Path: SC/Actuator
% A RWA model using FrictionBristle to model the friction.
You will initialize to a Honeywell HR0610 model.
A typical calling sequence is
RWA;
or k = RWABristle( 'initialize' );
or k = RWABristle( 'initialize', y, k );
loop:
tachMeas = RWABristle( 'get tachometer measurement', [], k );
RWABristle( 'put omega', omega, k );
RWABristle( 'put bristle state', bristleState, k );
RWABristle( 'put omega dot', omegaDot, k );
RWABristle( 'put voltage', voltageIn, k );
RWABristle( 'update', [], k );
torque = RWABristle( 'get torque', [], k );
xDot = RWABristle( 'get state derivative', [], k );
power = RWABristle( 'get power', [], k );
current = RWABristle( 'get current', [], k );
voltage = RWABristle( 'get motor voltage', [], k );
end loop;
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Form:
x = RWABristle( action, y, k )
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Inputs
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action (:) Action
y (1,1) See above
(1,1) Datastructure for the wheels
.kT (1,1) Torque constant (N/A)
.kV (1,1) Voltage Gain (N/rad/sec)
.friction .fStatic - Static friction scaling coefficient
.fCoulomb - Coulomb friction maximum
.vStribeck - Stribeck velocity
.bViscous - Viscous friction coefficient
.sigma0 - Bristle friction coefficient
.sigma1 - Bristle derivative coefficient
.currentMax (1,1) Upper current limit (A)
.currentMin (1,1) Lower current limit (A)
.busVoltage (1,1) Bus voltage
.r (1,1) Motor resistance (Ohms)
.kMaxTach (1,1) Maximum tach count
.kMinTach (1,1) Minimum tach count
.resTach (1,1) Tach resolution
.kMaxVoltage (1,1) Maximum voltage count
.kMinVoltage (1,1) Minimum voltage count
.resVoltage (1,1) D/A resolution
.voltageWord (1,1) Voltage word
.omega (1,1) Wheel speed
.power (1,1) Electrical power
.current (1,1) Motor current
.voltage (1,1) Motor voltage
.failure (1,1) 1 means failed
k (1,:) Tag see ProcessTag
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Outputs
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x (:) Output
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SC: Actuator/FrictionBristle SC: Hardware/FloatToWord SC: Hardware/WordToFloat Common: General/ProcessTag Common: General/StringMatch
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