positionactuator-relative

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positionactuator-relative

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Iconic Diagrams\Mechanical\Rotation\Actuators

Use

Domains: Continuous. Size: 1-D. Kind: Iconic Diagrams (Rotation), Block Diagrams.

Description

This model represents an ideal actuator. An angle input signal is differentiated by a state variable filter to an angular velocity difference between its two terminals:

 

p_high.omega = p_low.omega + dphi/dt;

p_low.T = p_high.T = indifferent;

 

Differentiation is performed by a state variable filter:

DifferentiateSVF

The S-domain function of this filter is equal to:

DifferentiateSVFequation

where f is the cut-off frequency. For very high values of f, the output becomes the pure derivative of the input. High values of f, however, increase simulations times. A good trade-off is a starting value of 1e5.

Interface

Ports

Description

p_high, p_low

Both terminals of the Rotation port p.

Causality

 

fixed angular velocity out

 

Input

 

phi

Angle [rad].

Parameters

 

f

omega_initial

Cut-off frequency of the differentiation [Hz].

Initial angular velocity output of the differentiation [rad/s].