ActuatorDCNonLinearMotorData< Scalar_ > Class Template Reference

Template for handling data related to a non linear DC motor model. More...

#include <actuators/dc-non-linear-motor-model.hpp>

Inheritance diagram for ActuatorDCNonLinearMotorData< Scalar_ >:

Collaboration diagram for ActuatorDCNonLinearMotorData< Scalar_ >:

Public Types
enum	InternalParameters {   P_ROTOR_INERTIA =6,   P_ROTOR_RESISTOR,   P_TORQUE_CST,   P_SPEED_TORQUE_GRD,   P_BACK_EMF,   P_TERMINAL_INDUCTANCE }
typedef Scalar_	Scalar_t
typedef Eigen::Matrix< Scalar_, 12, 1 >	Parameters_t
typedef Eigen::Matrix< Scalar_, 2, 1 >	Observations_t
typedef Eigen::Matrix< Scalar_, 6, 1 >	S_t
typedef Eigen::Matrix< Scalar_, 3, 1 >	X_t
typedef Eigen::Matrix< Scalar_, 3, 1 >	dX_t
typedef Eigen::Matrix< Scalar_, 1, 1 >	U_t

Public Member Functions
const Observations_t &	h () const
	Return observation vector.
const Parameters_t &	c () const
	Return parameters.
const S_t &	S () const
	Returns selection matrix.
Observations_t &	h ()
void	rotorInertia (Scalar_ c)
	Rotor inertia (kg/m2) - \( B_m \). More...
void	rotorResistor (Scalar_ c)
	Rotor resistor (Ohm) - \( R\).
void	torqueConst (Scalar_ c)
	Torque constant (Nm/A) - \( K_m \).
void	speedTorqueGrad (Scalar_ c)
	Speed torque gradient (rads^-1/Nm) \( D_m \).
void	backEMF (Scalar_ c)
	Back electro magnetic force constant \( K_b \) It is the inverse of the speed torque gradient constant ( \(k_N\)) in Maxon datasheet. More exactly the maxon datasheet gives rpm/V. So it is \(\frac{60}{ 2 \pi k_N)}\).
void	terminalInductance (Scalar_ c)
	Terminal Inductance (Henry)
void	setS (S_t &S)

Protected Member Functions
void	updateFirstParameters ()
	Update the first three parameters of the actuators:

Protected Attributes
Observations_t	h_
	Observation variables.
Parameters_t	c_
	Vector parameters.
S_t	S_
	Selection matrix.

Detailed Description

template<typename Scalar_>
class se3::ActuatorDCNonLinearMotorData< Scalar_ >

Template for handling data related to a non linear DC motor model.

Template Parameters

Scalar_

{description}

Definition at line 130 of file dc-non-linear-motor-model.hpp.

Member Function Documentation

void rotorInertia ( Scalar_  c )

inline

Rotor inertia (kg/m2) - \( B_m \).

Internal parameters of the actuator.

Definition at line 162 of file dc-non-linear-motor-model.hpp.

References ActuatorDCNonLinearMotorData< Scalar_ >::c(), ActuatorDCNonLinearMotorData< Scalar_ >::c_, and ActuatorDCNonLinearMotorData< Scalar_ >::updateFirstParameters().

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The documentation for this class was generated from the following file:

• dc-non-linear-motor-model.hpp