mangood wrote:For
"" then the formula for the transfer function needs to include that conversion as well (from duty cycle to voltage). I can't tell you what that equation should be"""
why you cannot tell me?? Is their problem in such that??:smileysurprised:
I don't know what the transfer function should be. I don't know how you're generating the PWM signal, and I don't know if changing the duty cycle has a linear correlation with motor voltage, or some other relationship. Even if I had all that information, I couldn't give you the transfer function, because I'm not that good with the theoretical side of controls nor Laplace transforms.
Your graph shows a full system with a PID controller, but your equation describes only the transfer function of the motor. To duplicate the graph, you need a PID controller in addition to the motor, and it needs to be tuned to match the one used in simulation. Then you could make a step change in the setpoint, and the shape of the speed response would be similar to the graph. Of course there will be differences in scaling between the model and the real system - your graph has no units. If you have good measurements of your real motor, then you can include that information in your transfer function model so that the units will match.