%?NXTway-GS?Parameters?and?State-Space?Matrix?Calculation

%?Physical?Constant
g?=?9.81;						%?gravity?acceleration重力加速度?[m/sec^2]

%?NXTway-GS?Parameters平衡車相關參數
m?=?0.015;						%?wheel?weight車輪重量（個人更改）?[kg]
R?=?0.04;						%?wheel?radius車輪半徑（個人更改）?[m]
Jw?=?m?*?R^2?/?2;				%?wheel?inertia?moment車輪慣性力矩?[kgm^2]
M?=?1.5;						%?body?weight車體重量（個人更改）?[kg]
W?=?0.23;						%?body?width車體寬度（個人更改）?[m]
D?=?0.12;						%?body?depth車體深度（個人更改）?[m]
H?=?0.17;						%?body?height車體高度（個人更改）?[m]
L?=?0.075;%H?/?2;				%?distance?of?the?center?of?mass?from?the?wheel?axle?[m]
????????????????????????????????%?車體重心高度，一般為車體高度一半（個人更改）
Jpsi?=?M?*?L^2?/?3;				%?body?pitch?inertia?moment車體慣性力矩（取重心高度）?[kgm^2]
Jphi?=?M?*?（W^2?+?D^2）?/?12;	%?body?yaw?inertia?moment車體偏航慣性力矩?[kgm^2]
fm?=?0.0022;					%?frict

?屬性????????????大小?????日期????時間???名稱
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?????文件??????66608??2010-12-05?13:52??平衡車MATLAB建模\ceshi（可當做流程圖來看）\ceshi.mdl

?????文件??????20160??2010-09-30?15:42??平衡車MATLAB建模\ceshi（可當做流程圖來看）\ceshi.mdl.original

?????文件??????79439??2013-03-02?12:50??平衡車MATLAB建模\ceshi（可當做流程圖來看）\ceshi.mdlPreview

?????文件???????3674??2010-12-05?08:46??平衡車MATLAB建模\ceshi（可當做流程圖來看）\test.m

?????文件??????55882??2010-12-14?10:55??平衡車MATLAB建模\平衡車建模與仿真\new.mdl

?????文件???????3142??2011-01-21?11:39??平衡車MATLAB建模\平衡車建模與仿真\new1.m

?????目錄??????????0??2014-06-18?20:40??平衡車MATLAB建模\ceshi（可當做流程圖來看）

?????目錄??????????0??2011-01-31?08:31??平衡車MATLAB建模\平衡車建模與仿真

?????目錄??????????0??2011-01-31?08:45??平衡車MATLAB建模

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???????????????228905????????????????????9