Method ao/mdc1_cont2act_utn
mdc1_cont2act_utn simulate the effect of retarded actuators
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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 $
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
Method Details |
|
Access |
public |
Defining Class |
ao |
Sealed |
0 |
Static |
0 |
Parameter Description
Sets for this method … |
Default |
Default |
no description |
Key |
Default Value |
Options |
Description |
TAU |
1 |
none |
|
DELTAT |
0 |
none |
|
FS |
10 |
none |
|
TOL |
9.9999999999999995e-08 |
none |
|
back to top
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 |
|
Method: ao/update |
|
Method: ao/mdc1_ifo2acc_fd |
 |
©LTP Team