Table of Contents

Class HingedRigidBodyMotorSoftware

Namespace
NominalSystems.Classes
Assembly
NominalSystems.Classes.dll

Calculates a motor torque to drive a hinged panel to a reference angle state. A sensed and reference hinged rigid body angle drives a simple PD control law.

public class HingedRigidBodyMotorSoftware : Software
Inheritance
HingedRigidBodyMotorSoftware
Inherited Members

Constructors

HingedRigidBodyMotorSoftware()

Default constructor for setting up the wheels

public HingedRigidBodyMotorSoftware()

Fields

In_HingedRigidBodyStateReferenceMsg

Reference HRB state (theta, thetaDot)

public HingedRigidBodyMessage In_HingedRigidBodyStateReferenceMsg

Field Value

HingedRigidBodyMessage

In_HingedRigidBodyStateSensedMsg

Sensed HRB state (theta, thetaDot)

public HingedRigidBodyMessage In_HingedRigidBodyStateSensedMsg

Field Value

HingedRigidBodyMessage

K

[-] theta gain parameter

[EditableVariable("theta", false, "", "")]
public double K

Field Value

double

Out_ArrayMotorTorqueMsg

Output motor torque message

public ArrayMotorTorqueMessage Out_ArrayMotorTorqueMsg

Field Value

ArrayMotorTorqueMessage

P

[-] thetaDot gain parameter

[EditableVariable("theta/s", false, "", "")]
public double P

Field Value

double

Methods

OnBegin(double)

Called when the 'Component' is beginning

protected override void OnBegin(double time)

Parameters

time double

current time (seconds)

OnUpdate(double, double)

Called when the 'Component' should update

protected override void OnUpdate(double time, double step)

Parameters

time double

current time (seconds)

step double

the time step (seconds)