#include <ActuatorModel.h>

Collaboration diagram for ActuatorModel< T >:

Public Member Functions
	ActuatorModel (T gearRatio, T motorKT, T motorR, T batteryV, T damping, T dryFriction, T tauMax)

	ActuatorModel ()

T	getTorque (T tauDes, T qd)

void	setFriction (bool enabled)

Private Attributes
T	_gr

T	_kt

T	_R

T	_V

T	_damping

T	_dryFriction

T	_tauMax

bool	_frictionEnabled = true

Detailed Description

template<typename T>
class ActuatorModel< T >

Definition at line 16 of file ActuatorModel.h.

Constructor & Destructor Documentation

template<typename T >

ActuatorModel< T >::ActuatorModel	(	T	gearRatio,
		T	motorKT,
		T	motorR,
		T	batteryV,
		T	damping,
		T	dryFriction,
		T	tauMax
	)

inline

Definition at line 18 of file ActuatorModel.h.

       : _gr(gearRatio),
         _kt(motorKT),
         _R(motorR),
         _V(batteryV),
         _damping(damping),
         _dryFriction(dryFriction),
         _tauMax(tauMax) {}

template<typename T >

ActuatorModel< T >::ActuatorModel ( )

inline

Definition at line 28 of file ActuatorModel.h.

28 {}

Member Function Documentation

template<typename T >

T ActuatorModel< T >::getTorque	(	T	tauDes,
		T	qd
	)

inline

Definition at line 33 of file ActuatorModel.h.

References ActuatorModel< T >::_damping, ActuatorModel< T >::_dryFriction, ActuatorModel< T >::_frictionEnabled, ActuatorModel< T >::_gr, ActuatorModel< T >::_kt, ActuatorModel< T >::_R, ActuatorModel< T >::_tauMax, ActuatorModel< T >::_V, coerce(), and sgn().

                               {
     // compute motor torque
     T tauDesMotor = tauDes / _gr;        // motor torque
     T iDes = tauDesMotor / (_kt * 1.5);  // i = tau / KT
     // T bemf =  qd * _gr * _kt * 1.732;     // back emf
     T bemf = qd * _gr * _kt * 2.;       // back emf
     T vDes = iDes * _R + bemf;          // v = I*R + emf
     T vActual = coerce(vDes, -_V, _V);  // limit to battery voltage
     T tauActMotor =
         1.5 * _kt * (vActual - bemf) / _R;  // tau = Kt * I = Kt * V / R
     T tauAct = _gr * coerce(tauActMotor, -_tauMax, _tauMax);
 
     // add damping and dry friction
     if (_frictionEnabled)
       tauAct = tauAct - _damping * qd - _dryFriction * sgn(qd);
 
     return tauAct;
   }