Path: SC/Actuator
% Computes friction torques based on a model with an exponential term. t = -(sign(w)*tC*(1 - exp(-abs(w)/wC)) + c*w + sign(w)*d*w^2) The exponential term prevents jitter due to finite integration time steps. Since version 2. -------------------------------------------------------------------------- Form: t = Friction( tC, w, c, wC, d ) -------------------------------------------------------------------------- ------ Inputs ------ tC (n,1) Coulomb friction w (n,:) Angular rates c (n,1) Viscous friction coefficient wC (n,1) Low frequency cutoff d (n,1) Turbulent damping ------- Outputs ------- t (n,:) Torque --------------------------------------------------------------------------
Common: CommonData/SwooshWatermark Common: General/CellToMat Common: General/MatToCell Common: General/Watermark Common: Graphics/NewFig Common: Graphics/Plot2D Common: Graphics/PltStyle Math: Linear/DupVect
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