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MT block
Simulates the output of the M/T method algorithm, which estimates angular velocity from encoder pulses.
The M/T method is very similar to the M method; however, after waiting the predetermined amount of time, it waits for another complete encoder pulse before estimating velocity. For more information about the M/T method, please refer to this article (in section IV - Related research).
Sampling Time: Amount of time (in seconds) that the block will count pulses before calculating a new estimate of the velocity.
Increasing this parameter makes the estimated velocity approach the mean velocity in the time interval (a good idea if the velocity is not changing too much). However, if sudden changes in the velocity occur, then the mean velocity is not a good approximation of the instantaneous velocity and, therefore, this parameter should be decreased.
Posicao: The angular position measured by the encoder, in degrees. This should be connected to the [Encoder block] (https://github.com/JulianoLagana/BLDC/wiki/Encoder-block) output.
Velocidade: The estimated angular velocity, in degrees/second.
###Example 1 Estimates the angular velocity of the BLDC given an arbitrary trajectory using the M/T method algorithm. It is necessary to convert the Theta_m output of the BLDC from radians to degrees and the w_m output from radians/s to degrees/s to correctly compare the estimated velocity with the real one.
Do not use the Encoder (fast) block to supply the angular position to this blocks, it may result in unexpected behavior.