Home > classes > @ssm > model_TMActuation.m

model_TMActuation

PURPOSE ^

defines a simple model_Capcitive_Actuation without cross talk

SYNOPSIS ^

function [sys, VERSION] = model_TMActuation

DESCRIPTION ^

 defines a simple model_Capcitive_Actuation without cross talk
 ONLY THE CONSTRUCTOR SHOULD CALL THIS PRIVATE FUNCTION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

 DESCRIPTION: model_Capcitive_Actuation defines a simple 2nd order
 stable system with a control and a noise input

 CALL: [sys, VERSION] = model_TMActuation
                         
 

 VERSION: $Id: $

 HISTORY: 01-04-2008 M Weyrich
 23-04-2008 A Grynagier
 
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

CROSS-REFERENCE INFORMATION ^

This function calls: This function is called by:

SOURCE CODE ^

0001 function [sys, VERSION] = model_TMActuation
0002 % defines a simple model_Capcitive_Actuation without cross talk
0003 % ONLY THE CONSTRUCTOR SHOULD CALL THIS PRIVATE FUNCTION
0004 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
0005 %
0006 % DESCRIPTION: model_Capcitive_Actuation defines a simple 2nd order
0007 % stable system with a control and a noise input
0008 %
0009 % CALL: [sys, VERSION] = model_TMActuation
0010 %
0011 %
0012 %
0013 % VERSION: $Id: $
0014 %
0015 % HISTORY: 01-04-2008 M Weyrich
0016 % 23-04-2008 A Grynagier
0017 %
0018 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
0019 VERSION = '$Id:$';
0020 utils.helper.msg(utils.const.msg.MNAME, ['running ', mfilename]);
0021 
0022 %% creating ssm
0023 sys = ssm ;
0024 
0025 % parameters in subsystem
0026 sys.paramnames = { };           
0027 sys.paramvalues = [];                                
0028 sys.paramsigmas = [];
0029  
0030 %% declaring symbolic parameters
0031 for i_params=1:length(sys.paramnames)
0032    cmd = [sys.paramnames{i_params}, '=sym(''', sys.paramnames{i_params},''');'];
0033    eval(cmd);
0034 end
0035 
0036 %%%%%%%%%%%%%%%%%%%%%%%%%% START BUILDING PARAMETRIC SUBSYTEM %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
0037 %  ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
0038 
0039 %            F_mps_c      F_susp_c
0040 D_DFACS = [ zeros(12,6)   eye(12)   ];    % TM actuation F_susp
0041 
0042 %                 Noise_TMActuation_ro(12)
0043 D_Noise_TMActuation = [ eye(12) ];
0044 
0045 
0046 %%%%%%%%%%%%%%%%%%%%%%%%%% END BUILDING PARAMETRIC SUBSYTEM %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
0047 %  +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
0048 
0049 
0050 sys.name = 'TMActuation';
0051 
0052 sys.amats    = cell(0,0);
0053 sys.bmats    = cell(0,2);
0054 sys.cmats    = cell(1,0);
0055 sys.dmats    = {D_DFACS  D_Noise_TMActuation};
0056 sys.timestep = 0;
0057 
0058 sys.inputnames    = {'DFACS_command' 'Dist_F_TMAct' };
0059 sys.inputvarnames = {...
0060     {'fx_mps_c' 'fy_mps_c' 'fz_mps_c' 'tx_mps_c' 'ty_mps_c' 'tz_mps_c'...
0061      'fx1_TMAct_c' 'fy1_TMAct_c' 'fz1_TMAct_c' 'tx1_TMAct_c' 'ty1_TMAct_c' 'tz1_TMAct_c'...
0062      'fx2_TMAct_c' 'fy2_TMAct_c' 'fz2_TMAct_c' 'tx2_TMAct_c' 'ty2_TMAct_c' 'tz2_TMAct_c'}...
0063     {'Dist_fx1_TMAct' 'Dist_fy1_TMAct' 'Dist_fz1_TMAct' 'Dist_tx1_TMAct' 'Dist_ty1_TMAct' 'Dist_tz1_TMAct'...
0064      'Dist_fx2_TMAct' 'Dist_fy2_TMAct' 'Dist_fz2_TMAct' 'Dist_tx2_TMAct' 'Dist_ty2_TMAct' 'Dist_tz2_TMAct'}...
0065      };
0066 
0067 sys.outputnames    = {'F_TMAct'};
0068 sys.outputvarnames = ...
0069     {{'fx1_TMAct' 'fy1_TMAct' 'fz1_TMAct' 'tx1_TMAct' 'ty1_TMAct' 'tz1_TMAct'...
0070      'fx2_TMAct' 'fy2_TMAct' 'fz2_TMAct' 'tx2_TMAct' 'ty2_TMAct' 'tz2_TMAct'}};
0071  
0072 end

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