPCh/zh5h3YEmGbk49NXjW8I2IZFyce8bOATrcfROAmS0FFgAv5ldw91fDZX0pZEwmbo9+2rTgzJsXXkg3j4hIlcUp9JOBzZHXncDcBO8xwsxWA73Aze5+X+EKZrYIWATQ0tJCV4k3BTnGnf3797MnZvuxJ51E3zPPsLMCNyHp7u5O/T1KoVzJKFcyypVMWrniFPpiXeQkF4k5wd23mtlU4FEze97dNx6yMfclwBKA9vZ2z+VyCTZ/qObmZkbGbT9rFvzqVwzl/ZKo1PskpVzJKFcyypVMGrniHIztBI6PvG4BYl8kxt23hs+bgMeA2QnyJRd36AaCA7KbN8POnenlERGpsjiFfhUw3cymmFkTsBCIdfaMmY0zs+ZwOgecTWRsv+ySXo1SB2RFpA4MWujdvRe4GngIeAm4293XmdlNZjYfwMzOMLNO4JPA980sXzn/CFhtZs8CKwjG6NMr9Emp0ItIHYgzRo+7LweWF8y7ITK9imBIp7DdE8BpQ8wYX9Ie/YknwujR8Oyz6eQREakB9fvNWICGBpg9G55+utpJRERSk71Cn+RgLMAHPwhr18LBg+nkERGpsmwV+lJuDXj66cHdpn73u/LnERGpAdkq9FBajx40fCMimZWtQl9Kj37mTBg5EtasKX8eEZEakK1CX4rGxuAbsir0IpJR2Sv0SYduIBi+eeYZ6Kv+NdlERMotW4W+lKEbCA7I7t6tm4WLSCZlq9BDaT36008PnletKm8WEZEakL1CX4q2NjjqKHjiiWonEREpu2wV+lKHbhob4cwz4Te/KW8eEZEakK1CD6UN3QCcfXZwt6l33ilvHhGRKstWoS+1Rw9BoXeHlSvLl0dEpAZkq9BD6T36uXODIRwN34hIxmSv0Jdq9Gj4wAdU6EUkc7JV6IcydAPB8M1vfws9PeXJIyJSA7JV6KH0oRsICv2ePbrAmYhkSqxCb2bzzGy9mXWY2bVFlp9jZk+bWa+ZXVKw7HIz2xA+Li9X8FSce27w/MtfVjeHiEgZDVrozawRWAxcBLQBl5pZW8FqrwOfA+4qaHs0cCMwF5gD3Ghm44YeOyUTJgQXOFOhF5EMidOjnwN0uPsmdz8ALAUWRFdw91fd/Tmg8KpgFwIPu/t2d98BPAzMK0Pu/g1l6Abgox8NDsju3l2ePCIiVRbn5uCTgc2R150EPfQ4irWdXLiSmS0CFgG0tLTQ1dUVc/MR7uSAffv2saeU9qHhZ5zBmJ4euh94gJ7zzit5O4W6u7vLtq1yUq5klCsZ5UomrVxxCn2xLnLc01titXX3JcASgPb2ds/lcjE3f8hGAGg+4ghGldI+72Mfg+Zmxjz1FHzqU6Vvp4iSfq4KUK5klCsZ5UomjVxxhm46geMjr1uArTG3P5S2yQz11Mq8I46AP/kTjdOLSGbEKfSrgOlmNsXMmoCFwLKY238IuMDMxoUHYS8I59W2Cy6A556DzZsHX1dEpMYNWujdvRe4mqBAvwTc7e7rzOwmM5sPYGZnmFkn8Eng+2a2Lmy7Hfg6wYfFKuCmcF56hnowFmBBeKx5WdzPMxGR2hVnjB53Xw4sL5h3Q2R6FcGwTLG2twO3DyFjPOUaugE4+eTgpuH33w9XXVW+7YqIVIG+Gdufj38cVqzQZYtF5LCXnUJfzh49BMM3vb2wfPng64qI1LDsFPpymzMHJk2Ce++tdhIRkSFRoe9PQwP8xV/AL34B775b7TQiIiXLTqEv99ANwGWXwd69cM895d+2iEiFZKfQ55XrYCwENwyfNg3uuKN82xQRqbDsFPo0evRmQa9+xQro7Cz/9kVEKiA7hT4tl10WfIjceWe1k4iIlCR7hb6cQzcAJ50UXPvmn/8Z+gqvwiwiUvuyU+jTGLrJu+oq2LgRHqr9y/SIiBTKTqHPK3ePHoLTLCdNgu99r/zbFhFJWfYKfRqamuALX4AHH4SOjmqnERFJJDuFPs2hG4BFi6CxEW69Nd33EREps+wU+rw0hm4AjjsOPvc5+MEPYGs6904REUlDdgp92j16gOuuCy50dsst6b+XiEiZZKfQ56XVoweYOjU4r/622+DNN9N7HxGRMspeoU/b9dcHvfobb6x2EhGRWGIVejObZ2brzazDzK4tsrzZzH4SLv+tmbWG81vNbK+ZrQ0ft5U3fkQlhm4Apk8Pzqv/wQ/g2Wcr854iIkMwaKE3s0ZgMXAR0AZcamZtBatdAexw95OA7wDfiizb6O6zwseVZco9UODU34IbboCxY+GrX63cB4yISIni9OjnAB3uvsndDwBLgQUF6ywAfhRO/ww4z6wSFTeikgX36KPh618PLnama+CISI2LU+gnA5sjrzvDeUXXcfdeoBs4Jlw2xcyeMbP/MrMPDTHv4Cr1+fKFL8BZZ8Ff/RW88UZl3lNEpATDYqxTrHIWdp/7W+cN4AR3f9vMTgfuM7NT3H3nIY3NFgGLAFpaWujq6ooRq8Du3eSAffv2sbeU9iVo/Id/YOy553Lg85/n3TvuGPBDpru7uyKZklKuZJQrGeVKJq1ccQp9J3B85HULUPiNofw6nWY2DBgDbHd3B/YDuPsaM9sIzABWRxu7+xJgCUB7e7vncrnkP8mIEeHTCEaV0r4UuRx885s0f/WrNP/4x8GY/YCrVyhXQsqVjHIlo1zJpJErztDNKmC6mU0xsyZgIbCsYJ1lwOXh9CXAo+7uZjY+PJiLmU0FpgObyhO9HxU+NMCXvxxc9Oxv/gZ+/evKvreISAyDFvpwzP1q4CHgJeBud19nZjeZ2fxwtX8BjjGzDuAaIH8K5jnAc2b2LMFB2ivdfXu5f4gwaCqbHZQZ3H578GWqT3wCNmyoTg4RkX7EGbrB3ZcDywvm3RCZ3gd8ski7e4DK3lm70j16gDFj4IEH4Oyz4cIL4Ykngssai4jUAH0ztlxmzIDly2HbNjj3XNiypdqJRESALBX6Wvji0hlnBNes37IFPvSh4K5UIiJVlp1CH/JqDN1EnXMOPPoodHfDmWfCI49UN4+I1L3sFPpa6NHntbfDk0/ChAlwwQVw881w8GC1U4lIncpOoc+rdo8+b8YMWLkyOBPnuusY87GPwUsvVTuViNSh7BX6WnLkkfCTn8Cdd9K4cSN84APBefcV+uauiAhkqdDX0tBNlBl8+tPsePzx4FaE3/seTJsWXNde18gRkQrITqGvcT5hAixZAs8/D+edB9/8JrS2wmc/Cw8/rDF8EUlNdgp9rfboC7W1wc9/Di+/DH/5l/Dv/x4csD3++OCGJg88ALt3VzuliGRIdgr94eakk4JhnDffhJ/+FObOhR/+EC6+GI45Bj78Yfjbv4V77oHOzsPng0xEak6sSyAcVmrlrJu4RoyASy4JHvv2weOPw3/8R/D83e/CgQPBemPGwMyZwePkk+HEE6GlJXhMngzNzdX9OUSkZmWn0GehxztiBJx/fvAA2L8f1q6FVauCUzN/9zv4z/+EH/3o/W1zueDOV4WPceNg1CgYObLoo3Hv3uB8/+HDYdiw4Dk6HZ3XoP8AihyOslPo8w63Hv1AmpuDIZ25cw+d/+67wWUWOjv/8Ni6FbZvDx7btgUfCtu3wzvvDPgW45LkMYPGxuC5oSF4LpweaNlAbQpz9fUV/2BJ+vst8/qH5EozS8Jtjzt4MPjd1BjlSubImTNhWeFV4Icue4W+Hhx55B+GcQbT1xcMCe3eDXv2vO+xc9s2jjriCOjpgd7eQ5+LzTt4MPjfk3uw7cGm46xXRM++fTSGN5N5T9L/taWwfs/+/TQ2N6ebpYT/nb6Xq8YoVzIHjzsule1mp9BnYegmDQ0NfxiqKeJAV1cw7FNjdnV1MUK5YlOuZGo1156uLor/Sx2a7A26ZmnoRkSkDLJT6NWjFxEpKjuFPk89ehGRQ8Qq9GY2z8zWm1mHmV1bZHmzmf0kXP5bM2uNLLsunL/ezC4sX3QREYlj0EJvZo3AYuAioA241MzaCla7Atjh7icB3wG+FbZtAxYCpwDzgH8Kt1d+GroRESkqTo9+DtDh7pvc/QCwFFhQsM4CIP8tnp8B55mZhfOXuvt+d38F6Ai3lx4N3YiIHCLO6ZWTgc2R153A3P7WcfdeM+sGjgnnryxoO7nwDcxsEbAIoKWlha4Srtduu3Yxev58do4fz74avN57d3d3tSMUpVzJKFcyypVMWrniFPpiXeTCcZL+1onTFndfAiwBaG9v91wp57fmcnD//TR1dVFS+wpQrmSUKxnlSqaecsUZuukEjo+8bgG29reOmQ0DxgDbY7YVEZEUxSn0q4DpZjbFzJoIDq4WXoxhGXB5OH0J8Ki7ezh/YXhWzhRgOvBUeaKLiEgcgw7dhGPuVwMPAY3A7e6+zsxuAla7+zLgX4A7zKyDoCe/MGy7zszuBl4EeoGr3F23UhIRqaBY17px9+XA8oJ5N0Sm9wGf7KftN4BvDCGjiIgMQfa+GSsiIodQoRcRyTgVehGRjFOhFxHJOPMau0aMmb0FvDaETeSA2vtqrHIlpVzJKFcyWcx1oruPL7ag5gr9UJnZandvr3aOQsqVjHIlo1zJ1FsuDd2IiGScCr2ISMZlsdAvqXaAfihXMsqVjHIlU1e5MjdGLyIih8pij15ERCJU6EVEMq6mC30aNyUfbJtp5jKzj5rZGjN7Pnz+SKTNY+E214aPCRXM1WpmeyPvfVukzelh3g4z+z/hLSIrleszkUxrzazPzGaFyyqxv84xs6fNrNfMLilYdrmZbQgfl0fmV2J/Fc1lZrPM7EkzW2dmz5nZpyLLfmhmr0T216xK5QqXHYy897LI/Cnh73xD+DfQVKlcZnZuwd/XPjP7eLisEvvrGjN7MfxdPWJmJ0aWlffvy91r8kFwSeSNwFSgCXgWaCtY50vAbeH0QuAn4XRbuH4zMCXcTmOcbaacazZwXDh9KrAl0uYxoL1K+6sVeKGf7T4F/DeCu4U9CFxUqVwF65wGbKrw/moF/hj4N+CSyPyjgU3h87hwelwF91d/uWYA08Pp44A3gLHh6x9G163k/gqX7epnu3cDC8Pp24AvVjJXwe90OzCygvvr3Mj7fZE//Hss+99XLffo07gpeZxtppbL3Z9x9/wdttYBI8ysOeH7lz1Xfxs0s2OBo9z9SQ/+yv4N+HiVcl0K/L+E7z2kXO7+qrs/B/QVtL0QeNjdt7v7DuBhYF6l9ld/udz9ZXffEE5vBX4PFP2mZAmGsr+KCn/HHyH4nUPwN1Cx/VXgEuBBd9+T8P2HkmtF5P1WEtyBD1L4+6rlQl/spuSFNxY/5KbkQPSm5MXaxtlmmrmiPgE84+77I/P+Nfxv4v8u4b/8Q801xcyeMbP/MrMPRdbvHGSbaefK+xTvL/Rp76+kbSu1vwZlZnMIepIbI7O/EQ4TfKeEDsZQc40ws9VmtjI/PELwO34n/J2Xss1y5MpbyPv/viq5v64g6KEP1Lbkv69aLvRp3JQ81s3KU8wVLDQ7BfgW8IXI8s+4+2nAh8LHZyuY6w3gBHefDVwD3GVmR8XcZpq5goVmc4E97v5CZHkl9lfStpXaXwNvIOj53QF83t3zvdjrgJnAGQRDAv+rwrlO8OCr/Z8GbjWzaWXYZjly5ffXaQR30cur2P4ys8uAduCWQdqW/LPWcqFP42zj3zcAAAKlSURBVKbk5bhZ+VByYWYtwL3A/3D393pb7r4lfH4XuIvgv34VyRUOcb0dvv8agl7gjHD9lkj7iu+v0Pt6WxXaX0nbVmp/9Sv8gP4F8DV3X5mf7+5veGA/8K9Udn/lh5Jw900Ex1dmE1y8a2z4O0+8zXLkCv134F5374nkrcj+MrPzgeuB+ZH/3Zf/76vUgw1pPwhuc7iJ4GBq/mDGKQXrXMWhB/HuDqdP4dCDsZsIDo4Mus2Uc40N1/9EkW3mwunhBGOWV1Yw13igMZyeCmwBjg5frwLO5A8Hf/6sUrnC1w0Ef+BTK72/Iuv+kPcfjH2F4EDZuHC6YvtrgFxNwCPAV4qse2z4bMCtwM0VzDUOaA6nc8AGwgOTwE859GDslyqVKzJ/JXBupfcXwYfdRsID6Gn+fcUOXo0H8GfAy+HOuD6cdxPBpx/AiPAPpYPgaHS0GFwftltP5Mh0sW1WKhfwNWA3sDbymACMAtYAzxEcpP0uYeGtUK5PhO/7LPA0cHFkm+3AC+E2v0f4beoK/h7/FFhZsL1K7a8zCD5kdgNvA+sibf9nmLeDYIikkvuraC7gMqCn4O9rVrjsUeD5MNuPgdEVzHVW+N7Phs9XRLY5Nfydd4R/A80V/j22EnRsGgq2WYn99UtgW+R3tSytvy9dAkFEJONqeYxeRETKQIVeRCTjVOhFRDJOhV5EJONU6EVEMk6FXiQGMxtrZl+qdg6RUqjQi8QzluAqmyKHHRV6kXhuBqaFF1G7ZdC1RWqIvjAlEoMFN0N5wN1PrXIUkcTUoxcRyTgVehGRjFOhF4nnXeDIaocQKYUKvUgMHlyv/zdm9oIOxsrhRgdjRUQyTj16EZGMU6EXEck4FXoRkYxToRcRyTgVehGRjFOhFxHJOBV6EZGM+/8HLjutKG+uAQAAAABJRU5ErkJggg==\n", 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m1t85V+gN3xR77fuAgWHzZQMFXvvFR7WvbGnFzrm5wFyA3Nxcl5WV1c4SQ1pavqwsNFqVk5Pj22WVO/q84kV1RUd1RUd1RScedbV3eGcR0HgGznTgrbD2W7yzeCYAld7wz1+AyWaW4R3Aney1+WL37t1kZmbqOvoiEjjH7emb2auEeulZZraP0Fk4DwPzzewHwB7gem/2d4FpQB5QDdwG4JwrM7PZwFpvvp87544+OJwwe/bs0Xi+iATScUPfOXdjK5MmtTCvA+5oZT3zgHlRVRcne/fu1U8kikggBfIbufn5+brmjogEUuBC/9ChQ5SXlzNgwAC/SxERSbjAhX5BQQGAevoiEkiBDX319EUkiAIX+vn5+YB6+iISTIELffX0RSTIAhf6+fn5pKWl0adPH79LERFJuMCFfkFBAQMGDMCspcsBiYgkt8CFvs7RF5EgC1zoN/b0RUSCKFCh75wjPz9foS8igRWo0K+oqODw4cMa3hGRwApU6Deeo6+evogEVaBCX5dgEJGgC1Toq6cvIkEXqNDXt3FFJOgCFfr5+flkZGSQlpbmdykiIr4IVOgXFRVx2mmn+V2GiIhvAhf6p556qt9liIj4RqEvIhIggQr94uJihb6IBFpgQv/w4cMcOHCAU045xe9SRER8E5jQLyoqAlBPX0QCTaEvIhIggQn94uJiQKEvIsEWmNBXT19EJIChrwO5IhJkgQr9Xr166RIMIhJogQl9naMvIhKg0Ne3cUVEFPoiIoESmNAvLi7WQVwRCbxAhH5dXR2lpaXq6YtI4AUi9Pfv349zTqEvIoEXiNDXF7NEREICEfq6BIOISEggQl89fRGRkECEfmNPv1+/fj5XIiLir0CEfmlpKd26dePkk0/2uxQREV91KPTN7Asz22xmG81sndfW18yWmtnn3t8Mr93M7EkzyzOzTWb2jVg8gUiUlJSQmZmJmSVqkyIinVIsevoTnXM5zrlc7/F9wDLn3FBgmfcY4DvAUO82C5gTg21HpKSkhKysrERtTkSk04rH8M5VwIve/ReBq8PaX3Iha4A+ZtY/Dts/RmlpKZmZmYnYlIhIp9a1g8s7YImZOeC3zrm5wKnOuUIA51yhmTVe++B0YG/Ysvu8tsLwFZrZLEL/EyA7O5uSkpJ2F1dZWQmEzt4ZOnRoh9YVS411dTaqKzqqKzqqKzrxqqujoX+Bc67AC/alZvZpG/O2NKDujmkIfXDMBcjNzXUdHZbJysqioqKCAQMGdKohns5USzjVFR3VFR3VFZ141NWh4R3nXIH3txhYAIwDihqHbby/xd7s+4CBYYtnAwUd2X6ENVJaWtppX1QRkURqd+ibWU8z69V4H5gMbAEWAdO92aYDb3n3FwG3eGfxTAAqG4eB4unAgQPU1dVpTF9EhI4N75wKLPBOg+wK/N4592czWwvMN7MfAHuA67353wWmAXlANXBbB7YdscZxfPX0RUQ6EPrOuZ3AmBbaS4FJLbQ74I72bq+9FPoiIl9J+m/klpaWAmh4R0SEAIS+evoiIl9J+tBXT19E5CtJH/olJSV06dKF3r17+12KiIjvAhH6utiaiEhI0oe+vpglIvKVpA/9xp6+iIgEIPTV0xcR+UrSh756+iIiX0nq0NfF1kREmkvq0D948CC1tbUKfRERT1KHvr6YJSLSXFKHfnl5OaBLMIiINErq0C8rKwOgb9++PlciItI5JHXoN/7GZEZGhs+ViIh0Dkkd+hUVFYBCX0SkkUJfRCRAkjr0Dxw4QFpaGj169PC7FBGRTiGpQ7+iokK9fBGRMAp9EZEASerQr6yspE+fPn6XISLSaSR16KunLyLSXFKHfmVlpUJfRCRMUoe+evoiIs0lbejX19dTVVWl0BcRCZO0oa9LMIiIHCtpQ7/xCpsKfRGRryR96OuUTRGRr3T1u4B4UU9fpGNqamrYsWMH1dXVMVvn7t27Y7auWDpR60pPT+ess86ie/fuEa9ToS8iLdqxYwd9+vThnHPOISUlaQcFTlgNDQ384x//YNOmTfTt25czzzwzouWS9pVU6It0THV1NaeeeqoCv5NKSUnhtNNOA+Ctt95ix44dkS0Xz6L8pMsqi3ScAr9zS0lJwcxIS0vjk08+iWyZONfkm/Lycrp3705aWprfpYiIxFVKSgo1NTWRzRvnWnxTXl5O7969MTO/SxGRJHPPPffw/vvvd2gdJ510UrPHU6dOJT8/v8V5n3rqKZ5//vkOba9R0oe+iEgslZWVsWbNGi666KJjptXX17drnYcOHaKsrIzTTz+9xekzZszgySefbNe6j5bUZ+/oHH2R2LjnnnvYuHFjTNeZk5PDE0880eY8jz/+OPPmzQNg5syZ3HPPPXzxxRdMnTqVCy+8kDVr1jBmzBhuu+02HnzwQYqLi3nllVcYN24cX375JXfddRebN2+mrq6On/70p1x11VVUV1dz66238umnnzJs2DC++OILnn76aXJzc7n99ttZu3Ythw4d4rrrruNnP/vZMTW9/vrrTJ06tenx4MGDmTFjBkuWLOHOO++kqqqKuXPnUlNTw9lnn83LL79Meno6u3bt4qabbqKurq7Z8gArV67k4osvBuC+++5j0aJFdO3alcmTJ/PYY4+Rnp7O4MGD+eijjxg3blyH9rtCX0Q6pfXr1/P888/z4Ycf4pxj/PjxfPvb3yYjI4O8vDz++Mc/MnfuXM477zx+//vfs2rVKhYtWsQvfvELFi5cyEMPPcQll1zCvHnzqKioYNy4cVx66aXMmTOHjIwMNm3axJYtW8jJyWna5kMPPUTfvn2pr69n0qRJbNq0idGjRzera/Xq1Vx33XXN2lJTU1m1ahUApaWl/Ou//isA999/P8899xx33XUXd999N7fffju33HILTz/9dLPlFy9ezNVXX01ZWRkLFizg008/xcyaTkgByM3N5a9//atCvzXl5eUMHjzY7zJEksLxeuTxsGrVKq655hp69uwJwLXXXstf//pXrrzySoYMGcKoUaMAGDFiBJMmTcLMGDVqFF988QUAS5YsYdGiRTz22GMAHD58mD179rBq1SruvvtuAEaOHNks1OfPn8/cuXOpq6ujsLCQbdu2HRP6hYWF9OvXr1nbDTfc0HR/y5Yt3H///VRUVHDw4EGmTJkChD4s3njjDQBuvvlm7r333qZlVq9ezWOPPUZKSgqpqanMnDmT7373u1x++eVN85xyyil8+umn7d+hnoSHvplNBX4NdAGedc49HI/tVFRUaExf5ATmnGt1Wo8ePZrup6SkND1OSUmhrq6uafk33niDc845J6L17tq1i8cee4y1a9eSkZHBrbfeyuHDh4+ZLy0t7Zj2xg8mgFtvvZWFCxcyZswYXnjhBVauXNk0raUTS3bu3MnAgQObvlX70UcfsWzZMl577TWeeuopli9fDoQ+tGJxNmJCD+SaWRfgaeA7wHDgRjMbHuvtNDQ0UFFRoeEdkRPYRRddxMKFC6murubLL79kwYIFfOtb34p4+SlTpvA///M/TSG/YcMGAC688ELmz58PwLZt29i8eTMABw4coGfPnvTu3ZuioiIWL17c4nqHDRtGXl5eq9utqqqif//+1NbW8sorrzS1X3DBBbz22msAzdoXL17cNMZ/8OBBKisrmTZtGk888USz4yjbt29n5MiRET//1iT67J1xQJ5zbqdzrgZ4Dbgq1hupqqqioaFBoS9yAvvGN77Brbfeyrhx4xg/fjwzZ85k7NixES//wAMPUFtby+jRoxk5ciQPPPAAAD/84Q/Zv38/o0eP5pFHHmH06NH07t2bMWPGMHbsWEaMGMGMGTO44IILWlzvd7/73Wa996PNnj2b8ePHc9lll/H1r3+9qf3Xv/41Tz/9NOedd17Tpd8B/vznPzeFflVVFZdffjmjR4/m29/+Nr/61a+a5lu9ejWXXnppxM+/NdbWf6FizcyuA6Y652Z6j28Gxjvn7gybZxYwCyA7O/vcxk/naJSXl/Of//mfXHnllVxxxRWxKT6GKisrO+XQk+qKTrLXtXv3bs4999wYVNS51NfXU1tbS2pqKjt27GDSpEls3749qouWXXjhhbz99tsd7lgeOXKECy64gHXr1rU534YNG3j88cd5+eWXj5m2fv16Vq9eTd++fZs+PPr167feOZfb0roSPabf0jelmn3qOOfmAnMBcnNzXVZWVtQbycrKYsGCBZSUlNCe5RNBdUVHdUUnFnV11itPdlR1dTUTJ06ktrYW5xxz5syJKvABfvnLX7Jnz54Oh36PHj2OG/gAJSUlzJ49u9XpqamppKenR/S6Jzr09wEDwx5nAwUJrkFEAqxXr14RBW1bxo8fH6NqInPZZZfFbF2JHtNfCww1syFm1h34PrAowTWISIQaGhr8LkHa0J7XJ6Gh75yrA+4E/gJ8Asx3zm1NZA0iEpn09HT+8Y9/KPg7qcbr6dfW1ka1XMLP03fOvQu8m+jtikh0zjrrLLZu3UpBQYEuXNhJ1dbWsmfPHg4dOhTx8YWk/UauiHRM9+7dGT58OIsWLYpJ8B8+fJjU1NQYVRc7yVBXRkZGxJdnUOiLSKt69OjB1VdfTWlpadM3XdurvLy8U/6o0YleV9euXcnIyGj2LeU25+9oYSKS3Lp169b0s3wdkZqa2ilPcQ1aXUl7PX0RETlWQr+RGy0z2w905BsiWUBJjMqJJdUVHdUVHdUVnWSsa5Bzrl9LEzp16HeUma1r7avIflJd0VFd0VFd0QlaXRreEREJEIW+iEiAJHvoz/W7gFaoruioruiorugEqq6kHtMXEZHmkr2nLyIiYRT6IiIBcsKEvplNNbPPzCzPzO5rYXoPM/uDN/1DMxscNu2/vPbPzGxKpOuMZ11mdpmZrTezzd7fS8KWWemtc6N3OyWBdQ02s0Nh2/7fsGXO9erNM7MnrR0XY+lAXf8cVtNGM2swsxxvWiL210Vm9rGZ1Xm/ABc+bbqZfe7dpoe1J2J/tViXmeWY2QdmttXMNpnZDWHTXjCzXWH7KydRdXnT6sO2vSisfYj3mn/uvQei+2WTDtRlZhOPen8dNrOrvWmJ2F8/MrNt3mu1zMwGhU2L7fvLOdfpb0AXYAdwJtAd+Dsw/Kh5fgj8r3f/+8AfvPvDvfl7AEO89XSJZJ1xrmssMMC7PxLID1tmJZDr0/4aDGxpZb0fAd8k9Atoi4HvJKquo+YZBexM8P4aDIwGXgKuC2vvC+z0/mZ49zMSuL9aq+trwFDv/gCgEOjjPX4hfN5E7i9v2sFW1jsf+L53/3+B2xNZ11GvaRmQnsD9NTFse7fz1b/HmL+/TpSefiQ/qH4V8KJ3/3VgkvfJdxXwmnPuiHNuF5DnrS8WP9Le7rqccxucc42/GrYVSDWzyK6YFMe6WluhmfUHTnbOfeBC77iXgKt9qutG4NUot92hupxzXzjnNgFHX1x+CrDUOVfmnCsHlgJTE7W/WqvLObfdOfe5d78AKAZa/IZmO3Rkf7XIe40vIfSaQ+g9kLD9dZTrgMXOueoot9+RulaEbW8NoV8VhDi8v06U0D8d2Bv2eJ/X1uI8LvRjLZVAZhvLRrLOeNYV7p+ADc65I2Ftz3v/lXygHcMCHa1riJltMLP/Z2bfCpt/33HWGe+6Gt3AsaEf7/0V7bKJ2l/HZWbjCPUwd4Q1P+QNJfyqHZ2NjtaVambrzGxN4xAKode4wnvN27POWNTV6Psc+/5K5P76AaGee1vLtvv9daKE/nF/UL2NeaJtT1RdoYlmI4BHgH8Lm/7PzrlRwLe8280JrKsQOMM5Nxb4EfB7Mzs5wnXGs67QRLPxQLVzbkvY9ETsr2iXTdT+ansFoR7hy8BtzrnG3u1/AV8HziM0bHBvgus6w4UuL3AT8ISZnRWDdcairsb9NYrQr/s1Stj+MrN/AXKBR4+zbLuf64kS+pH8oHrTPGbWFehNaFyutWVj8SPtHakLM8sGFgC3OOeaemHOuXzvbxXwe0L/PUxIXd4wWKm3/fWEeodf8+bPDls+4fvLc0wvLEH7K9plE7W/WuV9WL8D3O+cW9PY7pwrdCFHgOdJ7P5qHG7CObeT0PGYsYQuLNbHe82jXmcs6vJ8D1jgnGv6DcJE7S8zuxT4CXZTUe4AAAIqSURBVHBl2P/6Y//+au/BiUTeCF33fyehA7GNB0JGHDXPHTQ/ADjfuz+C5gdydxI6sHLcdca5rj7e/P/UwjqzvPvdCI1x/p8E1tUP6OLdPxPIB/p6j9cCE/jqwNG0RNXlPU4h9GY/M9H7K2zeFzj2QO4uQgfZMrz7CdtfbdTVHVgG3NPCvP29vwY8ATycwLoygB7e/Szgc7yDmsAfaX4g94eJqiusfQ0wMdH7i9AH3w68g+/xfH9FXLjfN2AasN3bMT/x2n5O6FMRINV70+QROqodHgw/8Zb7jLAj3C2tM1F1AfcDXwIbw26nAD2B9cAmQgd4f40Xwgmq65+87f4d+Bi4ImyducAWb51P4X2jO4Gv48XAmqPWl6j9dR6hD5wvgVJga9iyM7x68wgNoyRyf7VYF/AvQO1R768cb9pyYLNX2++AkxJY1/netv/u/f1B2DrP9F7zPO890CPBr+NgQp2clKPWmYj99R5QFPZaLYrX+0uXYRARCZATZUxfRERiQKEvIhIgCn0RkQBR6IuIBIhCX0QkQBT6IlEysz5m9kO/6xBpD4W+SPT6ELoaqMgJR6EvEr2HgbO8C7w9ety5RToRfTlLJEoW+mGXt51zI30uRSRq6umLiASIQl9EJEAU+iLRqwJ6+V2ESHso9EWi5EK/N7DazLboQK6caHQgV0QkQNTTFxEJEIW+iEiAKPRFRAJEoS8iEiAKfRGRAFHoi4gEiEJfRCRA/j9No8khC++ZkAAAAABJRU5ErkJggg==\n", 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\n", 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" ] }, "metadata": { "needs_background": "light" }, "output_type": "display_data" } ], "source": [ "# No-load Current\n", "# Ensaio sem carga Tl=0\n", "\n", "tfinal = 1001\n", "t = np.linspace(0, 0.2, tfinal)\n", "Tl = np.linspace(0, 0, tfinal) \n", "va = np.linspace(1.5, 1.5, tfinal) \n", "ut = Tl, va\n", "u = np.transpose(ut)\n", "\n", "tout, yout, xout = lsim(sys1, U=u, T=t)\n", "plt.figure(1)\n", "\n", "plt.plot(tout, yout[:,1], 'r', linewidth=1.5, label='ia')\n", "plt.legend(loc='best', shadow=True, framealpha=1)\n", "plt.grid(alpha=0.3)\n", "plt.xlabel('t')\n", "plt.show()\n", "\n", "plt.figure(2)\n", "plt.plot(tout, yout[:,0], 'k', linewidth=1.5, label='omega (rad/s)')\n", "plt.legend(loc='best', shadow=True, framealpha=1)\n", "plt.grid(alpha=0.3)\n", "plt.xlabel('t')\n", "plt.show()\n", "\n", "plt.figure(3)\n", "plt.plot(tout, (60/(2*np.pi))*yout[:,0], 'k', linewidth=1.5, label='omega (rpm)')\n", "plt.legend(loc='best', shadow=True, framealpha=1)\n", "plt.grid(alpha=0.3)\n", "plt.xlabel('t')\n", "plt.show()\n" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Stall moment - Torque de stall\n", "Starting current\n", "Ensaio com carga Tl=-0.24e-3 que trava o eixo" ] }, { "cell_type": "code", "execution_count": 3, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", 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\n", 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LLrrI7VJMArFdS00iCmXX0j8DnwDnikiFiPzAeWoO3SeOLwc2i8gm4HXgLlX1Tz4vBF4CyoByYJXTvgi4RkR2A9c4jz1h+/bttLS0WBiYsAwaNMjCwCScPoeJVDXoyXhUdX6Qtjfw7WoabPn1wIQg7bVAeKc57CelpaUAFgYmLLY3kUlEdgRyL0pLS8nJyeGcc85xuxSTQPxzBr69qI1JDBYGvfjss8+YMmWKnY/IhCUjIwNVpa2tze1SjAmZ/ZXrQWdnJ9u2beOCCy5wuxSTYOw01iYRWRj04Msvv6S5uZkJE7pNcxjTq2S/9KVJTBYGPdi2bRsA48ePd7kSk2j857CynoFJJBYGPdi61XeSVgsDEy7/MFFTU5PLlRgTOguDHmzbto3i4mJycnLcLsUkmKysLMB6BiaxWBj0YNu2bTZfYCLiD4Njx465XIkxobMwCKKzs5OdO3cybtw4t0sxCcjCwCQiC4MgKisraWlp4etf/7rbpZgE5N+byMLAJBILgyDKysoAOPvss12uxCQi6xmYRGRhEER5eTlgYWAiY2FgEpGFQRBlZWWkpqYycuRIt0sxCSgzMxMRsTAwCcXCIIjy8nJGjRrFwIHRXgjOJKOUlBSysrIsDExCsTAIoqyszM5UaqKSnZ1tYWASioVBF6pKeXm5zReYqFgYmEQTypXOlorIIRHZGtD2qIh8JSIbndsNAc89JCJlIvKFiFwX0D7LaSsTkQcD2keLyD9EZLeIvCYiabH8BsNVU1NDQ0OD9QxMVCwMTKIJpWfwB2BWkPbfqOok57YSQETG4bsc5nhnnedEZIBzXeRngeuBccBcZ1mAJ51tjQWOAD/o+kL9ae/evQCMGTPGzTJMgrMwMImmzzBQ1Y+Aur6Wc8wGlqlqm6ruxXe942nOrUxV96jqcWAZMFtEBPgmvuslA7wC3BTm9xBT+/fvB7A9iUxULAxMoolmd5l7ROR2YD1wv6oeAUYA6wKWqXDaAA50aZ8OnAEcVdX2IMt3IyILgAUAxcXF1NTURFR4fX19j8/t3LkT8B1FGun2I9VbXW6yusJTX19Pamoq9fX1/f471Bsvv19elGx1RRoGzwOPAep8/TVwJyBBllWC90C0l+WDUtXFwGKAkpISLSgoCK/qAD2tW1dXR2ZmJmPHjsXXcelf0XxP8WR1heeMM86gpaXFc/V5rR4/qys88agrojBQ1Wr/fRF5Efhv52EFEDi+UgxUOveDtdcAuSIy0OkdBC7vigMHDjBy5EhXgsCcPrKzs+16BiahRLRrqYgMC3h4M+Df02gFMEdE0kVkNDAW+BQoBcY6ew6l4ZtkXqGqCnwI3OKsPw94O5KaYqWiosLmC0zU7KAzk2hC2bX0z8AnwLkiUiEiPwCeEpEtIrIZuBK4D0BVtwHLge3Au8Ddqtrh/Nd/D/AesANY7iwL8ADwbyJShm8OYUlMv8Mw+XsGxkQjOzub48ePc/z4cbdLMSYkfQ4TqercIM09/sFW1SeAJ4K0rwRWBmnfg29vI9e1t7dz8OBBCwMTtezsbMB36cu0NFcPnTEmJHYEcoDKyko6OzstDEzU/GFgQ0UmUVgYBDhwwLf3q4WBiZaFgUk0FgYBLAxMrFgYmERjYRCgstK3V+uIET0e92ZMSCwMTKKxMAhQVVVFeno6OTk5bpdiEpyFgUk0FgYBqqqqOPPMM+2AMxM1CwOTaCwMAlRXV1NUVOR2GeY04A+DxsZGlysxJjQWBgH8PQNjojV48GDAwsAkDguDAFVVVdYzMDHhD4OGhgaXKzEmNBYGjo6ODmpqaqxnYGIiJSWFwYMHe/Y0yMZ0ZWHgOHz4MJ2dnRYGJmZycnIsDEzCsDBwVFf7zsptw0QmVnJycmyYyCQMCwNHVVUVgPUMTMwMGTLEegYmYVgYOCwMTKxZz8AkEgsDhw0TmViznoFJJKFc3GapiBwSka0Bbb8UkZ0isllE3hSRXKd9lIi0iMhG5/ZCwDpTnQvilInIM+Ic5isi+SKyWkR2O1/z4vGN9qWqqoqsrKyTBwsZEy3rGZhEEkrP4A/ArC5tq4EJqjoR2AU8FPBcuapOcm53BbQ/DyzAdynMsQHbfBD4QFXHAh84j/tddXU1hYWFbry0OU3Z3kQmkfQZBqr6EVDXpe1951KWAOvwXci+R841k4eo6ifOdY9fBW5ynp4NvOLcfyWgvV/V1tZSUFDgxkub09SQIUNoaWnhxIkTbpdiTJ/6vOxlCO4EXgt4PFpEPgcagIdV9W/ACKAiYJkKpw2gSFUPAqjqQRHp8d9zEVmAr3dBcXExNTU1ERUc7L+16upq8vPzI95mLHj1v0irKzz+ugYMGADA3r17yc/Pd7MkwPvvl9ckW11RhYGI/BRoB/7oNB0EvqaqtSIyFXhLRMYDwU4DquG+nqouBhYDlJSUaDT/yXdd9+jRo0yYMMH13oHbr98Tqys8BQUFDB8+HICBAwd6pk6v1NGV1RWeeNQVcRiIyDzgfwFXOUM/qGob0Obc3yAi5cDX8fUEAoeSioFK5361iAxzegXDgEOR1hSN2tpazjjjDDde2pym/NfFsElkkwgi2rVURGYBDwDfVtXmgPahIjLAuT8G30TxHmcYqFFELnb2IrodeNtZbQUwz7k/L6C93xw/fpzGxkYLAxNT/jDw6nCDMYH67BmIyJ+BK4ACEakAHsG391A6sNrZQ3Sds+fQ5cDPRaQd6ADuUlX/5PNCfHsmZQKrnBvAImC5iPwA2A/8S0y+szDU1tYC3u0SmsQ0ZMgQwHoGJjH0GQaqOjdI85Ieln0DeKOH59YDE4K01wJX9VVHPPnDwHoGJpasZ2ASiR2BjIWBiQ/rGZhEYmEAJ3cntWEiE0vWMzCJxMIA6xmY+MjIyCAtLc3CwCQECwMsDEz8DBkyxIaJTEKwMMA3TDRo0CAyMzPdLsWcZnJzczl69KjbZRjTJwsD7IAzEz/5+fkcOXLE7TKM6ZOFAXaSOhM/eXl51NXV9b2gMS6zMMA3TGQ9AxMP+fn5FgYmIVgYAHV1dZ44q6Q5/VgYmERhYYDvjKV5ea5cYM2c5vxzBp2dnW6XYkyvkj4MVJWjR4+Sm5vrdinmNJSfn4+q2rEGxvOSPgxaW1s5fvy4hYGJC//wow0VGa9L+jDw/8fmP3WAMbFkYWASRdKHgf+AIOsZmHiwMDCJwsLAwsDEkX/HBDvwzHidhYGFgYkj6xmYRBFSGIjIUhE5JCJbA9ryRWS1iOx2vuY57SIiz4hImYhsFpEpAevMc5bf7VxD2d8+VUS2OOs841was19YGJh48vcMLAyM14XaM/gDMKtL24PAB6o6FvjAeQxwPb5rH48FFgDPgy888F0yczowDXjEHyDOMgsC1uv6WnFjE8gmntLS0sjOzrYwMJ4XUhio6kdA19/m2cArzv1XgJsC2l9Vn3VArogMA64DVqtqnaoeAVYDs5znhqjqJ6qqwKsB24o76xmYeLOjkE0i6PMayL0oUtWDAKp6UEQKnfYRwIGA5Sqctt7aK4K0dyMiC/D1ICguLj55hbJwBR4AVFlZSWpqKk1NTTQ3N0e0vVjx6oFJVld4utY1ZMgQqqqqIv59jZVEeb+8ItnqiiYMehJsvF8jaO/eqLoYWAxQUlKi0Zxp1L+u/4CzoUOHRrytWPLq2VOtrvAE1lVYWMixY8c8UasXagjG6gpPPOqKZm+iameIB+frIae9AhgZsFwxUNlHe3GQ9n5x9OhRmy8wcZWXl3fyanrGeFU0YbAC8O8RNA94O6D9dmevoouBemc46T3gWhHJcyaOrwXec55rFJGLnb2Ibg/YVtzV19fbfIGJq6FDh7o+RGRMX0IaJhKRPwNXAAUiUoFvr6BFwHIR+QGwH/gXZ/GVwA1AGdAM3AGgqnUi8hhQ6iz3c1X1z6otxLfHUiawyrn1CztJnYm3wsJCamtraW9vZ+DAeIzMGhO9kH4zVXVuD09dFWRZBe7uYTtLgaVB2tcDE0KpJdaOHj3KiBFB56uNiYnCwkJUldraWoqKitwux5ig7AhkmzMwcVZY6NvR7vDhwy5XYkzPLAxsmMjEmT8MDh061MeSxrgnqcPg+PHjtLS0WBiYuLIwMIkgqcOgoaEB8B0UZEy8+I9hsTAwXpbUYdDY2AjA4MGDXa7EnM7y8/NJSUmxMDCeZmGAhYGJr5SUFIYOHWphYDzNwgALAxN/hYWFtjeR8TQLAywMTPwVFhZaz8B4moUBFgYm/iwMjNdZGGBhYOLPwsB4nYUBFgYm/goLC2loaKC1tdXtUowJKqnD4NixY4CFgYm/M888E4CqqiqXKzEmuKQOg8bGRtLS0khLS3O7FHOaGz58OABfffWVy5UYE1zSh4H1Ckx/8J8Zt7Ky367bZExYLAwsDEw/8IeB9QyMV1kYWBiYfpCXl0d6erqFgfGsiMNARM4VkY0BtwYRuVdEHhWRrwLabwhY5yERKRORL0TkuoD2WU5bmYg8GO03FarGxkays7P76+VMEhMRRowYYWFgPCvia/Cp6hfAJAARGQB8BbyJ7zKXv1HVXwUuLyLjgDnAeGA48D8i8nXn6WeBa4AKoFREVqjq9khrC1VjY6Odvtr0mxEjRticgfGsWA0TXQWUq+qXvSwzG1imqm2quhffNZKnObcyVd2jqseBZc6ycWfDRKY/Wc/AeFmsrs49B/hzwON7ROR2YD1wv6oeAUYA6wKWqXDaAA50aZ8e7EVEZAGwAKC4uJiampqIiq2vrwd81zNITU2NeDux5q/La6yu8PRUV15eHl999RWHDx9GRPq5qsR7v9yWbHVFHQYikgZ8G3jIaXoeeAxQ5+uvgTuBYL/9SvDeiQZ7LVVdDCwGKCkp0YKCgojrLigooKmpiaFDhxLNdmLNS7UEsrrCE6yuc845h5aWFlJTU10bnkyk98sLkqmuWAwTXQ98pqrVAKparaodqtoJvIhvGAh8//GPDFivGKjspT2uVNWGiUy/st1LjZfFIgzmEjBEJCLDAp67Gdjq3F8BzBGRdBEZDYwFPgVKgbEiMtrpZcxxlo2r1tZWOjo6LAxMv/GHQUVFhcuVGNNdVMNEIjII315APwpofkpEJuEb6tnnf05Vt4nIcmA70A7craodznbuAd4DBgBLVXVbNHWFwk5SZ/rbWWedBcC+ffvcLcSYIKIKA1VtBs7o0vb9XpZ/AngiSPtKYGU0tYTLwsD0t+HDh5OammphYDwpaY9AtjAw/W3AgAGcddZZ7N271+1SjOnGwsDCwPSjUaNGWRgYT0raMPBfy8BOR2H60+jRo22YyHhS0oZBc3MzAFlZWS5XYpLJ6NGjOXToEE1NTW6XYswpkjYM/B/GQYMGuVyJSSajRo0CbI8i4z1JGwbWMzBuGD16NIDNGxjPSdowsJ6BcYM/DKxnYLwmacPA3zOwMDD9qbCwkKysLHbv3u12KcacImnDoKmpibS0NAYOjNWJW43pm4hw3nnnsXPnTrdLMeYUSRsGzc3NNl9gXGFhYLwoacOgqanJwsC44rzzzmP//v22e6nxlKQOA5svMG4477zzANi1a5fLlRjzT0kbBjZMZNxy/vnnA9hQkfGUpA0D6xkYt5xzzjmkpKRYGBhPSdowsJ6BcUt6ejpjxoxhx44dbpdizElRh4GI7BORLSKyUUTWO235IrJaRHY7X/OcdhGRZ0SkTEQ2i8iUgO3Mc5bfLSLzoq2rL9YzMG6aMGECmzdvdrsMY06KVc/gSlWdpKolzuMHgQ9UdSzwgfMYfNdLHuvcFgDPgy88gEeA6fiumfyIP0DixXoGxk2TJ09m165dJ8+ea4zb4jVMNBt4xbn/CnBTQPur6rMOyHWumXwdsFpV61T1CLAamBWn2gDrGRh3TZ48GVW13oHxjFiEgQLvi8gGEVngtBWp6kEA52uh0z4COBCwboXT1lN73FjPwLhp8uTJAHz++ecuV2KMTyzOxTBDVStFpBBYLSK97SIhQdq0l/ZTV/aFzQKA4uJiampqIqmXo0ePnjzgJ9JtxEN9fb3bJQRldYUnlLrS09M544wz+OSTT7j11lv7oarEfr/ckGx1RR0GqlrpfD0kIm/iG/OvFpFhqnrQGQY65CxeAYwMWL0YqHTar+jSvibIawLNZ4gAAA0gSURBVC0GFgOUlJRoQUFBRDW3tbXR0dHB0KFDiXQb8eK1evysrvCEUteUKVPYsWNHv34Pifx+uSGZ6opqmEhEskRksP8+cC2wFVgB+PcImge87dxfAdzu7FV0MVDvDCO9B1wrInnOxPG1TltctLS0AHbGUuOuqVOnsmXLlpO/j8a4Kdo5gyJgrYhsAj4F3lHVd4FFwDUishu4xnkMsBLYA5QBLwI/BlDVOuAxoNS5/dxpiwu7sI3xghkzZnDixAlKS0vdLsWY6IaJVHUPcGGQ9lrgqiDtCtzdw7aWAkujqSdU1jMwXvCNb3wDgLVr13L55Ze7XI1Jdkl5BLJ/8th6BsZN+fn5jB8/nrVr17pdijHJGQbWMzBecemll/Lxxx/T0dHhdikmySVlGNicgfGKyy67jPr6ejZu3Oh2KSbJJWUYWM/AeMXVV18NwLvvvutyJSbZJWUYWM/AeEVRURElJSWsXLnS7VJMkkvqMLCegfGC66+/nnXr1lFXF7e9qY3pU1KHgfUMjBfccMMNdHZ2smrVKrdLMUksqcPAegbGC6ZNm8aIESN47bXX3C7FJLGkDIPW1lZSUlJIS0tzuxRjSElJYe7cuaxatYra2lq3yzFJKmnDICMjA5FgJ0s1pv9973vfo729nddff93tUkySStowyMzMdLsMY06aNGkS48eP58UXX8R31hZj+peFgTEeICL85Cc/YcOGDXzyySdul2OSUFKGQVtbGxkZGW6XYcwpbrvtNnJzc/ntb3/rdikmCSVlGFjPwHhRVlYWCxcu5PXXX7drI5t+l5Rh0NLSYmFgPOnf//3fGTJkCA8//LDbpZgkk5RhYMNExqvy8vJ48MEH+etf/8o777zjdjkmiUQcBiIyUkQ+FJEdIrJNRP7VaX9URL4SkY3O7YaAdR4SkTIR+UJErgton+W0lYnIg9F9S32zYSLjZffddx/jxo1j4cKFNDQ0uF2OSRLR9AzagftV9XzgYuBuERnnPPcbVZ3k3FYCOM/NAcYDs4DnRGSAiAwAngWuB8YBcwO2ExcWBsbL0tPTWbJkCZWVlcyfP992NTX9IuIwUNWDqvqZc78R2AGM6GWV2cAyVW1T1b34roM8zbmVqeoeVT0OLHOWjRv/QWfGeNXFF1/ML3/5S958803+4z/+wwLBxF1U10D2E5FRwGTgH8AM4B4RuR1Yj6/3cARfUKwLWK2Cf4bHgS7t03t4nQXAAoDi4mJqamoiqre5uRkRiXj9eKmvr3e7hKCsrvDEqq7bbruNTZs2sWjRItra2njooYeiOmr+dH+/Yi3Z6oo6DEQkG3gDuFdVG0TkeeAxQJ2vvwbuBIL9FivBeydB/w1S1cXAYoCSkhItKCiIqOYTJ06Ql5dHpOvHkxdrAqsrXLGqa+nSpaSmpvKb3/yGAwcOsGTJEoYMGeJ6XbFmdYUnHnVFtTeRiKTiC4I/qup/Aahqtap2qGon8CK+YSDw/cc/MmD1YqCyl/a4aWlpsWEikxBSUlJYvHgxv/rVr3jzzTc5//zzWbZsGZ2dnW6XZk4z0exNJMASYIeqPh3QPixgsZuBrc79FcAcEUkXkdHAWOBToBQYKyKjRSQN3yTzikjr6ouq2gSySSgiwv3338/HH39MUVERc+fOZdy4cTz33HMcOnTI7fLMaSKansEM4PvAN7vsRvqUiGwRkc3AlcB9AKq6DVgObAfeBe52ehDtwD3Ae/gmoZc7y8ZFe3s7nZ2dFgYm4UybNo3S0lKWLVtGVlYWd999N8OGDWPmzJk8/PDDrFy5kgMHDlivwUQk4jkDVV1L8HmAHi/mqqpPAE8EaV/Z23qx1NLSAmDDRCYhDRgwgFtvvZXvfve7bNmyheXLl7Nq1SoWLVpER0cH4PvdPueccxg+fDhDhw6lsLCQgoICRITCwkIGDRpEZmYmgwYNIj09nQEDBvR5S0np/n9j18nsvh73tExdXd3Jz2Uo6/SXuro62traXHnt3tTV1ZGTk0NqampMtxuTvYkSif+XznoGJpGJCBMnTmTixIk8/vjjHDt2jA0bNrBz50527dpFWVkZVVVV7N69m0OHDtHU1OR2ySaGduzYwXnnnRfTbSZdGLS2tgIWBub0kp2dzcyZM5k5c2bQ51tbW9m/fz+ZmZk0NzefvLW1tdHR0dHnretxDuE+7m2ZxsZGBg8eHNI6/enYsWNkZ2e79vo9OXbsGGeeeWbMt5t0YWDDRCYZZWRkkJ+f78ldJWtqaqyuMNTU1JCbmxvz7SbdiepsmMgYY7pLujCwYSJjjOku6cLAhomMMaa7pAsD6xkYY0x3SRcGNmdgjDHdJW0Y2DCRMcb8U9KFgQ0TGWNMd0kXBjZMZIwx3SVtGNgwkTHG/FPShYENExljTHdJFwYtLS2kpaUFPQujMcYkq6T7i9ja2kp6errbZRhjjKckXRjYJS+NMaY7z4SBiMwSkS9EpExEHozX67S0tNh8gTHGdOGJMBCRAcCzwPXAOGCuiIyLx2vZMJExxnTniTAApgFlqrpHVY8Dy4DZ8XghGyYyxpjuvHJxmxHAgYDHFcD0rguJyAJgAUBxcTE1NTVhv9DEiRMZPnx4ROvGW319vdslBGV1hcfqCo/VFZ541eWVMAh2xetu17tT1cXAYoCSkhKN5CpEjz/+uGevYARYXWGyusJjdYUnmeryyjBRBTAy4HExUOlSLcYYk3S8EgalwFgRGS0iacAcYIXLNRljTNLwxDCRqraLyD3Ae8AAYKmqbnO5LGOMSRqeCAMAVV0JrHS7DmOMSUZeGSYyxhjjIgsDY4wxFgbGGGMsDIwxxgCi2u3YroQgIoeBLyNcvQDw3iHIVle4rK7wWF3hOV3rOktVh3ZtTNgwiIaIrFfVErfr6MrqCo/VFR6rKzzJVpcNExljjLEwMMYYk7xhsNjtAnpgdYXH6gqP1RWepKorKecMjDHGnCpZewbGGGMCWBgYY4w5/cJARGaJyBciUiYiDwZ5Pl1EXnOe/4eIjAp47iGn/QsRuc4LdYnIKBFpEZGNzu2Ffq7rchH5TETaReSWLs/NE5Hdzm2eh+rqCHi/Ynoq9BDq+jcR2S4im0XkAxE5K+A5N9+v3upy8/26S0S2OK+9NvDa5y5/HoPW5fbnMWC5W0RERaQkoC2690tVT5sbvtNflwNjgDRgEzCuyzI/Bl5w7s8BXnPuj3OWTwdGO9sZ4IG6RgFbXXy/RgETgVeBWwLa84E9ztc8536e23U5zx1z8f26Ehjk3F8Y8HN0+/0KWpcH3q8hAfe/Dbzr3Hf789hTXa5+Hp3lBgMfAeuAkli9X6dbz2AaUKaqe1T1OLAMmN1lmdnAK87914GrRESc9mWq2qaqe4EyZ3tu1xVPfdalqvtUdTPQ2WXd64DVqlqnqkeA1cAsD9QVT6HU9aGqNjsP1+G7ah+4/371VFc8hVJXQ8DDLP55uVtXP4+91BVPofydAHgMeApoDWiL+v063cJgBHAg4HGF0xZ0GVVtB+qBM0Jc1426AEaLyOci8v9E5LIY1RRqXfFYN97bzhCR9SKyTkRuilFNkdT1A2BVhOv2V13g8vslIneLSDm+P3D/J5x1XagLXPw8ishkYKSq/ne46/bFMxe3iZFg/0l3TfSelgll3UhFU9dB4GuqWisiU4G3RGR8l/9c4llXPNaN97a/pqqVIjIG+L8iskVVy/uzLhG5DSgBZoa7bj/XBS6/X6r6LPCsiHwPeBiYF+q6LtTl2udRRFKA3wDzw103FKdbz6ACGBnwuBio7GkZERkI5AB1Ia7b73U53b5aAFXdgG8s8Ov9WFc81o3rtlW10vm6B1gDTO7PukTkauCnwLdVtS2cdV2oy/X3K8AywN8zcf39ClaXy5/HwcAEYI2I7AMuBlY4k8jRv1/xmAhx64avp7MH3wSKfwJmfJdl7ubUidrlzv3xnDoBs4fYTVhFU9dQfx34Jpa+AvL7q66AZf9A9wnkvfgmQ/Oc+16oKw9Id+4XALsJMgkXx5/jZHx/IMZ2aXf1/eqlLrffr7EB978FrHfuu/157KkuT3weneXX8M8J5Kjfr6i/Aa/dgBuAXc4v/k+dtp/j+28IIAP4C74Jlk+BMQHr/tRZ7wvgei/UBfxvYJvzg/4M+FY/13URvv86moBaYFvAunc69ZYBd3ihLuAbwBbn/doC/KCf6/ofoBrY6NxWeOT9ClqXB96v3zm/3xuBDwn44+fy5zFoXW5/HrssuwYnDGLxftnpKIwxxpx2cwbGGGMiYGFgjDHGwsAYY4yFgTHGGCwMjDHGYGFgTEyJSK6I/NjtOowJl4WBMbGVi+8MtMYkFAsDY2JrEXC2c677X7pdjDGhsoPOjIkh8V2U6L9VdYLLpRgTFusZGGOMsTAwxhhjYWBMrDXiO9WwMQnFwsCYGFLfue7/LiJbbQLZJBKbQDbGGGM9A2OMMRYGxhhjsDAwxhiDhYExxhgsDIwxxmBhYIwxBgsDY4wxwP8HtkCrVjvheWwAAAAASUVORK5CYII=\n", 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" ] }, "metadata": { "needs_background": "light" }, "output_type": "display_data" } ], "source": [ "# Stall moment - Torque de stall\n", "# Starting current\n", "# Ensaio com carga Tl=-0.24e-3 que trava o eixo\n", "\n", "tfinal = 1001\n", "Tstall = -0.24e-3\n", "t = np.linspace(0, 0.4, tfinal)\n", "Tl1 = np.linspace(0, 0, 500)\n", "Tl2 = np.linspace(Tstall, Tstall, 501)\n", "Tl = [*Tl1,*Tl2]\n", "va = np.linspace(1.5, 1.5, tfinal) \n", "ut = Tl, va\n", "u = np.transpose(ut)\n", "\n", "tout, yout, xout = lsim(sys1, U=u, T=t)\n", "plt.figure(1)\n", "\n", "plt.plot(tout, yout[:,1], 'r', linewidth=1.5, label='ia')\n", "plt.legend(loc='best', shadow=True, framealpha=1)\n", "plt.grid(alpha=0.3)\n", "plt.xlabel('t')\n", "plt.show()\n", "\n", "plt.figure(2)\n", "plt.plot(tout, yout[:,0], 'k', linewidth=1.5, label='omega (rad/s)')\n", "plt.legend(loc='best', shadow=True, framealpha=1)\n", "plt.grid(alpha=0.3)\n", "plt.xlabel('t')\n", "plt.show()\n", "\n", "plt.figure(3)\n", "plt.plot(tout, (60/(2*np.pi))*yout[:,0], 'k', linewidth=1.5, label='omega (rpm)')\n", "plt.legend(loc='best', shadow=True, framealpha=1)\n", "plt.grid(alpha=0.3)\n", "plt.xlabel('t')\n", "plt.show()" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Nominal torque\n", "Ensaio com carga nominal Tl=-0.17e-3 (indicada pelo fabricante)" ] }, { "cell_type": "code", "execution_count": 4, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", 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6gS793bt309DQoJG+dFlOTo5KX5JKoEv/008/BWD8+PE+J5FklZOToydyJakEuvQLCwsBOO+883xOIslKI31JNoEv/eHDh+uVO9JlAwYMUOlLUgl06e/du5cxY8b4HUOSmEb6kmwCXfqFhYWa2pFuUelLsgls6VdWVnL06FGN9KVbcnJyqKmpoaamxu8oImEJbOnv3bsX0JO40j25ubkAFBcX+5xEJDyBL32N9KU7VPqSbAJb+s0v11TpS3cMHjwYgOPHj/ucRCQ8gS39/fv3M3DgwJYPzRLpCpW+JJvAlv7BgwcZMWKE3zEkyWl6R5JNYEv/0KFDKn3ptpycHNLS0jTSl6Sh0hfphvT0dAYOHKjSl6QRyNKvrKzkxIkTKn2JisGDB2t6R5LGWUvfzFaa2ZdmtiNk2c/M7Asz+9i73BBy2z+YWaGZ7Taz60KWz/WWFZrZA9H/UcJ3+PBhAJW+RMXgwYM10pekEc5I/xlgbgfLn3DOTfEurwKY2XjgZuAib5v/a2bpZpYOLAWuB8YDt3jr+uLQoUOASl+iIzc3V6UvSeOspe+cex8oDXN/84DVzrla59x+oBCY7l0KnXP7nHOngNXeur5Q6Us0aXpHkklGN7b9kZndDmwBfuqcOwEMBzaGrHPYWwZwqM3yGR3t1MzuBu4GyM/P79aDqaysrMPlu3fvBqBXr16+PFg7y+U35YpMc66srCxKSkr48ssvSUvz/2myRD9eiSZoubpa+suARwDnff0FsBCwDtZ1dPwXhetox8655cBygIKCAtf8Ouiu6mj7kpIShg4dyvDhwzvYIj66+3PFinJFJjc3l1GjRtHY2Eh6ejqDBg3yOxKQ2McrEQUpV5eGJc65Y865BudcI/BrmqZvoGkEHzpnkg8UnWG5L/RyTYkmvStXkkmXSt/M8kK+/RbQ/MqedcDNZtbLzM4BxgKbgM3AWDM7x8x60vRk77qux+6eoqIiX0f5klqaR2MqfUkGZ53eMbP/BK4Ccs3sMPAwcJWZTaFpiuYA8AMA59xOM1sDfArUA/c55xq8/fwIeANIB1Y653ZG/acJ09GjR7n00kv9untJMcOGDQOa/l+JJLqzlr5z7pYOFq84w/pLgCUdLH8VeDWidDFQX19PcXFxywNVpLvy8pr+8D1y5IjPSUTOzv+XGsTZ8ePHcc4xdOhQv6NIihg0aBAZGRkUFfn2NJVI2AJX+s1/gmukL9GSlpZGXl6eRvqSFAJb+hrpSzSp9CVZBK70jx07BmikL9Gl0pdkEbjS10hfYkGlL8kicKV/7Ngx+vTpQ3Z2tt9RJIXk5eVRUlJCbW2t31FEzihwpX/06FFN7UjUfe1rXwP0Wn1JfCp9kSjQa/UlWQSu9I8dO6b5fIk6lb4ki8CVvkb6EgsqfUkWgSr9uro6Tpw4wZAhQ/yOIilmyJAhZGRktJyKUyRRBar0S0pKgMT97GxJXunp6eTn5/P555/7HUXkjAJZ+olyogtJLaNGjVLpS8ILVOk3nxpRI32JBZW+JINAlb5G+hJLo0aNoqioiLq6Or+jiHRKpS8SJc3nyv3iiy/8jiLSqUCVfvP0jkpfYmHUqFEAmuKRhBao0i8pKaF3795kZWX5HUVSkEpfkkHgSl+jfImVESNGACp9SWyBKv3i4mK9ckdiJjMzk2HDhqn0JaEFqvQ10pdYGz16NPv27fM7hkinAlf6GulLLI0bN449e/b4HUOkU4Eq/eLiYo30JabGjRvH4cOHqaqq8juKSIcCU/oNDQ2cOHFCpS8xNXbsWAAKCwt9TiLSscCU/smTJ3HOaXpHYmrcuHEAfPbZZz4nEelYYEpfb8ySeDjvvPMAlb4krsCUfmlpKQADBw70OYmksj59+vC1r31NpS8JKzClf/LkSQBycnJ8TiKpTq/gkUQWuNIfMGCAz0kk1Z1//vn85S9/wTnndxSRdlT6IlE2ceJETpw4QVFRkd9RRNoJTOmXlZUB0L9/f5+TSKqbNGkSANu2bfM5iUh7gSn9kydP0rNnTzIzM/2OIilu4sSJAHzyySc+JxFpL1ClP2DAAMzM7yiS4gYMGMDIkSM10peEFLjSF4mHSZMmqfQlIan0RWJg8uTJ7Nq1i5qaGr+jiLQSmNIvKyvTk7gSN1OmTKGhoUGjfUk4gSl9jfQlnmbOnAnAxo0bfU4i0ppKXyQG8vPzGT58uEpfEs5ZS9/MVprZl2a2I2TZQDN7y8z2eF9zvOVmZv9mZoVmts3MLg7Z5g5v/T1mdkdsfpzOqfQl3r7+9a/z4Ycf+h1DpJVwRvrPAHPbLHsAeNs5NxZ42/se4HpgrHe5G1gGTb8kgIeBGcB04OHmXxTxUFtbS01Njeb0Ja5mzpzJgQMHOHr0qN9RRFqctfSdc+8DpW0WzwN+613/LXBjyPLfuSYbgQFmlgdcB7zlnCt1zp0A3qL9L5KYaX43rkb6Ek9f//rXAfif//kfn5OInNbVOf2hzrkjAN7XId7y4cChkPUOe8s6Wx4X+twd8UNBQQHZ2dm8/fbbfkcRaZER5f119HZXd4bl7XdgdjdNU0Pk5+e3nPykK5pH+AcOHGjed7f2Fy3NuRKNckUmnFyXXnopr7/+elz/3yXz8fJD0HJ1tfSPmVmec+6IN33zpbf8MDAiZL18oMhbflWb5e91tGPn3HJgOUBBQYHr7ukNQ7cfOXJkwpwuMVFytKVckTlbrm984xssXryYiooKRo8eHZ9QJO/x8kuQcnV1emcd0PwKnDuA34csv917Fc9MoMyb/nkDmGNmOd4TuHO8ZXGh6R3xy+zZswF46623fE4i0iScl2z+J/AhcL6ZHTaz7wOPArPNbA8w2/se4FVgH1AI/Bq4F8A5Vwo8Amz2Lv/iLYsLlb745cILL2TkyJH84Q9/8DuKCBDG9I5z7pZObrqmg3UdcF8n+1kJrIwoXZR89dVXAPTr18+Pu5cAMzNuuukmli5dqo8CkYQQiHfklpeXA00nrRaJt/nz53Pq1CmN9iUhBKb0s7OzSUsLxI8rCWbmzJkMHz6cNWvW+B1FJDil37dvX79jSEClpaXx3e9+l1dffVXnzRXfqfRF4uCuu+6ioaGBFStW+B1FAk6lLxIH5513HrNnz+bXv/41dXV1fseRAFPpi8TJ/fffz6FDh3j22Wf9jiIBptIXiZMbbriBadOmsWTJEo32xTeBKP2KigqVvvjOzHj44YfZt28fy5Yt8zuOBFQgSl8jfUkU3/zmN5kzZw4PPfQQR44c8TuOBJBKXySOzIynn36a2tpaFi5cSGNjo9+RJGBSvvQbGhqoqqpS6UvCGDt2LE888QSvv/46S5Ys8TuOBEy0P08/4VRUVACo9CWh/PCHP+SDDz7gn/7pnxg2bBh33XWX35EkIFK+9PW5O5KIzIyVK1dSWlrKD37wA8rLy/m7v/s7zDo635BI9KT89E5z6WukL4mmZ8+evPjii9x000389Kc/5bvf/S4lJSV+x5IUp9IX8VFWVhbPP/88jzzyCC+88AIXXnghTzzxBFVVVX5HkxSV8qWvOX1JdGlpaTz44IN89NFHTJgwgZ/85CeMGDGCe++9l/Xr1+uNXBJVgZnTV+lLops0aRLvvPMOGzZsYOnSpTzzzDMsW7aMrKwsLr30UgoKCrjgggu44IILyM/PZ8iQIfTo0cPv2JJkVPoiCWbWrFnMmjWL8vJy3njjDf74xz/y/vvv8/jjj1NfX99q3dzcXAYPHkyfPn1aLhkZGQwcOJAePXqQkZHR6aX5/BLNTx5H+2tbFRUVCfmCikTNlZWVxaJFi6K+X5W+SILq27cv8+fPZ/78+QDU1dWxf/9+du/eTVFREUePHuXo0aMcP36cyspKKioqOHz4MGVlZdTU1FBfX9/hRW8ISw7Tpk1T6XeFSl9SRY8ePRg3bhzjxo0743rFxcXk5uZ2entjYyP19fU452g6rTVR/9qRkpISBg0adMbsfkjUXCdPnozJfgNR+mlpaWRlZfkdRSQhpKWl0bNnz7jfb2NjIwMHDoz7/Z5NIueKhZR/9U55eTl9+vTRm15ERAhI6WtqR0SkScqXfqI+My8i4oeUL/2qqiqys7P9jiEikhBSvvQrKyv1JK6IiCflS18jfRGR01K+9DXSFxE5LeVLXyN9EZHTUr70NdIXETkt5UtfI30RkdNSuvSdc1RWVqr0RUQ8KV36tbW1NDY2anpHRMST0qVfXV0NoJG+iIgnpUu/+TyjGumLiDRJ6dLXSF9EpLWULv3KykpAI30RkWYpXfoa6YuItJbSpa85fRGR1rpV+mZ2wMy2m9nHZrbFWzbQzN4ysz3e1xxvuZnZv5lZoZltM7OLo/EDnIlG+iIirUVjpH+1c26Kc67A+/4B4G3n3Fjgbe97gOuBsd7lbmBZFO77jDTSFxFpLRbTO/OA33rXfwvcGLL8d67JRmCAmeXF4P5bNJe+RvoiIk0yurm9A940Mwf8yjm3HBjqnDsC4Jw7YmZDvHWHA4dCtj3sLTsSukMzu5umvwTIz8+nuLi4y+FKS0uBpmme7uwn2srKyvyO0CHlioxyRUa5IhOrXN0t/cucc0Vesb9lZrvOsK51sMy1W9D0i2M5QEFBgcvNze1yuMbGRgBGjhxJjx49uryfWOjOzxVLyhUZ5YqMckUmFrm6Nb3jnCvyvn4JvAJMB441T9t4X7/0Vj8MjAjZPB8o6s79n011dTUZGRkJV/giIn7pcumbWbaZ9W2+DswBdgDrgDu81e4Afu9dXwfc7r2KZyZQ1jwNFCv6WGURkda6M70zFHjFzJr385xz7nUz2wysMbPvAweB73jrvwrcABQCVcCd3bjvsFRXV+uVOyIiIbpc+s65fcDkDpaXANd0sNwB93X1/rpCI30RkdZS+h25GumLiLSW0qWvkb6ISGspX/oa6YuInJbypa+RvojIaSlf+hrpi4icltKlX1NTo9IXEQmR8qWfmZnpdwwRkYSR0qVfW1tL7969/Y4hIpIwUrb0nXNUV1er9EVEQqRs6dfV1eGc0/SOiEiIlC395lMlaqQvInKaSl9EJEBStvRramoANL0jIhIiZUtfI30RkfZU+iIiAZKypa/pHRGR9lK29DXSFxFpL2VLv3mkr9IXETktZUu/eaSv6R0RkdNSvvQ10hcROS1lS1/TOyIi7aVs6Wt6R0SkvZQvfY30RUROS9nS1+v0RUTaS9nSr66upmfPnqSlpeyPKCISsZRtxOrqao3yRUTaSNnS1/lxRUTaS9nS10hfRKS9lC19jfRFRNpL2dLXSF9EpL2ULv1evXr5HUNEJKGkbOnX1NTojVkiIm2kbOlrekdEpL2ULn1N74iItJaypa/pHRGR9lK29DW9IyLSXsqWfk1NjaZ3RETaSNnS10hfRKS9uJe+mc01s91mVmhmD8TiPhobG6mtrdWcvohIG3EtfTNLB5YC1wPjgVvMbHy076e2thZA0zsiIm3Ee6Q/HSh0zu1zzp0CVgPzon0nOlWiiEjHMuJ8f8OBQyHfHwZmhK5gZncDdwPk5+dTXFwc8Z2UlZUxb9488vLyurR9rJWVlfkdoUPKFRnlioxyRSZWueJd+tbBMtfqG+eWA8sBCgoKXG5ubsR3kpuby9q1aykuLqYr28eDckVGuSKjXJEJUq54T+8cBkaEfJ8PFMU5g4hIYMW79DcDY83sHDPrCdwMrItzBhGRwIrr9I5zrt7MfgS8AaQDK51zO+OZQUQkyOI9p49z7lXg1Xjfr4iIpPA7ckVEpD2VvohIgKj0RUQCRKUvIhIg5pw7+1o+MbPjwOfd2EUukHhvyVWuSClXZJQrMqmYa5RzbnBHNyR06XeXmW1xzhX4naMt5YqMckVGuSITtFya3hERCRCVvohIgKR66S/3O0AnlCsyyhUZ5YpMoHKl9Jy+iIi0luojfRERCaHSFxEJkKQs/bOdXN3MepnZ897tfzKz0SG3/YO3fLeZXZcIucxstJlVm9nH3uU/4pzrCjPbamb1Zja/zW13mNke73JHAuVqCDleUf147jBy/cTMPjWzbWb2tpmNCrnNz+N1plwxO15hZvuhmW337n9D6LmxfX5MdpjL78dkyHrzzcyZWUHIsu4dL+dcUl1o+kjmvcC5QE/gE36XPN8AAAPcSURBVGB8m3XuBf7Du34z8Lx3fby3fi/gHG8/6QmQazSww8fjNRqYBPwOmB+yfCCwz/ua413P8TuXd1uFj8fraiDLu35PyL+j38erw1yxPF4RZOsXcv1vgNe9634/JjvL5etj0luvL/A+sBEoiNbxSsaRfjgnV58H/Na7/iJwjZmZt3y1c67WObcfKPT253euWDprLufcAefcNqCxzbbXAW8550qdcyeAt4C5CZArlsLJ9a5zrsr7diNNZ4AD/49XZ7liLZxsX4V8m83p06T6+pg8Q65YCqcrAB4BHgNqQpZ1+3glY+l3dHL14Z2t45yrB8qAQWFu60cugHPM7M9m9kczuzxKmcLNFYttY73vTDPbYmYbzezGKGXqSq7vA691cdt45YLYHa+ws5nZfWa2l6Yi+1+RbOtDLvDxMWlmU4ERzrn/inTbs4n7SVSi4KwnVz/DOuFs21XdyXUEGOmcKzGzacBaM7uozSgklrlisW2s9z3SOVdkZucC75jZdufc3njmMrPvAQXAlZFuG+dcELvjFXY259xSYKmZ3Qo8CNwR7rY+5PLtMWlmacATwIJItw1HMo70wzm5ess6ZpYB9AdKw9w27rm8P9VKAJxzH9E0TzcujrlisW1M9+2cK/K+7gPeA6bGM5eZXQv8I/A3zrnaSLb1IVcsj1fY2UKsBpr/2vD9mHWUy+fHZF9gAvCemR0AZgLrvCdzu3+8YvFERSwvNP11so+mJzGanwS5qM0699H6CdM13vWLaP0kyD6i96RRd3INbs5B05M7XwAD45UrZN1naP9E7n6anpTM8a4nQq4coJd3PRfYQwdPhMXw33EqTSUwts1yX4/XGXLF7HhFkG1syPW/BrZ41/1+THaWKyEek97673H6idxuH6+o/KPH+wLcAHzm/Qf/R2/Zv9A0ugHIBF6g6UmOTcC5Idv+o7fdbuD6RMgF3ATs9P4xtwJ/Hedcl9A0gqgESoCdIdsu9PIWAncmQi7gUmC7d7y2A9+Pc67/BxwDPvYu6xLkeHWYK9bHK8xsT3n/xz8G3iWk5Hx+THaYy+/HZJt138Mr/WgcL30Mg4hIgCTjnL6IiHSRSl9EJEBU+iIiAaLSFxEJEJW+iEiAqPRFImRmA8zsXr9ziHSFSl8kcgNo+sRUkaSj0heJ3KPAGO9z1v+P32FEIqE3Z4lEyJpOfvNfzrkJPkcRiZhG+iIiAaLSFxEJEJW+SOTKafr4W5Gko9IXiZBr+pz1D8xsh57IlWSjJ3JFRAJEI30RkQBR6YuIBIhKX0QkQFT6IiIBotIXEQkQlb6ISICo9EVEAuT/AwHGTHbzSjmLAAAAAElFTkSuQmCC\n", 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\n", 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" ] }, "metadata": { "needs_background": "light" }, "output_type": "display_data" } ], "source": [ "# Nominal torque\n", "# Ensaio com carga nominal Tl=-0.17e-3 (indicada pelo fabricante)\n", "\n", "tfinal = 1001\n", "Tstall = -0.17e-3\n", "t = np.linspace(0, 0.4, tfinal)\n", "Tl1 = np.linspace(0, 0, 500)\n", "Tl2 = np.linspace(Tstall, Tstall, 501)\n", "Tl = [*Tl1,*Tl2]\n", "va = np.linspace(1.5, 1.5, tfinal) \n", "ut = Tl, va\n", "u = np.transpose(ut)\n", "\n", "tout, yout, xout = lsim(sys1, U=u, T=t)\n", "plt.figure(1)\n", "\n", "plt.plot(tout, yout[:,1], 'r', linewidth=1.5, label='ia')\n", "plt.legend(loc='best', shadow=True, framealpha=1)\n", "plt.grid(alpha=0.3)\n", "plt.xlabel('t')\n", "plt.show()\n", "\n", "plt.figure(2)\n", "plt.plot(tout, yout[:,0], 'k', linewidth=1.5, label='omega (rad/s)')\n", "plt.legend(loc='best', shadow=True, framealpha=1)\n", "plt.grid(alpha=0.3)\n", "plt.xlabel('t')\n", "plt.show()\n", "\n", "plt.figure(3)\n", "plt.plot(tout, (60/(2*np.pi))*yout[:,0], 'k', linewidth=1.5, label='omega (rpm)')\n", "plt.legend(loc='best', shadow=True, framealpha=1)\n", "plt.grid(alpha=0.3)\n", "plt.xlabel('t')\n", "plt.show()" ] } ], "metadata": { "kernelspec": { "display_name": "Python 3", "language": "python", "name": "python3" }, "language_info": { "codemirror_mode": { "name": "ipython", "version": 3 }, "file_extension": ".py", "mimetype": "text/x-python", "name": "python", "nbconvert_exporter": "python", "pygments_lexer": "ipython3", "version": "3.7.6" } }, "nbformat": 4, "nbformat_minor": 4 }