Contents

Demonstrate different RWA models.

All demos use RWASmart.
------------------------------------------------------------------------
See also Plot2D, TimeGUI, RK4, RWASmart, RWACountToRate
------------------------------------------------------------------------

%-------------------------------------------------------------------------------
%   Copyright (c) 1999-2000 Princeton Satellite Systems, Inc.
%   All rights reserved.
%-------------------------------------------------------------------------------

Global for the TimeGUI

%------------------------
global simulationAction
simulationAction = ' ';

clear x1Plot x2Plot x3Plot tPlot

Simulation parameters

%----------------------
dT    = 0.0125;
nSim  = 100;

Torque demand in counts

%------------------------
tDemand = 200;

Input the friction model

%-------------------------
d = RWASmart('get default datastructure');

d.friction(1).fStatic   = 0.0;
d.friction(1).fCoulomb  = 0.0/2;
d.friction(1).vStribeck = 0.1;
d.friction(1).sigma0    = 0;
d.friction(1).sigma1    = 0;
d.friction(1).sigma2    = 0;
d.friction(1).maxC      = 0.1/dT;
d.nWheels               = 1;

Reinitialize

%-------------
RWASmart( 'initialize', d );

Initialize the time display

%----------------------------
[ ratioRealTime, tToGoMem ] =  TimeGUI( nSim, 0, [], 0, dT, 'RWA Smart Simulation' );

Initial conditions

%-------------------
x      = [0;0;0];
x1Plot = zeros(2,nSim);
t1Plot = zeros(1,nSim);
t      = 0;

Commanded voltage

%------------------
RWASmart( 'put data word', tDemand );

for k = 1:nSim

             RWASmart( 'set tachometer states',  struct( 'omega', x(1), 'angle', x(3) ) );
  tachWord = RWASmart( 'get tachometer word' );

  % Display the status message
  %---------------------------
  [ ratioRealTime, tToGoMem ] = TimeGUI( nSim, k, tToGoMem, ratioRealTime, dT );

  x           = RK4( 'RWASmart', x, dT, 0 );

  tPlot(k)    = t;
  x1Plot(:,k) = [x(1,:);RWACountToRate( tachWord, d )];
  t1Plot(1,k) = RWASmart('get torque');

  % Update the time
  %----------------
  t  =  t + dT;

  % Time control
  %-------------
  switch simulationAction
    case 'pause'
      pause
      simulationAction = ' ';
    case 'stop'
      return;
    case 'plot'
      break;
  end

end
TimeGUI('close')

d.friction(1).fStatic   = 0.005;
d.friction(1).fCoulomb  = 0.005/2;
d.friction(1).vStribeck = 0.1;
d.friction(1).sigma0    = 1;
d.friction(1).sigma1    = 1e-4;
d.friction(1).sigma2    = 4.0585e-05;
d.friction(1).maxC      = 0.1/dT;
d.nWheels               = 1;

Reinitialize

%-------------
RWASmart( 'set data', d );

Initialize the time display

%----------------------------
[ ratioRealTime, tToGoMem ] =  TimeGUI( nSim, 0, [], 0, dT, 'RWA Smart Simulation' );

Initial conditions

%-------------------
x      = [0;0;0];
x2Plot = zeros(2,nSim);
t2Plot = zeros(1,nSim);
t      = 0;

Commanded voltage

%------------------
RWASmart( 'put data word', tDemand );

for k = 1:nSim

             RWASmart( 'set tachometer states',  struct( 'omega', x(1), 'angle', x(3) ) );
  tachWord = RWASmart( 'get tachometer word' );

  % Display the status message
  %---------------------------
  [ ratioRealTime, tToGoMem ] = TimeGUI( nSim, k, tToGoMem, ratioRealTime, dT );

  x           = RK4( 'RWASmart', x, dT, 0 );
  tPlot(k)    = t;
  x2Plot(:,k) = [x(1,:);RWACountToRate( tachWord, d )];
  t2Plot(1,k) = RWASmart('get torque');

  % Update the time
  %----------------
  t  =  t + dT;

  % Time control
  %-------------
  switch simulationAction
    case 'pause'
      pause
      simulationAction = ' ';
    case 'stop'
      return;
    case 'plot'
      break;
  end

end
TimeGUI('close')

d.friction(1).fStatic   = 0.005;
d.friction(1).fCoulomb  = 0.005/2;
d.friction(1).vStribeck = 0.1;
d.friction(1).sigma0    = 1;
d.friction(1).sigma1    = 1e-4;
d.friction(1).sigma2    = 4.0585e-05;
d.friction(1).maxC      = 0.1/dT;
d.nWheels               = 1;
d = rmfield( d, 'kA ' );

Reinitialize

%-------------
RWASmart( 'set data', d );

Initialize the time display

%----------------------------
[ ratioRealTime, tToGoMem ] =  TimeGUI( nSim, 0, [], 0, dT, 'RWA Smart Simulation' );

Initial conditions

%-------------------
x      = [0;0;0];
x3Plot = zeros(2,nSim);
t3Plot = zeros(1,nSim);
tPlot  = zeros(1,nSim);
t      = 0;

Commanded voltage

%------------------
RWASmart( 'put data word', tDemand );

for k = 1:nSim

             RWASmart( 'set tachometer states',  struct( 'omega', x(1), 'angle', x(3) ) );
  tachWord = RWASmart( 'get tachometer word' );

  % Display the status message
  %---------------------------
  [ ratioRealTime, tToGoMem ] = TimeGUI( nSim, k, tToGoMem, ratioRealTime, dT );

  x           = RK4( 'RWASmart', x, dT, 0 );
  tPlot(k)    = t;
  x3Plot(:,k) = [x(1,:);RWACountToRate( tachWord, d )];
  t3Plot(1,k) = RWASmart('get torque');

  % Update the time
  %----------------
  t  =  t + dT;

  % Time control
  %-------------
  switch simulationAction
    case 'pause'
      pause
      simulationAction = ' ';
    case 'stop'
      return;
    case 'plot'
      break;
  end

end
TimeGUI('close')

RWASmart( 'quit' );

yL = ['Rate';'Rate';'Rate'];
Plot2D( tPlot, [x1Plot;x2Plot;x3Plot], 'Time (sec)', yL, 'Rate','lin',['1:2';'3:4';'5:6'] )
yL = ['Torque';'Torque';'Torque'];
Plot2D( tPlot, [t1Plot;t2Plot;t3Plot], 'Time (sec)', 'Torque' )
m = ['No Friction        ';...
     'Friction           ';...
	 'No Current Feedback'];
legend(m)



%--------------------------------------

Published with MATLAB® R2019a