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Iconic Diagrams\Mechanical\Rotation\Actuators
Domains: Continuous. Size: 1-D. Kind: Iconic Diagrams (Rotation), Block Diagrams.
This model represents an ideal actuator. An angle input signal is differentiated by a state variable filter to an angular velocity at the rotation port. The actuator is mounted to the fixed world:
p.omega = dphi/dt;
p.T = indifferent;
Differentiation is performed by a state variable filter:
The S-domain function of this filter is equal to:
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.
Ports |
Description |
p |
Rotation port. |
Causality |
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fixed angular velocity out |
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Input |
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phi |
Angle [rad]. |
Parameters |
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f omega_initial |
Cut-off frequency of the differentiation [Hz]. Initial angular velocity at the port [m/s]. |