RWA:

Path: SC/Actuator

% A RWA model using FrictionSmooth.

   You will initialize to a Honeywell HR0610 model. Only marketing sheet data is
   used.

   This model uses FrictionSmooth to model the friction.

   k      = RWA( 'initialize' );                         Initializes the wheel
   k      = RWA( 'initialize',                 [], k );  Initializes the wheel(s)
   x      = RWA( 'get tachometer measurement', [], k );  Gets the wheel speed
   d      = RWA( 'get default datastructure',  [], k );  Gets the default RWA data
   d      = RWA( 'get datastructure',          [], k );  Gets the RWA data
   x      = RWA( 'get power',                  [], k );  Gets the power.
   x      = RWA( 'get current',                [], k );  Gets the power from d
   x      = RWA( 'get motor voltage',          [], k );  Gets the motor voltage.
            RWA( 'put voltage',               vIn, k );  Puts the voltage into d
   x      = RWA( 'compute torque',             [], k );  Computes torque
            RWA( 'torque speed curve',      omega, k );  Plots the torque speed curve
                                                         if omega is [] it will use a
                                                         default rate vector. Omega
                                                         must be a 1-by-n array.
   
   k can be a number or a tag.

   A typical calling sequence is

   RWA;

   loop:
      d           = RWA( 'put voltage',       voltageIn, k );
      [torque, d] = RWA( 'compute torque',    omega,     k );
      power       = RWA( 'get power',         [],        k );
      current     = RWA( 'get current',       [],        k );
      voltage     = RWA( 'get motor voltage', [],        k );
   end loop;

   Since version 3.
--------------------------------------------------------------------------
   Form:
   x = RWA( action, y, k )
--------------------------------------------------------------------------

   ------
   Inputs
   ------
   action	  (:)    Action
   y         (1,1)  See above
             (1,1)  Datastructure for the wheels
                    .kT          (1,1) Torque constant (N/A)
                    .kV          (1,1) Voltage Gain (N/rad/sec)
                    .kW
                    .friction    = struct( 'fStatic',  (1,1), 'kStatic',  (1,1),
                                           'fCoulomb', (1,1), 'kCoulomb', (1,1),
                                           'bViscous', (1,1) );
                    .currentMax  (1,1) Upper current limit (A)
                    .currentMin  (1,1) Lower current limit (A)
                    .busVoltage  (1,1) Bus voltage
                    .r           (1,1) Motor resistance (Ohms)
                    .kMaxTach    (1,1) Maximum tach count
                    .kMinTach    (1,1) Minimum tach count
                    .resTach     (1,1) Tach resolution
                    .kMaxVoltage (1,1) Maximum voltage count
                    .kMinVoltage (1,1) Minimum voltage count
                    .resVoltage  (1,1) D/A resolution
                    .kMinVoltage (1,1) Minimum voltage count
                    .voltageWord (1,1) Voltage word  
                    .omega       (1,1) Wheel speed
                    .power       (1,1) Electrical power 
                    .current     (1,1) Motor current 
                    .voltage     (1,1) Motor voltage 
                    .inertia

   -------
   Outputs
   -------
   x        (:)    Output
   k        (1,1)  Index

--------------------------------------------------------------------------

Children:

Common: General/ProcessTag
Common: Graphics/Plot2D
Dynamics: Robotics/FrictionSmooth
SC: Hardware/FloatToWord
SC: Hardware/WordToFloat

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