Path: SC/Actuator
% Calculates RWA parameters from spec sheet parameters.
If all spec sheet info is not entered, then a GUI will come up with entry
blocks for the needed info. Not all parameters can be found from spec sheets.
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Form:
d = RWASpec( input )
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Inputs
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input (.) Data structure. Any or all of the following field
can be included. Those marked with * must be entered
to prevent the GUI from being drawn. Default values
are shown in [].
.voltageRange Max voltage counts * voltage resolution [5]
.kMaxVoltage Max voltage count [128]
.kMinVoltage Min voltage count [-127]
.resVoltage Voltage resolution [10/256]
.kMaxTach Maximum tach count [2048]
.kMinTach Minimum tach count [-2047]
.resTach Tach resolution [410*pi/4096]
.tC Coulomb friction (N) [0]
* .busVoltage Bus voltage (V) [23]
* .holdingPower Power holding max speed (W) [33]
* .peakPower Peak power (W) [80]
* .maxSpeed Maximum wheel speed (rad/sec) [628]
* .torque Max output torque (Nm) [0.075]
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Outputs
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d (.) Data structure
.kT (n,1) Torque constant (N/A)
.kV (n,1) Voltage gain (V/V)
.kW (n,1) Viscous friction (N/rad/sec)
.tC (n,1) Coulomb friction (N)
.iMax (n,1) Current Limit (A)
.iMin (n,1) Current Limit (A)
.r (n,1) 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
.kBusVoltage (1,1) Bus voltage
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