Method ao/mdc1_cont2act_utn


  mdc1_cont2act_utn simulate the effect of retarded actuators
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  DESCRIPTION: mdc1_cont2act_utn simulate the effect of the retarded
  actuation on the commanded force.
 
  The retard in the commanded force is simulated by:
 
  Xt = heaviside(t-DeltaT)-heaviside(t-T-DeltaT)
 
  So that the commanded force is supposed to be sent to the actuation
  system with this shape:
 
  1 ->                |-------------|
                      |             |
  0 -> ---------------|             |---------------
      |               |             |
  t   0            DeltaT      DeltaT + T
 
 
  The transfer function of the actuation system is assumed:
 
  At = 1-exp(-t/tau)
 
  Retarded command and actuation respose are convoluted in the laplace
  domain in order to obtain the retarded actuation response As*Xs.
  Then the impulse response is obtained by inverse laplace transform. It is
  sampled at times nT (T = 1/fs) in order to extract the coefficinets for a
  discrete filter.
 
 
  CALL:                 b = mdc1_cont2act_utn(a, pl)
 
 
 
  INPUTS:
            - a are input Aos
            - pl is a parameter list containing the values of the
            parameters relevant for the actuation. Those parameters are:
            'tau' is the time constant of the actuation
            'DeltaT' is the delay introduced to command the force to the
            actuation system
            'fs' is the desired sampling frequency
            'tol' defines the limit to the magnitude of the coefficints to
            considered relevant for the discretization.
 
 
  NOTE1:
            t, tau, T and DeltaT are intended to be expressed in seconds
            whereas fs is intended to be expressed in Hz
 
  NOTE2:
            The filter is implemented by the standard relation:
 
            g_comm[n] = AXt[1]*g_cont[n-1]+...+AXt[k]*g_cont[n-k]+...
 
            if AXt[k] < tol it is assumed to be non relevant for the
            calculation and the sum can be restricted to a finite number of
            terms. i.e. those with AXt[i] different from zero.
 
  NOTE3:
 
            Default input plist is:
          pl = plist('tau', 1, 'DeltaT', 0,'FS', 10, 'tol', 1e-7);
 
 
  OUTPUTS:
            - b are Aos containing the actuating force
 
  Parameters Description
 
  VERSION:     $Id: mdc1_cont2act_utn.m,v 1.2 2012/02/09 14:44:11 ingo Exp $
 
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Method Details
Access public
Defining Class ao
Sealed 0
Static 0

Parameter Description

Default

no description
Key Default Value Options Description
TAU 1 none
DELTAT 0 none
FS 10 none
TOL 9.9999999999999995e-08 none
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Some information of the method ao/mdc1_cont2act_utn are listed below:
Class name ao
Method name mdc1_cont2act_utn
Category MDC01
CVS Version $Id: mdc1_cont2act_utn.m,v 1.2 2012/02/09 14:44:11 ingo Exp $
Min input args 1
Max input args -1
Min output args 1
Max output args -1




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