palPropeller Class Reference

#include <palActuators.h>

Inheritance diagram for palPropeller:

List of all members.

Public Member Functions

virtual void Init (palBody *pbody, Float px, Float py, Float pz, Float axis_x, Float axis_y, Float axis_z, Float a_l)

virtual void SetVoltage (Float voltage)

virtual void Apply ()

Detailed Description

A propeller. Simulates a propeller and a corresponding DC motor for an underwater body.

Based on a 1st order feed foward model:

$i_m = \frac{1}{k_t}.\alpha_1.T_r$

Where: $i_m$ is the motor drive current $k_t$ is the motor torque constant $\alpha_1$ is an experimentally determined constant (N.m/N) $T_r$ is the thrust

The actual implementation is:

$T = \alpha_{lumped}.V(t)$

Where $\alpha_{lumped}$ is a lumped parameter

Member Function Documentation

void palPropeller::Apply ( ) [virtual]

Ensures the actuator operates for the current time step

Reimplemented from palImpulseActuator.

void palPropeller::Init	(	palBody *	pbody,
		Float	px,
		Float	py,
		Float	pz,
		Float	axis_x,
		Float	axis_y,
		Float	axis_z,
		Float	a_l
	)			`[virtual]`

Initializes the propeller

Parameters:

	pbody	The body to connect the actuator to
	px	The x position of the propeller's center
	py	The y position of the propeller's center
	pz	The z position of the propeller's center
	axis_x	The axis vector which supplies the direction of the propeller's thrust. (x)
	axis_y	The axis vector which supplies the direction of the propeller's thrust. (y)
	axis_z	The axis vector which supplies the direction of the propeller's thrust. (z)
	a_l	The lumped parameter (alpha)

virtual void palPropeller::SetVoltage ( Float voltage ) [inline, virtual]

Set the input voltage

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

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


Public Member Functions
virtual void	Init (palBody *pbody, Float px, Float py, Float pz, Float axis_x, Float axis_y, Float axis_z, Float a_l)
virtual void	SetVoltage (Float voltage)
virtual void	Apply ()