palDCMotor Class Reference

#include <palActuators.h>

Inheritance diagram for palDCMotor:

List of all members.

Public Member Functions

void Init (palRevoluteLink *revolute_link, Float torque_constant, Float back_EMF_constant, Float armature_resistance)

void SetVoltage (Float voltage)

void Apply ()

Detailed Description

A DC Motor model for a Revolute Joint. Standard armature controlled DC motor model.

$T_A(t) = K_T\frac{V_a(t)-K_b.\omega_n(t)}{R_a}$

Where, $T_A(t)$ is the torque. $K_T$ is the motor torque constant (Nm/A) $V_a(t)$ is the applied armature voltage (V) $K_b$ is the motor back emf constant (Vs/rad) $\omega_n(t)$ is the angular velocity of the motor (rad/s) $R_a$ is the armature resistance. (ohms)

Member Function Documentation

void palDCMotor::Apply ( ) [inline, virtual]

Ensures the actuator operates for the current time step

Implements palActuator.

void palDCMotor::Init	(	palRevoluteLink *	revolute_link,
		Float	torque_constant,
		Float	back_EMF_constant,
		Float	armature_resistance
	)			`[inline]`

Initializes the motor. None of the parameters should be set to zero.

Parameters:

	revolute_link	The revolute link the motor is attached to.
	torque_constant	, the motor torque constant (Nm/A)
	back_EMF_constant	, the motor back emf constant (Vs/rad)
	armature_resistance	, the armature resistance. (ohms)

void palDCMotor::SetVoltage ( Float voltage ) [inline]

Set the input voltage

Parameters:

voltage

Applied armature voltage

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

/var/www/hosted/adrianboeing.com/pal/current/pal/pal/pal/palActuators.h


Public Member Functions
void	Init (palRevoluteLink *revolute_link, Float torque_constant, Float back_EMF_constant, Float armature_resistance)
void	SetVoltage (Float voltage)
void	Apply ()