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Path: SCPro/ProActuators
% Computes dynamics with friction for two different models.
The first model is the standard model with damping, Coulomb and
static friction. The second uses a bristle friction model with
an additional bristle state.
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Form:
d = RHSFriction;
[xDot, fS, fB] = RHSFriction( x, ~, d )
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Inputs
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x (3,1) [omega standard;omega bristle;bristle state]
d (1,1) Data structure
.inertia (1,1) Polar inertia
.torque (1,1) Torque
.friction (.) See ReactionWheelFriction
.bristle (.) See FrictionBristle);
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Outputs
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xDot (3,1) d[omega standard;omega bristle;bristle state]/dt
fS (1,1) Friction standard
fB (1,1) Friction bristle
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SC: Actuator/FrictionBristle SCPro: ProActuators/ReactionWheelFriction
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