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Position error of motor shaft

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saleh shlimet
saleh shlimet on 13 Dec 2022
Commented: Mathieu NOE on 20 Dec 2022
I want to obtain the position error of motor shaft so I subtracted the estimated position from the measured position. modulus function is used so the estimated and the measured positions vary between 0 to 2pi (electrical radians) as shown in the figures attached. the problem is that the error becomes 2pi at instant times. What can I do to not show this big error (2pi) in the figure?

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Mathieu NOE
Mathieu NOE on 13 Dec 2022
Moved: Joel Van Sickel on 15 Dec 2022
hello
you can make 2 pi complements on the error signal , following that logic
if error < -pi then error = error + 2pi
if error > pi then error = error - 2pi
goal is to keep error witin -pi / + pi bounds
  13 Comments
saleh shlimet
saleh shlimet on 19 Dec 2022
Thank you very much Mathieu it is working properly.

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R2021a

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